| 108 | |
| 109 | template<typename T, int arc_length> |
| 110 | __device__ void locate_features_core(T *local_image, float *score, |
| 111 | const unsigned idim0, const unsigned idim1, |
| 112 | const float thr, int x, int y, |
| 113 | const unsigned edge, |
| 114 | cudaTextureObject_t luTable) { |
| 115 | if (x >= idim0 - edge || y >= idim1 - edge) return; |
| 116 | |
| 117 | score[y * idim0 + x] = 0.f; |
| 118 | |
| 119 | float p = local_image[idx(0, 0)]; |
| 120 | |
| 121 | // Start by testing opposite pixels of the circle that will result in |
| 122 | // a non-kepoint |
| 123 | int d = test_pixel<T>(local_image, p, thr, -3, 0) | |
| 124 | test_pixel<T>(local_image, p, thr, 3, 0); |
| 125 | if (d == 0) return; |
| 126 | |
| 127 | d &= test_pixel<T>(local_image, p, thr, -2, 2) | |
| 128 | test_pixel<T>(local_image, p, thr, 2, -2); |
| 129 | d &= test_pixel<T>(local_image, p, thr, 0, 3) | |
| 130 | test_pixel<T>(local_image, p, thr, 0, -3); |
| 131 | d &= test_pixel<T>(local_image, p, thr, 2, 2) | |
| 132 | test_pixel<T>(local_image, p, thr, -2, -2); |
| 133 | if (d == 0) return; |
| 134 | |
| 135 | d &= test_pixel<T>(local_image, p, thr, -3, 1) | |
| 136 | test_pixel<T>(local_image, p, thr, 3, -1); |
| 137 | d &= test_pixel<T>(local_image, p, thr, -1, 3) | |
| 138 | test_pixel<T>(local_image, p, thr, 1, -3); |
| 139 | d &= test_pixel<T>(local_image, p, thr, 1, 3) | |
| 140 | test_pixel<T>(local_image, p, thr, -1, -3); |
| 141 | d &= test_pixel<T>(local_image, p, thr, 3, 1) | |
| 142 | test_pixel<T>(local_image, p, thr, -3, -1); |
| 143 | if (d == 0) return; |
| 144 | |
| 145 | int bright = 0, dark = 0; |
| 146 | float s_bright = 0, s_dark = 0; |
| 147 | |
| 148 | // Force less loop unrolls to control maximum number of registers and |
| 149 | // launch more blocks |
| 150 | #pragma unroll 4 |
| 151 | for (int i = 0; i < 16; i++) { |
| 152 | // Get pixel from the circle |
| 153 | float p_x = local_image[idx(idx_x(i), idx_y(i))]; |
| 154 | |
| 155 | // Compute binary vectors with responses for each pixel on circle |
| 156 | bright |= test_greater(p_x, p, thr) << i; |
| 157 | dark |= test_smaller(p_x, p, thr) << i; |
| 158 | |
| 159 | // Compute scores for brighter and darker pixels |
| 160 | float weight = abs_diff(p_x, p) - thr; |
| 161 | s_bright += test_greater(p_x, p, thr) * weight; |
| 162 | s_dark += test_smaller(p_x, p, thr) * weight; |
| 163 | } |
| 164 | |
| 165 | // Checks LUT to verify if there is a segment for which all pixels are much |
| 166 | // brighter or much darker than central pixel p. |
| 167 | if (lookup(bright, luTable) >= arc_length || |
nothing calls this directly
no test coverage detected