--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Modified by Seunghoon Park(pclove1@gmail.com)
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of the copyright holders may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+
+using namespace std;
+using namespace cv;
+using namespace cv::ocl;
+
+#if !defined (HAVE_OPENCL)
+
+// void cv::ocl::HoughLines(const oclMat&, oclMat&, float, float, int, bool, int) { throw_nogpu(); }
+// void cv::ocl::HoughLines(const oclMat&, oclMat&, HoughLinesBuf&, float, float, int, bool, int) { throw_nogpu(); }
+// void cv::ocl::HoughLinesDownload(const oclMat&, OutputArray, OutputArray) { throw_nogpu(); }
+
+void cv::ocl::HoughCircles(const oclMat&, oclMat&, int, float, float, int, int, int, int, int) { throw_nogpu(); }
+void cv::ocl::HoughCircles(const oclMat&, oclMat&, HoughCirclesBuf&, int, float, float, int, int, int, int, int) { throw_nogpu(); }
+void cv::ocl::HoughCirclesDownload(const oclMat&, OutputArray) { throw_nogpu(); }
+
+// Ptr<GeneralizedHough_GPU> cv::ocl::GeneralizedHough_GPU::create(int) { throw_nogpu(); return Ptr<GeneralizedHough_GPU>(); }
+// cv::ocl::GeneralizedHough_GPU::~GeneralizedHough_GPU() {}
+// void cv::ocl::GeneralizedHough_GPU::setTemplate(const oclMat&, int, Point) { throw_nogpu(); }
+// void cv::ocl::GeneralizedHough_GPU::setTemplate(const oclMat&, const oclMat&, const oclMat&, Point) { throw_nogpu(); }
+// void cv::ocl::GeneralizedHough_GPU::detect(const oclMat&, oclMat&, int) { throw_nogpu(); }
+// void cv::ocl::GeneralizedHough_GPU::detect(const oclMat&, const oclMat&, const oclMat&, oclMat&) { throw_nogpu(); }
+// void cv::ocl::GeneralizedHough_GPU::download(const oclMat&, OutputArray, OutputArray) { throw_nogpu(); }
+// void cv::ocl::GeneralizedHough_GPU::release() {}
+
+#else /* !defined (HAVE_OPENCL) */
+
+namespace cv { namespace ocl
+{
+ int buildPointList_gpu(const oclMat& src, unsigned int* list);
+
+ ///////////////////////////OpenCL kernel strings///////////////////////////
+ extern const char *hough;
+}}
+
+
+
+//////////////////////////////////////////////////////////
+// common functions
+
+namespace cv { namespace ocl
+{
+ int buildPointList_gpu(const oclMat& src, unsigned int* list)
+ {
+ const int PIXELS_PER_THREAD = 16;
+
+ // void* counterPtr;
+ // cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+ // cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) );
+
+ int totalCount = 0;
+ int err = CL_SUCCESS;
+ cl_mem counter = clCreateBuffer(src.clCxt->impl->clContext,
+ CL_MEM_COPY_HOST_PTR, // CL_MEM_READ_WRITE,
+ sizeof(int),
+ &totalCount, // NULL,
+ &err);
+ openCLSafeCall(err);
+ // openCLSafeCall(clEnqueueWriteBuffer(src.clCxt->impl->clCmdQueue, counter, CL_TRUE, 0, sizeof(int), &totalCount, 0, 0, 0));
+
+ // const dim3 block(32, 4);
+ // const dim3 grid(divUp(src.cols, block.x * PIXELS_PER_THREAD), divUp(src.rows, block.y));
+
+ const size_t blkSizeX = 32;
+ const size_t blkSizeY = 4;
+ size_t localThreads[3] = { blkSizeX, blkSizeY, 1 };
+
+ const int PIXELS_PER_BLOCK = blkSizeX * PIXELS_PER_THREAD;
+ const size_t glbSizeX = src.cols % (PIXELS_PER_BLOCK) == 0 ? src.cols : (src.cols / PIXELS_PER_BLOCK + 1) * PIXELS_PER_BLOCK;
+ const size_t glbSizeY = src.rows % blkSizeY == 0 ? src.rows : (src.rows / blkSizeY + 1) * blkSizeY;
+ size_t globalThreads[3] = { glbSizeX, glbSizeY, 1 };
