//! find keypoints and compute it's response if _bNonMaxSupression is true
//! return count of detected keypoints
//return the # of keypoints, stored in _uCount;
//store Key point locations into _cvgmKeyPointLocation;
//store the corner strength into _cvgmScore;
int CFast::calcKeyPointsLocation(const cv::gpu::GpuMat& cvgmImg_, const cv::gpu::GpuMat& cvgmMask_)
{
//using namespace cv::gpu::device::fast;
CV_Assert(cvgmImg_.type() == CV_8UC1);
CV_Assert(cvgmMask_.empty() || (cvgmMask_.type() == CV_8UC1 && cvgmMask_.size() == cvgmImg_.size()));
if (!cv::gpu::TargetArchs::builtWith(cv::gpu::GLOBAL_ATOMICS) || !cv::gpu::DeviceInfo().supports(cv::gpu::GLOBAL_ATOMICS))
CV_Error(CV_StsNotImplemented, "The device doesn't support global atomics");
unsigned int uMaxKeypoints = static_cast<unsigned int>(_dKeyPointsRatio * cvgmImg_.size().area());
ensureSizeIsEnough(1, uMaxKeypoints, CV_16SC2, _cvgmKeyPointLocation);
if (_bNonMaxSupression)
{
ensureSizeIsEnough(cvgmImg_.size(), CV_32SC1, _cvgmScore);
_cvgmScore.setTo(cv::Scalar::all(0));
}
_uCount = btl::device::fast::cudaCalcKeypoints(cvgmImg_, cvgmMask_, uMaxKeypoints, _nThreshold, _cvgmKeyPointLocation.ptr<short2>(), _bNonMaxSupression ? &_cvgmScore : NULL);
_uCount = std::min(_uCount, uMaxKeypoints);
return _uCount;
}
void CFast::operator ()(const cv::gpu::GpuMat& cvgmImage_, const cv::gpu::GpuMat& cvgmMask_, std::vector<cv::KeyPoint>* pvKeyPoints_)
{
if (cvgmImage_.empty())
return;
(*this)(cvgmImage_, cvgmMask_, &_cvgmdKeyPoints);
downloadKeypoints(_cvgmdKeyPoints, &*pvKeyPoints_);
}
void CFast::downloadKeypoints(const cv::gpu::GpuMat& cvgmKeyPoints_, std::vector<cv::KeyPoint>* pvKeyPoints_)
{
if (cvgmKeyPoints_.empty()) return;
cv::Mat cvmKeyPoints(cvgmKeyPoints_);//download from cvgm to cvm
convertKeypoints(cvmKeyPoints, &*pvKeyPoints_);
}