#include <thrust/sort.h>
#include "opencv2/gpu/device/common.hpp"
#include "opencv2/gpu/device/emulation.hpp"
+#include "opencv2/gpu/device/vec_math.hpp"
+#include "opencv2/gpu/device/limits.hpp"
+#include "opencv2/gpu/device/dynamic_smem.hpp"
namespace cv { namespace gpu { namespace device
{
////////////////////////////////////////////////////////////////////////
// buildPointList
- const int PIXELS_PER_THREAD = 16;
-
+ template <int PIXELS_PER_THREAD>
__global__ void buildPointList(const PtrStepSzb src, unsigned int* list)
{
__shared__ unsigned int s_queues[4][32 * PIXELS_PER_THREAD];
int buildPointList_gpu(PtrStepSzb src, unsigned int* list)
{
+ const int PIXELS_PER_THREAD = 16;
+
void* counterPtr;
cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
const dim3 block(32, 4);
const dim3 grid(divUp(src.cols, block.x * PIXELS_PER_THREAD), divUp(src.rows, block.y));
- cudaSafeCall( cudaFuncSetCacheConfig(buildPointList, cudaFuncCachePreferShared) );
+ cudaSafeCall( cudaFuncSetCacheConfig(buildPointList<PIXELS_PER_THREAD>, cudaFuncCachePreferShared) );
- buildPointList<<<grid, block>>>(src, list);
+ buildPointList<PIXELS_PER_THREAD><<<grid, block>>>(src, list);
cudaSafeCall( cudaGetLastError() );
cudaSafeCall( cudaDeviceSynchronize() );
__global__ void linesAccumShared(const unsigned int* list, const int count, PtrStepi accum, const float irho, const float theta, const int numrho)
{
- extern __shared__ int smem[];
+ int* smem = DynamicSharedMem<int>();
for (int i = threadIdx.x; i < numrho + 1; i += blockDim.x)
smem[i] = 0;
float3* circles, const int maxCircles, const float dp,
const int minRadius, const int maxRadius, const int histSize, const int threshold)
{
- extern __shared__ int smem[];
+ int* smem = DynamicSharedMem<int>();
for (int i = threadIdx.x; i < histSize + 2; i += blockDim.x)
smem[i] = 0;
return totalCount;
}
+
+ ////////////////////////////////////////////////////////////////////////
+ // Generalized Hough
+
+ template <typename T, int PIXELS_PER_THREAD>
+ __global__ void buildEdgePointList(const PtrStepSzb edges, const PtrStep<T> dx, const PtrStep<T> dy, unsigned int* coordList, float* thetaList)
+ {
+ __shared__ unsigned int s_coordLists[4][32 * PIXELS_PER_THREAD];
+ __shared__ float s_thetaLists[4][32 * PIXELS_PER_THREAD];
+ __shared__ int s_sizes[4];
+ __shared__ int s_globStart[4];
+
+ const int x = blockIdx.x * blockDim.x * PIXELS_PER_THREAD + threadIdx.x;
+ const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (threadIdx.x == 0)
+ s_sizes[threadIdx.y] = 0;
+ __syncthreads();
+
+ if (y < edges.rows)
+ {
+ // fill the queue
+ const uchar* edgesRow = edges.ptr(y);
+ const T* dxRow = dx.ptr(y);
+ const T* dyRow = dy.ptr(y);
+
+ for (int i = 0, xx = x; i < PIXELS_PER_THREAD && xx < edges.cols; ++i, xx += blockDim.x)
+ {
+ const T dxVal = dxRow[xx];
+ const T dyVal = dyRow[xx];
+
+ if (edgesRow[xx] && (dxVal != 0 || dyVal != 0))
+ {
+ const unsigned int coord = (y << 16) | xx;
+
+ float theta = ::atan2f(dyVal, dxVal);
+ if (theta < 0)
+ theta += 2.0f * CV_PI_F;
+
+ const int qidx = Emulation::smem::atomicAdd(&s_sizes[threadIdx.y], 1);
+
+ s_coordLists[threadIdx.y][qidx] = coord;
+ s_thetaLists[threadIdx.y][qidx] = theta;
+ }
+ }
+ }
+
+ __syncthreads();
+
+ // let one thread reserve the space required in the global list
+ if (threadIdx.x == 0 && threadIdx.y == 0)
+ {
+ // find how many items are stored in each list
+ int totalSize = 0;
+ for (int i = 0; i < blockDim.y; ++i)
+ {
+ s_globStart[i] = totalSize;
+ totalSize += s_sizes[i];
+ }
+
+ // calculate the offset in the global list
+ const int globalOffset = atomicAdd(&g_counter, totalSize);
+ for (int i = 0; i < blockDim.y; ++i)
+ s_globStart[i] += globalOffset;
+ }
+
+ __syncthreads();
+
+ // copy local queues to global queue
+ const int qsize = s_sizes[threadIdx.y];
+ int gidx = s_globStart[threadIdx.y] + threadIdx.x;
+ for(int i = threadIdx.x; i < qsize; i += blockDim.x, gidx += blockDim.x)
+ {
+ coordList[gidx] = s_coordLists[threadIdx.y][i];
