opencv/modules/cudafeatures2d/src/fast.cpp

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#include "precomp.hpp"

using namespace cv;
using namespace cv::cuda;

#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)

cv::cuda::FAST_CUDA::FAST_CUDA(int, bool, double) { throw_no_cuda(); }
void cv::cuda::FAST_CUDA::operator ()(const GpuMat&, const GpuMat&, GpuMat&) { throw_no_cuda(); }
void cv::cuda::FAST_CUDA::operator ()(const GpuMat&, const GpuMat&, std::vector<KeyPoint>&) { throw_no_cuda(); }
void cv::cuda::FAST_CUDA::downloadKeypoints(const GpuMat&, std::vector<KeyPoint>&) { throw_no_cuda(); }
void cv::cuda::FAST_CUDA::convertKeypoints(const Mat&, std::vector<KeyPoint>&) { throw_no_cuda(); }
void cv::cuda::FAST_CUDA::release() { throw_no_cuda(); }
int cv::cuda::FAST_CUDA::calcKeyPointsLocation(const GpuMat&, const GpuMat&) { throw_no_cuda(); return 0; }
int cv::cuda::FAST_CUDA::getKeyPoints(GpuMat&) { throw_no_cuda(); return 0; }

#else /* !defined (HAVE_CUDA) */

cv::cuda::FAST_CUDA::FAST_CUDA(int _threshold, bool _nonmaxSuppression, double _keypointsRatio) :
    nonmaxSuppression(_nonmaxSuppression), threshold(_threshold), keypointsRatio(_keypointsRatio), count_(0)
{
}

void cv::cuda::FAST_CUDA::operator ()(const GpuMat& image, const GpuMat& mask, std::vector<KeyPoint>& keypoints)
{
    if (image.empty())
        return;

    (*this)(image, mask, d_keypoints_);
    downloadKeypoints(d_keypoints_, keypoints);
}

void cv::cuda::FAST_CUDA::downloadKeypoints(const GpuMat& d_keypoints, std::vector<KeyPoint>& keypoints)
{
    if (d_keypoints.empty())
        return;

    Mat h_keypoints(d_keypoints);
    convertKeypoints(h_keypoints, keypoints);
}

void cv::cuda::FAST_CUDA::convertKeypoints(const Mat& h_keypoints, std::vector<KeyPoint>& keypoints)
{
    if (h_keypoints.empty())
        return;

    CV_Assert(h_keypoints.rows == ROWS_COUNT && h_keypoints.elemSize() == 4);

    int npoints = h_keypoints.cols;

    keypoints.resize(npoints);

    const short2* loc_row = h_keypoints.ptr<short2>(LOCATION_ROW);
    const float* response_row = h_keypoints.ptr<float>(RESPONSE_ROW);

    for (int i = 0; i < npoints; ++i)
    {
        KeyPoint kp(loc_row[i].x, loc_row[i].y, static_cast<float>(FEATURE_SIZE), -1, response_row[i]);
        keypoints[i] = kp;
    }
}

void cv::cuda::FAST_CUDA::operator ()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints)
{
    calcKeyPointsLocation(img, mask);
    keypoints.cols = getKeyPoints(keypoints);
}

namespace cv { namespace cuda { namespace device
{
    namespace fast
    {
        int calcKeypoints_gpu(PtrStepSzb img, PtrStepSzb mask, short2* kpLoc, int maxKeypoints, PtrStepSzi score, int threshold);
        int nonmaxSuppression_gpu(const short2* kpLoc, int count, PtrStepSzi score, short2* loc, float* response);
    }
}}}

int cv::cuda::FAST_CUDA::calcKeyPointsLocation(const GpuMat& img, const GpuMat& mask)
{
    using namespace cv::cuda::device::fast;

    CV_Assert(img.type() == CV_8UC1);
    CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.size() == img.size()));

    int maxKeypoints = static_cast<int>(keypointsRatio * img.size().area());

    ensureSizeIsEnough(1, maxKeypoints, CV_16SC2, kpLoc_);

    if (nonmaxSuppression)
    {
        ensureSizeIsEnough(img.size(), CV_32SC1, score_);
        score_.setTo(Scalar::all(0));
    }

    count_ = calcKeypoints_gpu(img, mask, kpLoc_.ptr<short2>(), maxKeypoints, nonmaxSuppression ? score_ : PtrStepSzi(), threshold);
    count_ = std::min(count_, maxKeypoints);

    return count_;
}

int cv::cuda::FAST_CUDA::getKeyPoints(GpuMat& keypoints)
{
    using namespace cv::cuda::device::fast;

    if (count_ == 0)
        return 0;

    ensureSizeIsEnough(ROWS_COUNT, count_, CV_32FC1, keypoints);

    if (nonmaxSuppression)
        return nonmaxSuppression_gpu(kpLoc_.ptr<short2>(), count_, score_, keypoints.ptr<short2>(LOCATION_ROW), keypoints.ptr<float>(RESPONSE_ROW));

    GpuMat locRow(1, count_, kpLoc_.type(), keypoints.ptr(0));
    kpLoc_.colRange(0, count_).copyTo(locRow);
    keypoints.row(1).setTo(Scalar::all(0));

    return count_;
}

void cv::cuda::FAST_CUDA::release()
{
    kpLoc_.release();
    score_.release();

    d_keypoints_.release();
}

#endif /* !defined (HAVE_CUDA) */