https://github.com/junaire/brief

https://github.com/junaire/brief

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• Host: GitHub
• URL: https://github.com/junaire/brief
• Owner: junaire
• Created: 2024-03-25T10:18:05.000Z (8 months ago)
• Default Branch: master
• Last Pushed: 2024-04-24T13:42:35.000Z (7 months ago)
• Last Synced: 2024-10-11T23:38:06.216Z (27 days ago)
• Language: C++
• Size: 5.53 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
## 算法步骤

1. 对图像进行灰度处理

2. 求图像的积分

3. 对关键点进行筛选，剔除边界之外的点

4. 测试像素点，得到描述子，伪代码如下：

```

def pixelTest:

    descriptor = []

    for pt in keypoints:

        arr = []

        for 8pp in pps: [[8] x 32]

            byte = 0

            for pp in 8pp:

                byte <<= 1

                left, right = pp

                img_y1 = pt.y + left.y + 0.5

                img_x1 = pt.x + left.x + 0.5

                img_y2 = pt.y + right.y + 0.5

                img_x2 = pt.x + right.x + 0.5

                bit = soothed_sum(img_y1, img_x1) < soothed_sum(img_y2, img_x2)

                byte += bit

            arr.append(byte)

        descriptor.append(arr)

    return descriptor

```

并行点：

第一层循环中，由于对每一个关键点的操作都是独立的，不存在数据依赖，所以可将其并行。每一个 CUDA 线程完成以下操作：

```

        idx = threadIdx.x + blockIdx.x * blockDim.x

        pt = keypoints[idx]

        arr = []

        for 8pp in pps: [[8] x 32]

            byte = 0

            for pp in 8pp:

                byte <<= 1

                left, right = pp

                img_y1 = pt.y + left.y + 0.5

                img_x1 = pt.x + left.x + 0.5

                img_y2 = pt.y + right.y + 0.5

                img_x2 = pt.x + right.x + 0.5

                bit = soothed_sum(img_y1, img_x1) < soothed_sum(img_y2, img_x2)

                byte += bit

            arr[idx] = byte

```