+
+ // cudaSafeCall( cudaFuncSetCacheConfig(buildPointList<PIXELS_PER_THREAD>, cudaFuncCachePreferShared) );
+
+ // buildPointList<PIXELS_PER_THREAD><<<grid, block>>>(src, list);
+ // cudaSafeCall( cudaGetLastError() );
+ // cudaSafeCall( cudaDeviceSynchronize() );
+ vector<pair<size_t , const void *> > args;
+ args.push_back( make_pair( sizeof(cl_mem) , (void *)&src.data ));
+ args.push_back( make_pair( sizeof(cl_int) , (void *)&src.cols ));
+ args.push_back( make_pair( sizeof(cl_int) , (void *)&src.rows ));
+ args.push_back( make_pair( sizeof(cl_int) , (void *)&src.step ));
+ args.push_back( make_pair( sizeof(cl_mem) , (void *)&list ));
+ args.push_back( make_pair( sizeof(cl_mem) , (void *)&counter ));
+
+ openCLExecuteKernel(src.clCxt, &hough, "buildPointList", globalThreads, localThreads, args, -1, -1);
+ // int totalCount;
+ // cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+ openCLSafeCall(clEnqueueReadBuffer(src.clCxt->impl->clCmdQueue, counter, CL_TRUE, 0, sizeof(int), &totalCount, 0, NULL, NULL));
+ openCLSafeCall(clReleaseMemObject(counter));
+
+ return totalCount;
+ }
+}}
+
+//////////////////////////////////////////////////////////
+// HoughLines
+
+// namespace cv { namespace ocl { namespace device
+// {
+// namespace hough
+// {
+// void linesAccum_gpu(const unsigned int* list, int count, PtrStepSzi accum, float rho, float theta, size_t sharedMemPerBlock, bool has20);
+// int linesGetResult_gpu(PtrStepSzi accum, float2* out, int* votes, int maxSize, float rho, float theta, int threshold, bool doSort);
+// }
+// }}}
+
+// void cv::ocl::HoughLines(const oclMat& src, oclMat& lines, float rho, float theta, int threshold, bool doSort, int maxLines)
+// {
+// HoughLinesBuf buf;
+// HoughLines(src, lines, buf, rho, theta, threshold, doSort, maxLines);
+// }
+
+// void cv::ocl::HoughLines(const oclMat& src, oclMat& lines, HoughLinesBuf& buf, float rho, float theta, int threshold, bool doSort, int maxLines)
+// {
+// using namespace cv::ocl::device::hough;
+
+// CV_Assert(src.type() == CV_8UC1);
+// CV_Assert(src.cols < std::numeric_limits<unsigned short>::max());
+// CV_Assert(src.rows < std::numeric_limits<unsigned short>::max());
+
+// ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf.list);
+// unsigned int* srcPoints = buf.list.ptr<unsigned int>();
+
+// const int pointsCount = buildPointList_gpu(src, srcPoints);
+// if (pointsCount == 0)
+// {
+// lines.release();
+// return;
+// }
+
+// const int numangle = cvRound(CV_PI / theta);
+// const int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho);
+// CV_Assert(numangle > 0 && numrho > 0);
+
+// ensureSizeIsEnough(numangle + 2, numrho + 2, CV_32SC1, buf.accum);
+// buf.accum.setTo(Scalar::all(0));
+
+// DeviceInfo devInfo;
+// linesAccum_gpu(srcPoints, pointsCount, buf.accum, rho, theta, devInfo.sharedMemPerBlock(), devInfo.supports(FEATURE_SET_COMPUTE_20));
+
+// ensureSizeIsEnough(2, maxLines, CV_32FC2, lines);
+
+// int linesCount = linesGetResult_gpu(buf.accum, lines.ptr<float2>(0), lines.ptr<int>(1), maxLines, rho, theta, threshold, doSort);
+// if (linesCount > 0)
+// lines.cols = linesCount;
+// else
+// lines.release();
+// }
+
+// void cv::ocl::HoughLinesDownload(const oclMat& d_lines, OutputArray h_lines_, OutputArray h_votes_)
+// {
+// if (d_lines.empty())
+// {
+// h_lines_.release();