+ thetaList[gidx] = s_thetaLists[threadIdx.y][i];
+ }
+ }
+
+ template <typename T>
+ int buildEdgePointList_gpu(PtrStepSzb edges, PtrStepSzb dx, PtrStepSzb dy, unsigned int* coordList, float* thetaList)
+ {
+ const int PIXELS_PER_THREAD = 8;
+
+ void* counterPtr;
+ cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+
+ cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) );
+
+ const dim3 block(32, 4);
+ const dim3 grid(divUp(edges.cols, block.x * PIXELS_PER_THREAD), divUp(edges.rows, block.y));
+
+ cudaSafeCall( cudaFuncSetCacheConfig(buildEdgePointList<T, PIXELS_PER_THREAD>, cudaFuncCachePreferShared) );
+
+ buildEdgePointList<T, PIXELS_PER_THREAD><<<grid, block>>>(edges, (PtrStepSz<T>) dx, (PtrStepSz<T>) dy, coordList, thetaList);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+
+ int totalCount;
+ cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+
+ return totalCount;
+ }
+
+ template int buildEdgePointList_gpu<short>(PtrStepSzb edges, PtrStepSzb dx, PtrStepSzb dy, unsigned int* coordList, float* thetaList);
+ template int buildEdgePointList_gpu<int>(PtrStepSzb edges, PtrStepSzb dx, PtrStepSzb dy, unsigned int* coordList, float* thetaList);
+ template int buildEdgePointList_gpu<float>(PtrStepSzb edges, PtrStepSzb dx, PtrStepSzb dy, unsigned int* coordList, float* thetaList);
+
+ __global__ void buildRTable(const unsigned int* coordList, const float* thetaList, const int pointsCount,
+ PtrStep<short2> r_table, int* r_sizes, int maxSize,
+ const short2 templCenter, const float thetaScale)
+ {
+ const int tid = blockIdx.x * blockDim.x + threadIdx.x;
+
+ if (tid >= pointsCount)
+ return;
+
+ const unsigned int coord = coordList[tid];
+ short2 p;
+ p.x = (coord & 0xFFFF);
+ p.y = (coord >> 16) & 0xFFFF;
+
+ const float theta = thetaList[tid];
+ const int n = __float2int_rn(theta * thetaScale);
+
+ const int ind = ::atomicAdd(r_sizes + n, 1);
+ if (ind < maxSize)
+ r_table(n, ind) = p - templCenter;
+ }
+
+ void buildRTable_gpu(const unsigned int* coordList, const float* thetaList, int pointsCount,
+ PtrStepSz<short2> r_table, int* r_sizes,
+ short2 templCenter, int levels)
+ {
+ const dim3 block(256);
+ const dim3 grid(divUp(pointsCount, block.x));
+
+ const float thetaScale = levels / (2.0f * CV_PI_F);
+
+ buildRTable<<<grid, block>>>(coordList, thetaList, pointsCount, r_table, r_sizes, r_table.cols, templCenter, thetaScale);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ ////////////////////////////////////////////////////////////////////////
+ // GHT_Ballard_Pos
+
+ __global__ void GHT_Ballard_Pos_calcHist(const unsigned int* coordList, const float* thetaList, const int pointsCount,
+ const PtrStep<short2> r_table, const int* r_sizes,
+ PtrStepSzi hist,
+ const float idp, const float thetaScale)
+ {
+ const int tid = blockIdx.x * blockDim.x + threadIdx.x;
+
+ if (tid >= pointsCount)
+ return;
+
+ const unsigned int coord = coordList[tid];
+ short2 p;
+ p.x = (coord & 0xFFFF);
+ p.y = (coord >> 16) & 0xFFFF;
+
+ const float theta = thetaList[tid];
+ const int n = __float2int_rn(theta * thetaScale);
+
+ const short2* r_row = r_table.ptr(n);
+ const int r_row_size = r_sizes[n];
+
+ for (int j = 0; j < r_row_size; ++j)
+ {
+ short2 c = p - r_row[j];
+
+ c.x = __float2int_rn(c.x * idp);
+ c.y = __float2int_rn(c.y * idp);
+
+ if (c.x >= 0 && c.x < hist.cols - 2 && c.y >= 0 && c.y < hist.rows - 2)
+ ::atomicAdd(hist.ptr(c.y + 1) + c.x + 1, 1);
+ }
+ }
+
+ void GHT_Ballard_Pos_calcHist_gpu(const unsigned int* coordList, const float* thetaList, int pointsCount,
+ PtrStepSz<short2> r_table, const int* r_sizes,
+ PtrStepSzi hist,
+ float dp, int levels)
+ {
+ const dim3 block(256);
+ const dim3 grid(divUp(pointsCount, block.x));
+
+ const float idp = 1.0f / dp;
+ const float thetaScale = levels / (2.0f * CV_PI_F);
+
