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do not use the large "score" buffer; now without non-max suppression OpenCL FAST is pretty efficient

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This commit is contained in:
Vadim Pisarevsky
2014-03-07 18:55:45 +04:00
parent 06c138bd64
commit efdfca7a11
2 changed files with 22 additions and 28 deletions
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modules/features2d/src/opencl/fast.cl
+16 -14
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@@ -1,9 +1,9 @@
// OpenCL port of the FAST corner detector.
// Copyright (C) 2014, Itseez Inc. See the license at http://opencv.org
inline int cornerScore(__global const uchar* img, int step, int threshold)
inline int cornerScore(__global const uchar* img, int step)
{
int k, tofs, v = img[0], a0 = threshold, b0;
int k, tofs, v = img[0], a0 = 0, b0;
int d[16];
#define LOAD2(idx, ofs) \
tofs = ofs; d[idx] = (short)(v - img[tofs]); d[idx+8] = (short)(v - img[-tofs])
@@ -53,8 +53,7 @@ __kernel
void FAST_findKeypoints(
__global const uchar * _img, int step, int img_offset,
int img_rows, int img_cols,
__global uchar * score, int score_step, int score_offset,
volatile __global int* kp_loc, int calc_score,
volatile __global int* kp_loc,
int max_keypoints, int threshold )
{
int j = get_global_id(0) + 3;
@@ -118,8 +117,6 @@ void FAST_findKeypoints(
kp_loc[1 + 2*idx] = j;
kp_loc[2 + 2*idx] = i;
}
if(calc_score)
score[mad24(i, score_step, score_offset+j)] = cornerScore(img, step, threshold);
}
}
}
@@ -130,8 +127,8 @@ void FAST_findKeypoints(
__kernel
void FAST_nonmaxSupression(
__global const int* kp_in, volatile __global int* kp_out,
__global const uchar * _score, int step, int score_offset,
int counter, int max_keypoints)
__global const uchar * _img, int step, int img_offset,
int rows, int cols, int counter, int max_keypoints)
{
const int idx = get_global_id(0);
@@ -139,14 +136,19 @@ void FAST_nonmaxSupression(
{
int x = kp_in[1 + 2*idx];
int y = kp_in[2 + 2*idx];
__global const uchar* img = _img + mad24(y, step, x + img_offset);
__global const uchar* score = _score + mad24(y, step, x + score_offset);
int s = score[0];
int s = cornerScore(img, step);
if( (s > (int)score[1]) + (s > (int)score[-1]) +
(s > (int)score[-step]) + (s > (int)score[step]) +
(s > (int)score[-step-1]) + (s > (int)score[-step+1]) +
(s > (int)score[step-1]) + (s > (int)score[step+1]) == 8 )
if( (x < 4 || s > cornerScore(img-1, step)) +
(y < 4 || s > cornerScore(img-step, step)) != 2 )
return;
if( (x >= cols - 4 || s > cornerScore(img+1, step)) +
(y >= rows - 4 || s > cornerScore(img+step, step)) +
(x < 4 || y < 4 || s > cornerScore(img-step-1, step)) +
(x >= cols - 4 || y < 4 || s > cornerScore(img-step+1, step)) +
(x < 4 || y >= rows - 4 || s > cornerScore(img+step-1, step)) +
(x >= cols - 4 || y >= rows - 4 || s > cornerScore(img+step+1, step)) == 6)
{
int new_idx = atomic_inc(kp_out);
if( new_idx < max_keypoints )