From d7ff3ad0cf067f9485488a2b7cda15c0b1078625 Mon Sep 17 00:00:00 2001 From: Vladislav Vinogradov Date: Tue, 30 Apr 2013 15:00:25 +0400 Subject: [PATCH] refactored cornerHarris and cornerMinEigenVal * converted it into Algorithm --- .../gpuimgproc/include/opencv2/gpuimgproc.hpp | 36 +++- modules/gpuimgproc/perf/perf_corners.cpp | 14 +- modules/gpuimgproc/src/corners.cpp | 169 +++++++++++------- modules/gpuimgproc/src/gftt.cpp | 10 +- modules/gpuimgproc/test/test_corners.cpp | 8 +- samples/gpu/performance/tests.cpp | 6 +- 6 files changed, 151 insertions(+), 92 deletions(-) diff --git a/modules/gpuimgproc/include/opencv2/gpuimgproc.hpp b/modules/gpuimgproc/include/opencv2/gpuimgproc.hpp index d368ae0a2e..adb9a8e06b 100644 --- a/modules/gpuimgproc/include/opencv2/gpuimgproc.hpp +++ b/modules/gpuimgproc/include/opencv2/gpuimgproc.hpp @@ -362,17 +362,37 @@ public: ////////////////////////// Corners Detection /////////////////////////// +class CV_EXPORTS CornernessCriteria : public Algorithm +{ +public: + virtual void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null()) = 0; +}; + //! computes Harris cornerness criteria at each image pixel -CV_EXPORTS void cornerHarris(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101); -CV_EXPORTS void cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101); -CV_EXPORTS void cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, double k, - int borderType = BORDER_REFLECT101, Stream& stream = Stream::Null()); +CV_EXPORTS Ptr createHarrisCorner(int srcType, int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101); //! computes minimum eigen value of 2x2 derivative covariation matrix at each pixel - the cornerness criteria -CV_EXPORTS void cornerMinEigenVal(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, int borderType=BORDER_REFLECT101); -CV_EXPORTS void cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, int borderType=BORDER_REFLECT101); -CV_EXPORTS void cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, - int borderType=BORDER_REFLECT101, Stream& stream = Stream::Null()); +CV_EXPORTS Ptr createMinEigenValCorner(int srcType, int blockSize, int ksize, int borderType = BORDER_REFLECT101); + +// obsolete + +__OPENCV_GPUIMGPROC_DEPR_BEFORE__ void cornerHarris(InputArray src, OutputArray dst, + int blockSize, int ksize, double k, int borderType = BORDER_REFLECT101, + Stream& stream = Stream::Null()) __OPENCV_GPUIMGPROC_DEPR_AFTER__; + +inline void cornerHarris(InputArray src, OutputArray dst, int blockSize, int ksize, double k, int borderType, Stream& stream) +{ + gpu::createHarrisCorner(src.type(), blockSize, ksize, k, borderType)->compute(src, dst, stream); +} + +__OPENCV_GPUIMGPROC_DEPR_BEFORE__ void cornerMinEigenVal(InputArray src, OutputArray dst, + int blockSize, int ksize, int borderType = BORDER_REFLECT101, + Stream& stream = Stream::Null()) __OPENCV_GPUIMGPROC_DEPR_AFTER__; + +inline void cornerMinEigenVal(InputArray src, OutputArray dst, int blockSize, int ksize, int borderType, Stream& stream) +{ + gpu::createMinEigenValCorner(src.type(), blockSize, ksize, borderType)->compute(src, dst, stream); +} ////////////////////////// Feature Detection /////////////////////////// diff --git a/modules/gpuimgproc/perf/perf_corners.cpp b/modules/gpuimgproc/perf/perf_corners.cpp index 28e8806e58..a0c1f8d30f 100644 --- a/modules/gpuimgproc/perf/perf_corners.cpp +++ b/modules/gpuimgproc/perf/perf_corners.cpp @@ -75,11 +75,10 @@ PERF_TEST_P(Image_Type_Border_BlockSz_ApertureSz, CornerHarris, { const