f4334277
 Hu Chunming
提交3rdparty
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html
/**
* @brief This function computes the Perona and Malik conductivity coefficient g2
* g2 = 1 / (1 + dL^2 / k^2)
* @param lx First order image derivative in X-direction (horizontal)
* @param ly First order image derivative in Y-direction (vertical)
* @param dst Output image
* @param k Contrast factor parameter
*/
__kernel void
AKAZE_pm_g2(__global const float* lx, __global const float* ly, __global float* dst,
float k, int size)
{
int i = get_global_id(0);
// OpenCV plays with dimensions so we need explicit check for this
if (!(i < size))
{
return;
}
const float k2inv = 1.0f / (k * k);
dst[i] = 1.0f / (1.0f + ((lx[i] * lx[i] + ly[i] * ly[i]) * k2inv));
}
__kernel void
AKAZE_nld_step_scalar(__global const float* lt, int lt_step, int lt_offset, int rows, int cols,
__global const float* lf, __global float* dst, float step_size)
{
/* The labeling scheme for this five star stencil:
[ a ]
[ -1 c +1 ]
[ b ]
*/
// column-first indexing
int i = get_global_id(1);
int j = get_global_id(0);
// OpenCV plays with dimensions so we need explicit check for this
if (!(i < rows && j < cols))
{
return;
}
// get row indexes
int a = (i - 1) * cols;
int c = (i ) * cols;
int b = (i + 1) * cols;
// compute stencil
float res = 0.0f;
if (i == 0) // first rows
{
if (j == 0 || j == (cols - 1))
{
res = 0.0f;
} else
{
res = (lf[c + j] + lf[c + j + 1])*(lt[c + j + 1] - lt[c + j]) +
(lf[c + j] + lf[c + j - 1])*(lt[c + j - 1] - lt[c + j]) +
(lf[c + j] + lf[b + j ])*(lt[b + j ] - lt[c + j]);
}
} else if (i == (rows - 1)) // last row
{
if (j == 0 || j == (cols - 1))
{
res = 0.0f;
} else
{
res = (lf[c + j] + lf[c + j + 1])*(lt[c + j + 1] - lt[c + j]) +
(lf[c + j] + lf[c + j - 1])*(lt[c + j - 1] - lt[c + j]) +
(lf[c + j] + lf[a + j ])*(lt[a + j ] - lt[c + j]);
}
} else // inner rows
{
if (j == 0) // first column
{
res = (lf[c + 0] + lf[c + 1])*(lt[c + 1] - lt[c + 0]) +
(lf[c + 0] + lf[b + 0])*(lt[b + 0] - lt[c + 0]) +
(lf[c + 0] + lf[a + 0])*(lt[a + 0] - lt[c + 0]);
} else if (j == (cols - 1)) // last column
{
res = (lf[c + j] + lf[c + j - 1])*(lt[c + j - 1] - lt[c + j]) +
(lf[c + j] + lf[b + j ])*(lt[b + j ] - lt[c + j]) +
(lf[c + j] + lf[a + j ])*(lt[a + j ] - lt[c + j]);
} else // inner stencil
{
res = (lf[c + j] + lf[c + j + 1])*(lt[c + j + 1] - lt[c + j]) +
(lf[c + j] + lf[c + j - 1])*(lt[c + j - 1] - lt[c + j]) +
(lf[c + j] + lf[b + j ])*(lt[b + j ] - lt[c + j]) +
(lf[c + j] + lf[a + j ])*(lt[a + j ] - lt[c + j]);
}
}
dst[c + j] = res * step_size;
}
/**
* @brief Compute determinant from hessians
* @details Compute Ldet by (Lxx.mul(Lyy) - Lxy.mul(Lxy)) * sigma
*
* @param lxx spatial derivates
* @param lxy spatial derivates
* @param lyy spatial derivates
* @param dst output determinant
* @param sigma determinant will be scaled by this sigma
*/
__kernel void
AKAZE_compute_determinant(__global const float* lxx, __global const float* lxy, __global const float* lyy,
__global float* dst, float sigma, int size)
{
int i = get_global_id(0);
// OpenCV plays with dimensions so we need explicit check for this
if (!(i < size))
{
return;
}
dst[i] = (lxx[i] * lyy[i] - lxy[i] * lxy[i]) * sigma;
}
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