+ GHT_Ballard_Pos_calcHist<<<grid, block>>>(coordList, thetaList, pointsCount, r_table, r_sizes, hist, idp, thetaScale);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ __global__ void GHT_Ballard_Pos_findPosInHist(const PtrStepSzi hist, float4* out, int3* votes, const int maxSize, const float dp, const int threshold)
+ {
+ const int x = blockIdx.x * blockDim.x + threadIdx.x;
+ const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= hist.cols - 2 || y >= hist.rows - 2)
+ return;
+
+ const int curVotes = hist(y + 1, x + 1);
+
+ if (curVotes > threshold &&
+ curVotes > hist(y + 1, x) &&
+ curVotes >= hist(y + 1, x + 2) &&
+ curVotes > hist(y, x + 1) &&
+ curVotes >= hist(y + 2, x + 1))
+ {
+ const int ind = ::atomicAdd(&g_counter, 1);
+
+ if (ind < maxSize)
+ {
+ out[ind] = make_float4(x * dp, y * dp, 1.0f, 0.0f);
+ votes[ind] = make_int3(curVotes, 0, 0);
+ }
+ }
+ }
+
+ int GHT_Ballard_Pos_findPosInHist_gpu(PtrStepSzi hist, float4* out, int3* votes, int maxSize, float dp, int threshold)
+ {
+ void* counterPtr;
+ cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+
+ cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) );
+
+ const dim3 block(32, 8);
+ const dim3 grid(divUp(hist.cols - 2, block.x), divUp(hist.rows - 2, block.y));
+
+ cudaSafeCall( cudaFuncSetCacheConfig(GHT_Ballard_Pos_findPosInHist, cudaFuncCachePreferL1) );
+
+ GHT_Ballard_Pos_findPosInHist<<<grid, block>>>(hist, out, votes, maxSize, dp, threshold);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+
+ int totalCount;
+ cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+
+ totalCount = ::min(totalCount, maxSize);
+
+ return totalCount;
+ }
+
+ ////////////////////////////////////////////////////////////////////////
+ // GHT_Ballard_PosScale
+
+ __global__ void GHT_Ballard_PosScale_calcHist(const unsigned int* coordList, const float* thetaList,
+ PtrStep<short2> r_table, const int* r_sizes,
+ PtrStepi hist, const int rows, const int cols,
+ const float minScale, const float scaleStep, const int scaleRange,
+ const float idp, const float thetaScale)
+ {
+ const unsigned int coord = coordList[blockIdx.x];
+ float2 p;
+ p.x = (coord & 0xFFFF);
+ p.y = (coord >> 16) & 0xFFFF;
+
+ const float theta = thetaList[blockIdx.x];
+ const int n = __float2int_rn(theta * thetaScale);
+
+ const short2* r_row = r_table.ptr(n);
+ const int r_row_size = r_sizes[n];
+
+ for (int j = 0; j < r_row_size; ++j)
+ {
+ const float2 d = saturate_cast<float2>(r_row[j]);
+
+ for (int s = threadIdx.x; s < scaleRange; s += blockDim.x)
+ {
+ const float scale = minScale + s * scaleStep;
+
+ float2 c = p - scale * d;
+
+ c.x *= idp;
+ c.y *= idp;
+
+ if (c.x >= 0 && c.x < cols && c.y >= 0 && c.y < rows)
+ ::atomicAdd(hist.ptr((s + 1) * (rows + 2) + __float2int_rn(c.y + 1)) + __float2int_rn(c.x + 1), 1);
+ }
+ }
+ }
+
+ void GHT_Ballard_PosScale_calcHist_gpu(const unsigned int* coordList, const float* thetaList, int pointsCount,
+ PtrStepSz<short2> r_table, const int* r_sizes,
+ PtrStepi hist, int rows, int cols,
+ float minScale, float scaleStep, int scaleRange,
+ float dp, int levels)
+ {
+ const dim3 block(256);
+ const dim3 grid(pointsCount);
+
+ const float idp = 1.0f / dp;
+ const float thetaScale = levels / (2.0f * CV_PI_F);
+
+ GHT_Ballard_PosScale_calcHist<<<grid, block>>>(coordList, thetaList,
+ r_table, r_sizes,
+ hist, rows, cols,
+ minScale, scaleStep, scaleRange,
+ idp, thetaScale);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ __global__ void GHT_Ballard_PosScale_findPosInHist(const PtrStepi hist, const int rows, const int cols, const int scaleRange,
+ float4* out, int3* votes, const int maxSize,
+ const float minScale, const float scaleStep, const float dp, const int threshold)
+ {
+ const int x = blockIdx.x * blockDim.x + threadIdx.x;
+ const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= cols || y >= rows)
+ return;
+
+ for (int s = 0; s < scaleRange; ++s)
+ {
+ const float scale = minScale + s * scaleStep;
+
+ const int prevScaleIdx = (s) * (rows + 2);
+ const int curScaleIdx = (s + 1) * (rows + 2);
+ const int nextScaleIdx = (s + 2) * (rows + 2);
+