cv::gpu::GpuMat d_img(img); cv::gpu::GpuMat dst; - cv::gpu::GpuMat d_Dx; - cv::gpu::GpuMat d_Dy; - cv::gpu::GpuMat d_buf; - TEST_CYCLE() cv::gpu::cornerHarris(d_img, dst, d_Dx, d_Dy, d_buf, blockSize, apertureSize, k, borderMode); + cv::Ptr harris = cv::gpu::createHarrisCorner(img.type(), blockSize, apertureSize, k, borderMode); + + TEST_CYCLE() harris->compute(d_img, dst); GPU_SANITY_CHECK(dst, 1e-4); } @@ -118,11 +117,10 @@ PERF_TEST_P(Image_Type_Border_BlockSz_ApertureSz, CornerMinEigenVal, { const cv::gpu::GpuMat d_img(img); cv::gpu::GpuMat dst; - cv::gpu::GpuMat d_Dx; - cv::gpu::GpuMat d_Dy; - cv::gpu::GpuMat d_buf; - TEST_CYCLE() cv::gpu::cornerMinEigenVal(d_img, dst, d_Dx, d_Dy, d_buf, blockSize, apertureSize, borderMode); + cv::Ptr minEigenVal = cv::gpu::createMinEigenValCorner(img.type(), blockSize, apertureSize, borderMode); + + TEST_CYCLE() minEigenVal->compute(d_img, dst); GPU_SANITY_CHECK(dst, 1e-4); } diff --git a/modules/gpuimgproc/src/corners.cpp b/modules/gpuimgproc/src/corners.cpp index 824a3308ee..1a72bd7c8a 100644 --- a/modules/gpuimgproc/src/corners.cpp +++ b/modules/gpuimgproc/src/corners.cpp @@ -47,13 +47,8 @@ using namespace cv::gpu; #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) -void cv::gpu::cornerHarris(const GpuMat&, GpuMat&, int, int, double, int) { throw_no_cuda(); } -void cv::gpu::cornerHarris(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, double, int) { throw_no_cuda(); } -void cv::gpu::cornerHarris(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, double, int, Stream&) { throw_no_cuda(); } - -void cv::gpu::cornerMinEigenVal(const GpuMat&, GpuMat&, int, int, int) { throw_no_cuda(); } -void cv::gpu::cornerMinEigenVal(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, int) { throw_no_cuda(); } -void cv::gpu::cornerMinEigenVal(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, GpuMat&, int, int, int, Stream&) { throw_no_cuda(); } +Ptr cv::gpu::createHarrisCorner(int, int, int, double, int) { throw_no_cuda(); return Ptr(); } +Ptr cv::gpu::createMinEigenValCorner(int, int, int, int) { throw_no_cuda(); return Ptr(); } #else /* !defined (HAVE_CUDA) */ @@ -68,89 +63,127 @@ namespace cv { namespace gpu { namespace cudev namespace { - void extractCovData(const GpuMat& src, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, int borderType, Stream& stream) + class CornerBase : public CornernessCriteria { - (void) buf; + protected: + CornerBase(int srcType, int blockSize, int ksize, int borderType); - double scale = static_cast(1 << ((ksize > 0 ? ksize : 3) - 1)) * blockSize; + void extractCovData(const GpuMat& src, Stream& stream); - if (ksize < 0) + int srcType_; + int blockSize_; + int ksize_; + int borderType_; + GpuMat Dx_, Dy_; + + private: + Ptr filterDx_, filterDy_; + }; + + CornerBase::CornerBase(int srcType, int blockSize, int ksize, int borderType) : + srcType_(srcType), blockSize_(blockSize), ksize_(ksize), borderType_(borderType) + { + CV_Assert( borderType_ == BORDER_REFLECT101 || borderType_ == BORDER_REPLICATE || borderType_ == BORDER_REFLECT ); + + const int sdepth = CV_MAT_DEPTH(srcType_); + const int cn = CV_MAT_CN(srcType_); + + CV_Assert( cn == 1 ); + + double scale = static_cast(1 << ((ksize_ > 0 ? ksize_ : 3) - 1)) * blockSize_; + + if (ksize_ < 0) scale *= 2.; - if (src.depth() == CV_8U) + if (sdepth == CV_8U) scale *= 255.; scale = 1./scale; - Dx.create(src.size(), CV_32F); - Dy.create(src.size(), CV_32F); - - Ptr filterDx, filterDy; - - if (ksize > 0) + if (ksize_ > 0) { - filterDx = gpu::createSobelFilter(src.type(), CV_32F, 1, 0, ksize, scale, borderType); - filterDy = gpu::createSobelFilter(src.type(), CV_32F, 0, 1, ksize, scale, borderType); + filterDx_ = gpu::createSobelFilter(srcType, CV_32F, 1, 0, ksize_, scale, borderType_); + filterDy_ = gpu::createSobelFilter(srcType, CV_32F, 0, 1, ksize_, scale, borderType_); } else { - filterDx = gpu::createScharrFilter(src.type(), CV_32F, 1, 0, scale, borderType); - filterDy = gpu::createScharrFilter(src.type(), CV_32F, 0, 1, scale, borderType); + filterDx_ = gpu::createScharrFilter(srcType, CV_32F, 1, 0, scale, borderType_); + filterDy_ = gpu::createScharrFilter(srcType, CV_32F, 0, 1, scale, borderType_); + } + } + + void CornerBase::extractCovData(const GpuMat& src, Stream& stream) + { + CV_Assert( src.type() == srcType_ ); + filterDx_->apply(src, Dx_, stream); + filterDy_->apply(src, Dy_, stream); + } + + class Harris : public CornerBase + { + public: + Harris(int srcType, int blockSize, int ksize, double k, int borderType) : + CornerBase(srcType, blockSize, ksize, borderType), k_(static_cast(k)) + { } - filterDx->apply(src, Dx); - filterDy->apply(src, Dy); + void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null()); + + private: + float k_; + }; + + void Harris::compute(InputArray _src, OutputArray _dst, Stream& stream) + { + using namespace cv::gpu::cudev::imgproc; + + GpuMat src = _src.getGpuMat(); + + extractCovData(src, stream); + + _dst.create(src.size(), CV_32FC1); + GpuMat dst = _dst.getGpuMat(); + + cornerHarris_gpu(blockSize_, k_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream)); + } + + class MinEigenVal : public CornerBase + { + public: + MinEigenVal(int srcType, int blockSize, int ksize, int borderType) : + CornerBase(srcType, blockSize, ksize, borderType) + { + } + + void compute(InputArray src, OutputArray dst, Stream& stream = Stream::Null()); + + private: + float k_; + }; + + void MinEigenVal::compute(InputArray _src, OutputArray _dst, Stream& stream) + { + using namespace cv::gpu::cudev::imgproc; + + GpuMat src = _src.getGpuMat(); + + extractCovData(src, stream); + + _dst.create(src.size(), CV_32FC1); + GpuMat dst = _dst.getGpuMat(); + + cornerMinEigenVal_gpu(blockSize_, Dx_, Dy_, dst, borderType_, StreamAccessor::getStream(stream)); } } -void cv::gpu::cornerHarris(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, double k, int borderType) +Ptr cv::gpu::createHarrisCorner(int srcType, int blockSize, int ksize, double k, int borderType) { - GpuMat Dx, Dy; - cornerHarris(src, dst, Dx, Dy, blockSize, ksize, k, borderType); + return new Harris(srcType, blockSize, ksize, k, borderType); } -void cv::gpu::cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, double k, int borderType) +Ptr cv::gpu::createMinEigenValCorner(int srcType, int blockSize, int ksize, int borderType) { - GpuMat buf; - cornerHarris(src, dst, Dx, Dy, buf, blockSize, ksize, k, borderType); -} - -void cv::gpu::cornerHarris(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, double k, int borderType, Stream& stream) -{ - using namespace cv::gpu::cudev::imgproc; - - CV_Assert(borderType == cv::BORDER_REFLECT101 || borderType == cv::BORDER_REPLICATE || borderType == cv::BORDER_REFLECT); - - extractCovData(src, Dx, Dy, buf, blockSize, ksize, borderType, stream); - - dst.create(src.size(), CV_32F); - - cornerHarris_gpu(blockSize, static_cast(k), Dx, Dy, dst, borderType, StreamAccessor::getStream(stream)); -} - -void cv::gpu::cornerMinEigenVal(const