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fixed surf.cu compilation on CC 2.0

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pull/13383/head
Vladislav Vinogradov 14 years ago
parent 9214173c2c
commit d05c6b8b68
1 changed files with 43 additions and 25 deletions
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  1. 68
      modules/gpu/src/cuda/surf.cu

68
modules/gpu/src/cuda/surf.cu
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@ -81,20 +81,18 @@ namespace cv { namespace gpu { namespace surf
////////////////////////////////////////////////////////////////////////
// Integral image texture
typedef texture<unsigned int, 2, cudaReadModeElementType> IntTex;
texture<unsigned int, 2, cudaReadModeElementType> sumTex(0, cudaFilterModePoint, cudaAddressModeClamp);
texture<unsigned int, 2, cudaReadModeElementType> maskSumTex(0, cudaFilterModePoint, cudaAddressModeClamp);
IntTex sumTex(0, cudaFilterModePoint, cudaAddressModeClamp);
template <int N>
__device__ float icvCalcHaarPattern(const IntTex& tex, const float src[][5], int oldSize, int newSize, int y, int x)
{
#if defined (__CUDA_ARCH__) && __CUDA_ARCH__ >= 200
template <int N> __device__ float icvCalcHaarPatternSum(const float src[][5], int oldSize, int newSize, int y, int x)
{
#if defined (__CUDA_ARCH__) && __CUDA_ARCH__ >= 200
typedef double real_t;
#else
typedef float real_t;
#endif
float ratio = (float)newSize / oldSize;
float ratio = (float)newSize / oldSize;
real_t d = 0;
@ -107,10 +105,10 @@ namespace cv { namespace gpu { namespace surf
int dy2 = __float2int_rn(ratio * src[k][3]);
real_t t = 0;
t += tex2D(tex, x + dx1, y + dy1);
t -= tex2D(tex, x + dx1, y + dy2);
t -= tex2D(tex, x + dx2, y + dy1);
t += tex2D(tex, x + dx2, y + dy2);
t += tex2D(sumTex, x + dx1, y + dy1);
t -= tex2D(sumTex, x + dx1, y + dy2);
t -= tex2D(sumTex, x + dx2, y + dy1);
t += tex2D(sumTex, x + dx2, y + dy2);
d += t * src[k][4] / ((dx2 - dx1) * (dy2 - dy1));
}
@ -155,14 +153,14 @@ namespace cv { namespace gpu { namespace surf
const int samples_i = 1 + ((c_img_rows - size) >> c_octave);
const int samples_j = 1 + ((c_img_cols - size) >> c_octave);
/* Ignore pixels where some of the kernel is outside the image */
// Ignore pixels where some of the kernel is outside the image
const int margin = (size >> 1) >> c_octave;
if (size <= c_img_rows && size <= c_img_cols && i < samples_i && j < samples_j)
{
const float dx = icvCalcHaarPattern<3>(sumTex, c_DX , 9, size, i << c_octave, j << c_octave);
const float dy = icvCalcHaarPattern<3>(sumTex, c_DY , 9, size, i << c_octave, j << c_octave);
const float dxy = icvCalcHaarPattern<4>(sumTex, c_DXY, 9, size, i << c_octave, j << c_octave);
const float dx = icvCalcHaarPatternSum<3>(c_DX , 9, size, i << c_octave, j << c_octave);
const float dy = icvCalcHaarPatternSum<3>(c_DY , 9, size, i << c_octave, j << c_octave);
const float dxy = icvCalcHaarPatternSum<4>(c_DXY, 9, size, i << c_octave, j << c_octave);
det.ptr(layer * c_layer_rows + i + margin)[j + margin] = dx * dy - 0.81f * dxy * dxy;
trace.ptr(layer * c_layer_rows + i + margin)[j + margin] = dx + dy;
@ -190,8 +188,6 @@ namespace cv { namespace gpu { namespace surf
////////////////////////////////////////////////////////////////////////
// NONMAX
IntTex maskSumTex(0, cudaFilterModePoint, cudaAddressModeClamp);
struct WithOutMask
{
static __device__ bool check(int, int, int)
@ -200,14 +196,36 @@ namespace cv { namespace gpu { namespace surf
}
};
__constant__ float c_DM[1][5] = {{0, 0, 9, 9, 1}};
__constant__ float c_DM[5] = {0, 0, 9, 9, 1};
struct WithMask
{
static __device__ bool check(int sum_i, int sum_j, int size)
{
float mval = icvCalcHaarPattern<1>(maskSumTex, c_DM , 9, size, sum_i, sum_j);
return (mval >= 0.5);
#if defined (__CUDA_ARCH__) && __CUDA_ARCH__ >= 200
typedef double real_t;
#else
typedef float real_t;
#endif
float ratio = (float)size / 9.0f;
real_t d = 0;
int dx1 = __float2int_rn(ratio * c_DM[0]);
int dy1 = __float2int_rn(ratio * c_DM[1]);
int dx2 = __float2int_rn(ratio * c_DM[2]);
int dy2 = __float2int_rn(ratio * c_DM[3]);
real_t t = 0;
t += tex2D(sumTex, sum_j + dx1, sum_i + dy1);
t -= tex2D(sumTex, sum_j + dx1, sum_i + dy2);
t -= tex2D(sumTex, sum_j + dx2, sum_i + dy1);
t += tex2D(sumTex, sum_j + dx2, sum_i + dy2);
d += t * c_DM[4] / ((dx2 - dx1) * (dy2 - dy1));
return (d >= 0.5);
}
};
@ -227,7 +245,7 @@ namespace cv { namespace gpu { namespace surf
const int size = calcSize(c_octave, layer);
/* Ignore pixels without a 3x3x3 neighbourhood in the layer above */
// Ignore pixels without a 3x3x3 neighbourhood in the layer above
const int margin = ((calcSize(c_octave, layer + 1) >> 1) >> c_octave) + 1;
const int j = threadIdx.x + blockIdx.x * (blockDim.x - 2) + margin - 1;
@ -346,7 +364,7 @@ namespace cv { namespace gpu { namespace surf
__shared__ float N9[3][3][3];
__shared__ KeyPoint_GPU p;
N9[threadIdx.z][threadIdx.y][threadIdx.x] = det.ptr(c_layer_rows * layer + i)[j];
N9[threadIdx.z][threadIdx.y][threadIdx.x] = det.ptr(c_layer_rows * layer + i)[j];
__syncthreads();
if (threadIdx.x == 0 && threadIdx.y == 0 && threadIdx.z == 0)
@ -518,8 +536,8 @@ namespace cv { namespace gpu { namespace surf
if ((unsigned)y < (unsigned)((c_img_rows + 1) - grad_wav_size) && (unsigned)x < (unsigned)((c_img_cols + 1) - grad_wav_size))
{
X = c_aptW[tid] * icvCalcHaarPattern<2>(sumTex, c_NX, 4, grad_wav_size, y, x);
Y = c_aptW[tid] * icvCalcHaarPattern<2>(sumTex, c_NY, 4, grad_wav_size, y, x);
X = c_aptW[tid] * icvCalcHaarPatternSum<2>(c_NX, 4, grad_wav_size, y, x);
Y = c_aptW[tid] * icvCalcHaarPatternSum<2>(c_NY, 4, grad_wav_size, y, x);
angle = atan2f(Y, X);
if (angle < 0)

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