+ const int curVotes = hist(curScaleIdx + y + 1, x + 1);
+
+ if (curVotes > threshold &&
+ curVotes > hist(curScaleIdx + y + 1, x) &&
+ curVotes >= hist(curScaleIdx + y + 1, x + 2) &&
+ curVotes > hist(curScaleIdx + y, x + 1) &&
+ curVotes >= hist(curScaleIdx + y + 2, x + 1) &&
+ curVotes > hist(prevScaleIdx + y + 1, x + 1) &&
+ curVotes >= hist(nextScaleIdx + y + 1, x + 1))
+ {
+ const int ind = ::atomicAdd(&g_counter, 1);
+
+ if (ind < maxSize)
+ {
+ out[ind] = make_float4(x * dp, y * dp, scale, 0.0f);
+ votes[ind] = make_int3(curVotes, curVotes, 0);
+ }
+ }
+ }
+ }
+
+ int GHT_Ballard_PosScale_findPosInHist_gpu(PtrStepi hist, int rows, int cols, int scaleRange, float4* out, int3* votes, int maxSize,
+ float minScale, float scaleStep, float dp, int threshold)
+ {
+ void* counterPtr;
+ cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+
+ cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) );
+
+ const dim3 block(32, 8);
+ const dim3 grid(divUp(cols, block.x), divUp(rows, block.y));
+
+ cudaSafeCall( cudaFuncSetCacheConfig(GHT_Ballard_PosScale_findPosInHist, cudaFuncCachePreferL1) );
+
+ GHT_Ballard_PosScale_findPosInHist<<<grid, block>>>(hist, rows, cols, scaleRange, out, votes, maxSize, minScale, scaleStep, dp, threshold);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+
+ int totalCount;
+ cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+
+ totalCount = ::min(totalCount, maxSize);
+
+ return totalCount;
+ }
+
+ ////////////////////////////////////////////////////////////////////////
+ // GHT_Ballard_PosRotation
+
+ __global__ void GHT_Ballard_PosRotation_calcHist(const unsigned int* coordList, const float* thetaList,
+ PtrStep<short2> r_table, const int* r_sizes,
+ PtrStepi hist, const int rows, const int cols,
+ const float minAngle, const float angleStep, const int angleRange,
+ const float idp, const float thetaScale)
+ {
+ const unsigned int coord = coordList[blockIdx.x];
+ float2 p;
+ p.x = (coord & 0xFFFF);
+ p.y = (coord >> 16) & 0xFFFF;
+
+ const float thetaVal = thetaList[blockIdx.x];
+
+ for (int a = threadIdx.x; a < angleRange; a += blockDim.x)
+ {
+ const float angle = (minAngle + a * angleStep) * (CV_PI_F / 180.0f);
+ float sinA, cosA;
+ sincosf(angle, &sinA, &cosA);
+
+ float theta = thetaVal - angle;
+ if (theta < 0)
+ theta += 2.0f * CV_PI_F;
+
+ const int n = __float2int_rn(theta * thetaScale);
+
+ const short2* r_row = r_table.ptr(n);
+ const int r_row_size = r_sizes[n];
+
+ for (int j = 0; j < r_row_size; ++j)
+ {
+ const float2 d = saturate_cast<float2>(r_row[j]);
+
+ const float2 dr = make_float2(d.x * cosA - d.y * sinA, d.x * sinA + d.y * cosA);
+
+ float2 c = make_float2(p.x - dr.x, p.y - dr.y);
+ c.x *= idp;
+ c.y *= idp;
+
+ if (c.x >= 0 && c.x < cols && c.y >= 0 && c.y < rows)
+ ::atomicAdd(hist.ptr((a + 1) * (rows + 2) + __float2int_rn(c.y + 1)) + __float2int_rn(c.x + 1), 1);
+ }
+ }
+ }
+
+ void GHT_Ballard_PosRotation_calcHist_gpu(const unsigned int* coordList, const float* thetaList, int pointsCount,
+ PtrStepSz<short2> r_table, const int* r_sizes,
+ PtrStepi hist, int rows, int cols,
+ float minAngle, float angleStep, int angleRange,
+ float dp, int levels)
+ {
+ const dim3 block(256);
+ const dim3 grid(pointsCount);
+
+ const float idp = 1.0f / dp;
+ const float thetaScale = levels / (2.0f * CV_PI_F);
+
+ GHT_Ballard_PosRotation_calcHist<<<grid, block>>>(coordList, thetaList,
+ r_table, r_sizes,
+ hist, rows, cols,
+ minAngle, angleStep, angleRange,
+ idp, thetaScale);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ __global__ void GHT_Ballard_PosRotation_findPosInHist(const PtrStepi hist, const int rows, const int cols, const int angleRange,
+ float4* out, int3* votes, const int maxSize,
+ const float minAngle, const float angleStep, const float dp, const int threshold)
+ {
+ const int x = blockIdx.x * blockDim.x + threadIdx.x;
+ const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= cols || y >= rows)
+ return;
+
+ for (int a = 0; a < angleRange; ++a)