GpuMat& src, GpuMat& dst, int blockSize, int ksize, int borderType) -{ - GpuMat Dx, Dy; - cornerMinEigenVal(src, dst, Dx, Dy, blockSize, ksize, borderType); -} - -void cv::gpu::cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, int blockSize, int ksize, int borderType) -{ - GpuMat buf; - cornerMinEigenVal(src, dst, Dx, Dy, buf, blockSize, ksize, borderType); -} - -void cv::gpu::cornerMinEigenVal(const GpuMat& src, GpuMat& dst, GpuMat& Dx, GpuMat& Dy, GpuMat& buf, int blockSize, int ksize, int borderType, Stream& stream) -{ - using namespace ::cv::gpu::cudev::imgproc; - - CV_Assert(borderType == cv::BORDER_REFLECT101 || borderType == cv::BORDER_REPLICATE || borderType == cv::BORDER_REFLECT); - - extractCovData(src, Dx, Dy, buf, blockSize, ksize, borderType, stream); - - dst.create(src.size(), CV_32F); - - cornerMinEigenVal_gpu(blockSize, Dx, Dy, dst, borderType, StreamAccessor::getStream(stream)); + return new MinEigenVal(srcType, blockSize, ksize, borderType); } #endif /* !defined (HAVE_CUDA) */ diff --git a/modules/gpuimgproc/src/gftt.cpp b/modules/gpuimgproc/src/gftt.cpp index cca1df4446..c441069d31 100644 --- a/modules/gpuimgproc/src/gftt.cpp +++ b/modules/gpuimgproc/src/gftt.cpp @@ -75,10 +75,12 @@ void cv::gpu::GoodFeaturesToTrackDetector_GPU::operator ()(const GpuMat& image, ensureSizeIsEnough(image.size(), CV_32F, eig_); - if (useHarrisDetector) - cornerHarris(image, eig_, Dx_, Dy_, buf_, blockSize, 3, harrisK); - else - cornerMinEigenVal(image, eig_, Dx_, Dy_, buf_, blockSize, 3); + Ptr cornerCriteria = + useHarrisDetector ? + gpu::createHarrisCorner(image.type(), blockSize, 3, harrisK) : + gpu::createMinEigenValCorner(image.type(), blockSize, 3); + + cornerCriteria->compute(image, eig_); double maxVal = 0; gpu::minMax(eig_, 0, &maxVal, GpuMat(), minMaxbuf_); diff --git a/modules/gpuimgproc/test/test_corners.cpp b/modules/gpuimgproc/test/test_corners.cpp index 54d8df457f..2625480565 100644 --- a/modules/gpuimgproc/test/test_corners.cpp +++ b/modules/gpuimgproc/test/test_corners.cpp @@ -82,8 +82,10 @@ GPU_TEST_P(CornerHarris, Accuracy) double k = randomDouble(0.1, 0.9); + cv::Ptr harris = cv::gpu::createHarrisCorner(src.type(), blockSize, apertureSize, k, borderType); + cv::gpu::GpuMat dst; - cv::gpu::cornerHarris(loadMat(src), dst, blockSize, apertureSize, k, borderType); + harris->compute(loadMat(src), dst); cv::Mat dst_gold; cv::cornerHarris(src, dst_gold, blockSize, apertureSize, k, borderType); @@ -126,8 +128,10 @@ GPU_TEST_P(CornerMinEigen, Accuracy) cv::Mat src = readImageType("stereobm/aloe-L.png", type); ASSERT_FALSE(src.empty()); + cv::Ptr minEigenVal = cv::gpu::createMinEigenValCorner(src.type(), blockSize, apertureSize, borderType); + cv::gpu::GpuMat dst; - cv::gpu::cornerMinEigenVal(loadMat(src), dst, blockSize, apertureSize, borderType); + minEigenVal->compute(loadMat(src), dst); cv::Mat dst_gold; cv::cornerMinEigenVal(src, dst_gold, blockSize, apertureSize, borderType); diff --git a/samples/gpu/performance/tests.cpp b/samples/gpu/performance/tests.cpp index 99ba56cddb..f95730e351 100644 --- a/samples/gpu/performance/tests.cpp +++ b/samples/gpu/performance/tests.cpp @@ -176,10 +176,12 @@ TEST(cornerHarris) d_src.upload(src); - gpu::cornerHarris(d_src, d_dst, 5, 7, 0.1, BORDER_REFLECT101); + Ptr harris = gpu::createHarrisCorner(src.type(), 5, 7, 0.1, BORDER_REFLECT101); + + harris->compute(d_src, d_dst); GPU_ON; - gpu::cornerHarris(d_src, d_dst, 5, 7, 0.1, BORDER_REFLECT101); + harris->compute(d_src, d_dst); GPU_OFF; } }