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add fast kernel

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This commit is contained in:
gfuse
2021-05-05 19:12:01 +02:00
parent 5687fe5057
commit 5a693259d6
6 changed files with 85 additions and 117 deletions
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GPU_version/svo/src/feature_detection.cpp
+28 -25
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@@ -16,7 +16,6 @@
#include <svo/feature_detection.h>
#include <svo/feature.h>
#include <fast/fast.h>
#include <vikit/vision.h>
namespace svo {
@@ -32,7 +31,16 @@ AbstractDetector::AbstractDetector(
grid_n_cols_(ceil(static_cast<double>(img_width)/cell_size_)),
grid_n_rows_(ceil(static_cast<double>(img_height)/cell_size_)),
grid_occupancy_(grid_n_cols_*grid_n_rows_, false)
{}
{
gpu_fast_= new opencl();
cv::Mat init=cv::Mat::zeros(cv::Size(img_width, img_height),CV_8UC1);
gpu_fast_->write_buf(0,0,init);
cl_int2 corners[img_width*img_height];
gpu_fast_->write_buf(0,1,img_width*img_height,corners);
int icorner[1]={0};
gpu_fast_->write_buf(0,2,1,icorner);
gpu_fast_->write_buf(0,3,(1 << 18));
}
void AbstractDetector::resetGrid()
{
@@ -73,35 +81,30 @@ void FastDetector::detect(
for(int L=0; L<n_pyr_levels_; ++L)
{
const int scale = (1<<L);
vector<fast::fast_xy> fast_corners;
#if __SSE2__
fast::fast_corner_detect_10_sse2(
(fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols,
img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners);
#elif HAVE_FAST_NEON
fast::fast_corner_detect_9_neon(
(fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols,
img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners);
#else
fast::fast_corner_detect_10(
(fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols,
img_pyr[L].rows, img_pyr[L].cols, 20, fast_corners);
#endif
vector<int> scores, nm_corners;
fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores);
fast::fast_nonmax_3x3(fast_corners, scores, nm_corners);
gpu_fast_->reload_buf(0,0,img_pyr[L].data);
int icorner[1]={0};
gpu_fast_->reload_buf(0,2,icorner);
gpu_fast_->run(0,img_pyr[L].cols,img_pyr[L].rows);
cl_int2* fast_corners;
gpu_fast_->read(0,1,fast_corners);
int count[1]={0};
gpu_fast_->read(0,2,count);
//vector<int> scores, nm_corners;
//fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores);
//fast::fast_nonmax_3x3(fast_corners, scores, nm_corners);
for(auto it=nm_corners.begin(), ite=nm_corners.end(); it!=ite; ++it)
for(uint i=0;i<count[0];++i)
{
fast::fast_xy& xy = fast_corners.at(*it);
const int k = static_cast<int>((xy.y*scale)/cell_size_)*grid_n_cols_
+ static_cast<int>((xy.x*scale)/cell_size_);
if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0)continue;
const int k = static_cast<int>((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_
+ static_cast<int>((fast_corners[i].x*scale)/cell_size_);
if(grid_occupancy_[k])
continue;
const float score = vk::shiTomasiScore(img_pyr[L], xy.x, xy.y);
const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y);
if(score > corners.at(k).score)
corners.at(k) = Corner(xy.x*scale, xy.y*scale, score, L, 0.0f);
corners.at(k) = Corner(fast_corners[i].x*scale, fast_corners[i].y*scale, score, L, 0.0f);
}
}
// Create feature for every corner that has high enough corner score