+ {
+ const float angle = minAngle + a * angleStep;
+
+ const int prevAngleIdx = (a) * (rows + 2);
+ const int curAngleIdx = (a + 1) * (rows + 2);
+ const int nextAngleIdx = (a + 2) * (rows + 2);
+
+ const int curVotes = hist(curAngleIdx + y + 1, x + 1);
+
+ if (curVotes > threshold &&
+ curVotes > hist(curAngleIdx + y + 1, x) &&
+ curVotes >= hist(curAngleIdx + y + 1, x + 2) &&
+ curVotes > hist(curAngleIdx + y, x + 1) &&
+ curVotes >= hist(curAngleIdx + y + 2, x + 1) &&
+ curVotes > hist(prevAngleIdx + y + 1, x + 1) &&
+ curVotes >= hist(nextAngleIdx + y + 1, x + 1))
+ {
+ const int ind = ::atomicAdd(&g_counter, 1);
+
+ if (ind < maxSize)
+ {
+ out[ind] = make_float4(x * dp, y * dp, 1.0f, angle);
+ votes[ind] = make_int3(curVotes, 0, curVotes);
+ }
+ }
+ }
+ }
+
+ int GHT_Ballard_PosRotation_findPosInHist_gpu(PtrStepi hist, int rows, int cols, int angleRange, float4* out, int3* votes, int maxSize,
+ float minAngle, float angleStep, float dp, int threshold)
+ {
+ void* counterPtr;
+ cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+
+ cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) );
+
+ const dim3 block(32, 8);
+ const dim3 grid(divUp(cols, block.x), divUp(rows, block.y));
+
+ cudaSafeCall( cudaFuncSetCacheConfig(GHT_Ballard_PosRotation_findPosInHist, cudaFuncCachePreferL1) );
+
+ GHT_Ballard_PosRotation_findPosInHist<<<grid, block>>>(hist, rows, cols, angleRange, out, votes, maxSize, minAngle, angleStep, dp, threshold);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+
+ int totalCount;
+ cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+
+ totalCount = ::min(totalCount, maxSize);
+
+ return totalCount;
+ }
+
+ ////////////////////////////////////////////////////////////////////////
+ // GHT_Guil_Full
+
+ struct FeatureTable
+ {
+ uchar* p1_pos_data;
+ size_t p1_pos_step;
+
+ uchar* p1_theta_data;
+ size_t p1_theta_step;
+
+ uchar* p2_pos_data;
+ size_t p2_pos_step;
+
+ uchar* d12_data;
+ size_t d12_step;
+
+ uchar* r1_data;
+ size_t r1_step;
+
+ uchar* r2_data;
+ size_t r2_step;
+ };
+
+ __constant__ FeatureTable c_templFeatures;
+ __constant__ FeatureTable c_imageFeatures;
+
+ void GHT_Guil_Full_setTemplFeatures(PtrStepb p1_pos, PtrStepb p1_theta, PtrStepb p2_pos, PtrStepb d12, PtrStepb r1, PtrStepb r2)
+ {
+ FeatureTable tbl;
+
+ tbl.p1_pos_data = p1_pos.data;
+ tbl.p1_pos_step = p1_pos.step;
+
+ tbl.p1_theta_data = p1_theta.data;
+ tbl.p1_theta_step = p1_theta.step;
+
+ tbl.p2_pos_data = p2_pos.data;
+ tbl.p2_pos_step = p2_pos.step;
+
+ tbl.d12_data = d12.data;
+ tbl.d12_step = d12.step;
+
+ tbl.r1_data = r1.data;
+ tbl.r1_step = r1.step;
+
+ tbl.r2_data = r2.data;
+ tbl.r2_step = r2.step;
+
+ cudaSafeCall( cudaMemcpyToSymbol(c_templFeatures, &tbl, sizeof(FeatureTable)) );
+ }
+ void GHT_Guil_Full_setImageFeatures(PtrStepb p1_pos, PtrStepb p1_theta, PtrStepb p2_pos, PtrStepb d12, PtrStepb r1, PtrStepb r2)
+ {
+ FeatureTable tbl;
+
+ tbl.p1_pos_data = p1_pos.data;
+ tbl.p1_pos_step = p1_pos.step;
+
+ tbl.p1_theta_data = p1_theta.data;
+ tbl.p1_theta_step = p1_theta.step;
+
+ tbl.p2_pos_data = p2_pos.data;
+ tbl.p2_pos_step = p2_pos.step;
+
+ tbl.d12_data = d12.data;
+ tbl.d12_step = d12.step;
+
+ tbl.r1_data = r1.data;
+ tbl.r1_step = r1.step;
+
+ tbl.r2_data = r2.data;
+ tbl.r2_step = r2.step;
+
+ cudaSafeCall( cudaMemcpyToSymbol(c_imageFeatures, &tbl, sizeof(FeatureTable)) );
+ }
+
+ struct TemplFeatureTable
+ {
+ static __device__ float2* p1_pos(int n)
+ {
+ return (float2*)(c_templFeatures.p1_pos_data + n * c_templFeatures.p1_pos_step);
+ }
+ static __device__ float* p1_theta(int n)
+ {
+ return (float*)(c_templFeatures.p1_theta_data + n * c_templFeatures.p1_theta_step);
+ }
+ static __device__ float2* p2_pos(int n)
+ {
+ return (float2*)(c_templFeatures.p2_pos_data + n * c_templFeatures.p2_pos_step);
+ }
+
+ static __device__ float* d12(int n)
+ {
+ return (float*)(c_templFeatures.d12_data + n * c_templFeatures.d12_step);
+ }
+
+ static __device__ float2* r1(int n)
