added cuda support for opencv plugin

[profile/ivi/automotive-message-broker.git] / plugins / opencvlux / opencvluxplugin.cpp

diff --git a/plugins/opencvlux/opencvluxplugin.cpp b/plugins/opencvlux/opencvluxplugin.cpp
index 142ced4..d2181f0 100644 (file)
--- a/plugins/opencvlux/opencvluxplugin.cpp
+++ b/plugins/opencvlux/opencvluxplugin.cpp
@@ -26,6 +26,10 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 #include <opencv/ocl/ocl.hpp>
 #endif
 
+#ifdef CUDA
+#include <opencv2/gpu/gpu.hpp>
+#endif
+
 using namespace std;
 
 #include "debugout.h"
@@ -43,6 +47,7 @@ OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string>
        shared->threaded = false;
        shared->kinect = false;
        shared->useOpenCl = false;
+       shared->useCuda = false;
 
        shared->fps=30;
        device="0";
@@ -94,15 +99,42 @@ OpenCvLuxPlugin::OpenCvLuxPlugin(AbstractRoutingEngine* re, map<string, string>
                shared->useOpenCl = config["opencl"] == "true";
        }
 
+       if(config.find("cuda") != config.end())
+       {
+               shared->useCuda = config["cuda"] == "true";
+       }
+
 
 #ifdef OPENCL
-       if(useOpenCl)
+       if(shared->useOpenCl)
        {
                std::vector<cv::ocl::Info> info;
                cv::ocl::getDevice(info);
        }
 #endif
 
+#ifdef CUDA
+       if(shared->useCuda)
+       {
+               int devices = cv::gpu::getCudaEnabledDeviceCount();
+               DebugOut()<<"There are "<<devices<<" CUDA devices on this system"<<endl;
+               if(devices)
+               {
+                       DebugOut()<<"We will use 0 as the default device"<<endl;
+                       cv::gpu::DeviceInfo info(0);
+                       DebugOut()<<"Cuda Device Name: "<<info.name()<<endl;
+                       DebugOut()<<"Version: "<<info.majorVersion()<<"major"<<info.minorVersion()<<"minor"<<endl;
+                       DebugOut()<<"Streaming processor count: "<<info.multiProcessorCount()<<endl;
+                       cv::gpu::setDevice(0);
+               }
+               else
+               {
+                       DebugOut(DebugOut::Warning)<<"No CUDA device found.  Disabling CUDA."<<endl;
+                       shared->useCuda = false;
+               }
+       }
+#endif
+
 }
 
 
@@ -172,7 +204,6 @@ PropertyList OpenCvLuxPlugin::supported()
 {
        PropertyList props;
        props.push_back(VehicleProperty::ExteriorBrightness);
-
        
        return props;
 }
@@ -225,6 +256,24 @@ static uint evalImage(cv::Mat qImg, OpenCvLuxPlugin::Shared *shared)
                cv::ocl::meanStdDev(qImg, avgPixelIntensity, stdDev);
 #endif
        }
+       else if(shared->useCuda)
+       {
+#ifdef CUDA
+               cv::gpu::GpuMat src(qImg), dest;
+               cv::gpu::cvtColor(src, dest, CV_BGR2GRAY);
+               cv::Scalar stdDev;
+               try
+               {
+
+                       cv::gpu::meanStdDev(dest, avgPixelIntensity, stdDev);
+               }
+               catch(...)
+               {
+                       DebugOut(DebugOut::Error)<<"CUDA pixel intensity calculation failed."<<endl;
+               }
+
+#endif
+       }
        else
        {
                avgPixelIntensity = cv::mean(qImg);