+ {
+ return (float2*)(c_templFeatures.r1_data + n * c_templFeatures.r1_step);
+ }
+ static __device__ float2* r2(int n)
+ {
+ return (float2*)(c_templFeatures.r2_data + n * c_templFeatures.r2_step);
+ }
+ };
+ struct ImageFeatureTable
+ {
+ static __device__ float2* p1_pos(int n)
+ {
+ return (float2*)(c_imageFeatures.p1_pos_data + n * c_imageFeatures.p1_pos_step);
+ }
+ static __device__ float* p1_theta(int n)
+ {
+ return (float*)(c_imageFeatures.p1_theta_data + n * c_imageFeatures.p1_theta_step);
+ }
+ static __device__ float2* p2_pos(int n)
+ {
+ return (float2*)(c_imageFeatures.p2_pos_data + n * c_imageFeatures.p2_pos_step);
+ }
+
+ static __device__ float* d12(int n)
+ {
+ return (float*)(c_imageFeatures.d12_data + n * c_imageFeatures.d12_step);
+ }
+
+ static __device__ float2* r1(int n)
+ {
+ return (float2*)(c_imageFeatures.r1_data + n * c_imageFeatures.r1_step);
+ }
+ static __device__ float2* r2(int n)
+ {
+ return (float2*)(c_imageFeatures.r2_data + n * c_imageFeatures.r2_step);
+ }
+ };
+
+ __device__ float clampAngle(float a)
+ {
+ float res = a;
+
+ while (res > 2.0f * CV_PI_F)
+ res -= 2.0f * CV_PI_F;
+ while (res < 0.0f)
+ res += 2.0f * CV_PI_F;
+
+ return res;
+ }
+
+ __device__ bool angleEq(float a, float b, float eps)
+ {
+ return (::fabs(clampAngle(a - b)) <= eps);
+ }
+
+ template <class FT, bool isTempl>
+ __global__ void GHT_Guil_Full_buildFeatureList(const unsigned int* coordList, const float* thetaList, const int pointsCount,
+ int* sizes, const int maxSize,
+ const float xi, const float angleEpsilon, const float alphaScale,
+ const float2 center, const float maxDist)
+ {
+ const float p1_theta = thetaList[blockIdx.x];
+ const unsigned int coord1 = coordList[blockIdx.x];
+ float2 p1_pos;
+ p1_pos.x = (coord1 & 0xFFFF);
+ p1_pos.y = (coord1 >> 16) & 0xFFFF;
+
+ for (int i = threadIdx.x; i < pointsCount; i += blockDim.x)
+ {
+ const float p2_theta = thetaList[i];
+ const unsigned int coord2 = coordList[i];
+ float2 p2_pos;
+ p2_pos.x = (coord2 & 0xFFFF);
+ p2_pos.y = (coord2 >> 16) & 0xFFFF;
+
+ if (angleEq(p1_theta - p2_theta, xi, angleEpsilon))
+ {
+ const float2 d = p1_pos - p2_pos;
+
+ float alpha12 = clampAngle(::atan2(d.y, d.x) - p1_theta);
+ float d12 = ::sqrtf(d.x * d.x + d.y * d.y);
+
+ if (d12 > maxDist)
+ continue;
+
+ float2 r1 = p1_pos - center;
+ float2 r2 = p2_pos - center;
+
+ const int n = __float2int_rn(alpha12 * alphaScale);
+
+ const int ind = ::atomicAdd(sizes + n, 1);
+
+ if (ind < maxSize)
+ {
+ if (!isTempl)
+ {
+ FT::p1_pos(n)[ind] = p1_pos;
+ FT::p2_pos(n)[ind] = p2_pos;
+ }
+
+ FT::p1_theta(n)[ind] = p1_theta;
+
+ FT::d12(n)[ind] = d12;
+
+ if (isTempl)
+ {
+ FT::r1(n)[ind] = r1;
+ FT::r2(n)[ind] = r2;
+ }
+ }
+ }
+ }
+ }
+
+ template <class FT, bool isTempl>
+ void GHT_Guil_Full_buildFeatureList_caller(const unsigned int* coordList, const float* thetaList, int pointsCount,
+ int* sizes, int maxSize,
+ float xi, float angleEpsilon, int levels,
+ float2 center, float maxDist)
+ {
+ const dim3 block(256);
+ const dim3 grid(pointsCount);
+
+ const float alphaScale = levels / (2.0f * CV_PI_F);
+
+ GHT_Guil_Full_buildFeatureList<FT, isTempl><<<grid, block>>>(coordList, thetaList, pointsCount,
+ sizes, maxSize,
+ xi * (CV_PI_F / 180.0f), angleEpsilon * (CV_PI_F / 180.0f), alphaScale,
+ center, maxDist);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+
+ thrust::device_ptr<int> sizesPtr(sizes);
+ thrust::transform(sizesPtr, sizesPtr + levels + 1, sizesPtr, device::bind2nd(device::minimum<int>(), maxSize));
+ }
+
+ void GHT_Guil_Full_buildTemplFeatureList_gpu(const unsigned int* coordList, const float* thetaList, int pointsCount,
+ int* sizes, int maxSize,
+ float xi, float angleEpsilon, int levels,
+ float2 center, float maxDist)
+ {
+ GHT_Guil_Full_buildFeatureList_caller<TemplFeatureTable, true>(coordList, thetaList, pointsCount,
+ sizes, maxSize,
+ xi, angleEpsilon, levels,
+ center, maxDist);
+ }
+ void GHT_Guil_Full_buildImageFeatureList_gpu(const unsigned int* coordList, const float* thetaList, int pointsCount,
+ int* sizes, int maxSize,
+ float xi, float angleEpsilon, int levels,
+ float2 center, float maxDist)
+ {
+ GHT_Guil_Full_buildFeatureList_caller<ImageFeatureTable, false>(coordList, thetaList, pointsCount,
+ sizes, maxSize,
+ xi, angleEpsilon, levels,
+ center, maxDist);
+ }
+
+ __global__ void GHT_Guil_Full_calcOHist(const int* templSizes, const int* imageSizes, int* OHist,
+ const float minAngle, const float maxAngle, const float iAngleStep, const int angleRange)
+ {
+ extern __shared__ int s_OHist[];
+ for (int i = threadIdx.x; i <= angleRange; i += blockDim.x)
+ s_OHist[i] = 0;
+ __syncthreads();
+
+ const int tIdx = blockIdx.x;
+ const int level = blockIdx.y;
+
+ const int tSize = templSizes[level];
+
+ if (tIdx < tSize)
+ {
+ const int imSize = imageSizes[level];
+
+ const float t_p1_theta = TemplFeatureTable::p1_theta(level)[tIdx];
+
+ for (int i = threadIdx.x; i < imSize; i += blockDim.x)
+ {
+ const float im_p1_theta = ImageFeatureTable::p1_theta(level)[i];
+
+ const float angle = clampAngle(im_p1_theta - t_p1_theta);
+
+ if (angle >= minAngle && angle <= maxAngle)
+ {
+ const int n = __float2int_rn((angle - minAngle) * iAngleStep);
+ Emulation::smem::atomicAdd(&s_OHist[n], 1);
+ }
+ }
+ }
+ __syncthreads();
+
+ for (int i = threadIdx.x; i <= angleRange; i += blockDim.x)
+ ::atomicAdd(OHist + i, s_OHist[i]);
+ }
+
+ void GHT_Guil_Full_calcOHist_gpu(const int* templSizes, const int* imageSizes, int* OHist,
+ float minAngle, float maxAngle, float angleStep, int angleRange,
+ int levels, int tMaxSize)
+ {
+ const dim3 block(256);
+ const dim3 grid(tMaxSize, levels + 1);
+
+ minAngle *= (CV_PI_F / 180.0f);
+ maxAngle *= (CV_PI_F / 180.0f);
+ angleStep *= (CV_PI_F / 180.0f);
+
+ const size_t smemSize = (angleRange + 1) * sizeof(float);
+
+ GHT_Guil_Full_calcOHist<<<grid, block, smemSize>>>(templSizes, imageSizes, OHist,
+ minAngle, maxAngle, 1.0f / angleStep, angleRange);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ __global__ void GHT_Guil_Full_calcSHist(const int* templSizes, const int* imageSizes, int* SHist,
+ const float angle, const float angleEpsilon,
+ const float minScale, const float maxScale, const float iScaleStep, const int scaleRange)
+ {
+ extern __shared__ int s_SHist[];
+ for (int i = threadIdx.x; i <= scaleRange; i += blockDim.x)
+ s_SHist[i] = 0;
+ __syncthreads();
+
+ const int tIdx = blockIdx.x;
+ const int level = blockIdx.y;
+
+ const int tSize = templSizes[level];
+
+ if (tIdx < tSize)
+ {
+ const int imSize = imageSizes[level];
+
+ const float t_p1_theta = TemplFeatureTable::p1_theta(level)[tIdx] + angle;
+ const float t_d12 = TemplFeatureTable::d12(level)[tIdx] + angle;
+
+ for (int i = threadIdx.x; i < imSize; i += blockDim.x)
+ {
+ const float im_p1_theta = ImageFeatureTable::p1_theta(level)[i];
+ const float im_d12 = ImageFeatureTable::d12(level)[i];
+
+ if (angleEq(im_p1_theta, t_p1_theta, angleEpsilon))
+ {
+ const float scale = im_d12 / t_d12;
+
+ if (scale >= minScale && scale <= maxScale)
+ {
+ const int s = __float2int_rn((scale - minScale) * iScaleStep);
+ Emulation::smem::atomicAdd(&s_SHist[s], 1);
+ }
+ }
+ }
+ }
+ __syncthreads();
+
+ for (int i = threadIdx.x; i <= scaleRange; i += blockDim.x)
+ ::atomicAdd(SHist + i, s_SHist[i]);
+ }
+
+ void GHT_Guil_Full_calcSHist_gpu(const int* templSizes, const int* imageSizes, int* SHist,
+ float angle, float angleEpsilon,
+ float minScale, float maxScale, float iScaleStep, int scaleRange,
+ int levels, int tMaxSize)
+ {
+ const dim3 block(256);
+ const dim3 grid(tMaxSize, levels + 1);
+
+ angle *= (CV_PI_F / 180.0f);
+ angleEpsilon *= (CV_PI_F / 180.0f);
+
+ const size_t smemSize = (scaleRange + 1) * sizeof(float);
+
+ GHT_Guil_Full_calcSHist<<<grid, block, smemSize>>>(templSizes, imageSizes, SHist,
+ angle, angleEpsilon,
+ minScale, maxScale, iScaleStep, scaleRange);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ __global__ void GHT_Guil_Full_calcPHist(const int* templSizes, const int* imageSizes, PtrStepSzi PHist,
+ const float angle, const float sinVal, const float cosVal, const float angleEpsilon, const float scale,
+ const float idp)
+ {
+ const int tIdx = blockIdx.x;
+ const int level = blockIdx.y;
+
+ const int tSize = templSizes[level];
+
+ if (tIdx < tSize)
+ {
+ const int imSize = imageSizes[level];
+
+ const float t_p1_theta = TemplFeatureTable::p1_theta(level)[tIdx] + angle;
+
+ float2 r1 = TemplFeatureTable::r1(level)[tIdx];
+ float2 r2 = TemplFeatureTable::r2(level)[tIdx];
+
+ r1 = r1 * scale;
+ r2 = r2 * scale;
+
+ r1 = make_float2(cosVal * r1.x - sinVal * r1.y, sinVal * r1.x + cosVal * r1.y);
+ r2 = make_float2(cosVal * r2.x - sinVal * r2.y, sinVal * r2.x + cosVal * r2.y);
+
+ for (int i = threadIdx.x; i < imSize; i += blockDim.x)
+ {
+ const float im_p1_theta = ImageFeatureTable::p1_theta(level)[i];
+
+ const float2 im_p1_pos = ImageFeatureTable::p1_pos(level)[i];
+ const float2 im_p2_pos = ImageFeatureTable::p2_pos(level)[i];
+
+ if (angleEq(im_p1_theta, t_p1_theta, angleEpsilon))
+ {
+ float2 c1, c2;
+
+ c1 = im_p1_pos - r1;
+ c1 = c1 * idp;
+
+ c2 = im_p2_pos - r2;
+ c2 = c2 * idp;
+
+ if (::fabs(c1.x - c2.x) > 1 || ::fabs(c1.y - c2.y) > 1)
+ continue;
+
+ if (c1.y >= 0 && c1.y < PHist.rows - 2 && c1.x >= 0 && c1.x < PHist.cols - 2)
+ ::atomicAdd(PHist.ptr(__float2int_rn(c1.y) + 1) + __float2int_rn(c1.x) + 1, 1);
+ }
+ }
+ }
+ }
+
+ void GHT_Guil_Full_calcPHist_gpu(const int* templSizes, const int* imageSizes, PtrStepSzi PHist,
+ float angle, float angleEpsilon, float scale,
+ float dp,
+ int levels, int tMaxSize)
+ {
+ const dim3 block(256);
+ const dim3 grid(tMaxSize, levels + 1);
+
+ angle *= (CV_PI_F / 180.0f);
+ angleEpsilon *= (CV_PI_F / 180.0f);
+
+ const float sinVal = ::sinf(angle);
+ const float cosVal = ::cosf(angle);
+
+ cudaSafeCall( cudaFuncSetCacheConfig(GHT_Guil_Full_calcPHist, cudaFuncCachePreferL1) );
+
+ GHT_Guil_Full_calcPHist<<<grid, block>>>(templSizes, imageSizes, PHist,
+ angle, sinVal, cosVal, angleEpsilon, scale,
+ 1.0f / dp);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+ }
+
+ __global__ void GHT_Guil_Full_findPosInHist(const PtrStepSzi hist, float4* out, int3* votes, const int maxSize,
+ const float angle, const int angleVotes, const float scale, const int scaleVotes,
+ const float dp, const int threshold)
+ {
+ const int x = blockIdx.x * blockDim.x + threadIdx.x;
+ const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+ if (x >= hist.cols - 2 || y >= hist.rows - 2)
+ return;
+
+ const int curVotes = hist(y + 1, x + 1);
+
+ if (curVotes > threshold &&
+ curVotes > hist(y + 1, x) &&
+ curVotes >= hist(y + 1, x + 2) &&
+ curVotes > hist(y, x + 1) &&
+ curVotes >= hist(y + 2, x + 1))
+ {
+ const int ind = ::atomicAdd(&g_counter, 1);
+
+ if (ind < maxSize)
+ {
+ out[ind] = make_float4(x * dp, y * dp, scale, angle);
+ votes[ind] = make_int3(curVotes, scaleVotes, angleVotes);
+ }
+ }
+ }
+
+ int GHT_Guil_Full_findPosInHist_gpu(PtrStepSzi hist, float4* out, int3* votes, int curSize, int maxSize,
+ float angle, int angleVotes, float scale, int scaleVotes,
+ float dp, int threshold)
+ {
+ void* counterPtr;
+ cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+
+ cudaSafeCall( cudaMemcpy(counterPtr, &curSize, sizeof(int), cudaMemcpyHostToDevice) );
+
+ const dim3 block(32, 8);
+ const dim3 grid(divUp(hist.cols - 2, block.x), divUp(hist.rows - 2, block.y));
+
+ cudaSafeCall( cudaFuncSetCacheConfig(GHT_Guil_Full_findPosInHist, cudaFuncCachePreferL1) );
+
+ GHT_Guil_Full_findPosInHist<<<grid, block>>>(hist, out, votes, maxSize,
+ angle, angleVotes, scale, scaleVotes,
+ dp, threshold);
+ cudaSafeCall( cudaGetLastError() );
+
+ cudaSafeCall( cudaDeviceSynchronize() );
+
+ int totalCount;
+ cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+
+ totalCount = ::min(totalCount, maxSize);
+
+ return totalCount;
+ }
}
}}}
projects / profile / ivi / opencv.git / blobdiff