+// if (h_votes_.needed())
+// h_votes_.release();
+// return;
+// }
+
+// CV_Assert(d_lines.rows == 2 && d_lines.type() == CV_32FC2);
+
+// h_lines_.create(1, d_lines.cols, CV_32FC2);
+// Mat h_lines = h_lines_.getMat();
+// d_lines.row(0).download(h_lines);
+
+// if (h_votes_.needed())
+// {
+// h_votes_.create(1, d_lines.cols, CV_32SC1);
+// Mat h_votes = h_votes_.getMat();
+// oclMat d_votes(1, d_lines.cols, CV_32SC1, const_cast<int*>(d_lines.ptr<int>(1)));
+// d_votes.download(h_votes);
+// }
+// }
+
+//////////////////////////////////////////////////////////
+// HoughCircles
+
+// namespace cv { namespace ocl
+// {
+// namespace hough
+// {
+// void circlesAccumCenters_gpu(const unsigned int* list, int count, PtrStepi dx, PtrStepi dy, PtrStepSzi accum, int minRadius, int maxRadius, float idp);
+// int buildCentersList_gpu(PtrStepSzi accum, unsigned int* centers, int threshold);
+// int circlesAccumRadius_gpu(const unsigned int* centers, int centersCount, const unsigned int* list, int count,
+// float3* circles, int maxCircles, float dp, int minRadius, int maxRadius, int threshold, bool has20);
+// }
+// }}
+
+void cv::ocl::HoughCircles(const oclMat& src, oclMat& circles, int method, float dp, float minDist, int cannyThreshold, int votesThreshold, int minRadius, int maxRadius, int maxCircles)
+{
+ HoughCirclesBuf buf;
+ HoughCircles(src, circles, buf, method, dp, minDist, cannyThreshold, votesThreshold, minRadius, maxRadius, maxCircles);
+}
+
+void cv::ocl::HoughCircles(const oclMat& src, oclMat& circles, HoughCirclesBuf& buf, int method,
+ float dp, float minDist, int cannyThreshold, int votesThreshold, int minRadius, int maxRadius, int maxCircles)
+{
+ CV_Assert(src.type() == CV_8UC1);
+ CV_Assert(src.cols < std::numeric_limits<unsigned short>::max());
+ CV_Assert(src.rows < std::numeric_limits<unsigned short>::max());
+ CV_Assert(method == CV_HOUGH_GRADIENT);
+ CV_Assert(dp > 0);
+ CV_Assert(minRadius > 0 && maxRadius > minRadius);
+ CV_Assert(cannyThreshold > 0);
+ CV_Assert(votesThreshold > 0);
+ CV_Assert(maxCircles > 0);
+
+ const float idp = 1.0f / dp;
+
+ cv::ocl::Canny(src, buf.cannyBuf, buf.edges, std::max(cannyThreshold / 2, 1), cannyThreshold);
+
+ ensureSizeIsEnough(2, src.size().area(), CV_32SC1, buf.list);
+ // unsigned int* srcPoints = buf.list.ptr<unsigned int>(0);
+ unsigned int* srcPoints = (unsigned int*)buf.list.data;
+ // unsigned int* centers = buf.list.ptr<unsigned int>(1);
+ unsigned int* centers = (unsigned int*)buf.list.data + buf.list.step;
+
+ const int pointsCount = buildPointList_gpu(buf.edges, srcPoints);
+ //std::cout << "pointsCount: " << pointsCount << std::endl;
+ if (pointsCount == 0)
+ {
+ circles.release();
+ return;
+ }
+
+ // ensureSizeIsEnough(cvCeil(src.rows * idp) + 2, cvCeil(src.cols * idp) + 2, CV_32SC1, buf.accum);
+ // buf.accum.setTo(Scalar::all(0));
+
+ // circlesAccumCenters_gpu(srcPoints, pointsCount, buf.cannyBuf.dx, buf.cannyBuf.dy, buf.accum, minRadius, maxRadius, idp);
+
+ // int centersCount = buildCentersList_gpu(buf.accum, centers, votesThreshold);
+ // if (centersCount == 0)
+ // {
+ // circles.release();
+ // return;
+ // }
+
+ // if (minDist > 1)
+ // {
+ // cv::AutoBuffer<ushort2> oldBuf_(centersCount);
+ // cv::AutoBuffer<ushort2> newBuf_(centersCount);
+ // int newCount = 0;
+
+ // ushort2* oldBuf = oldBuf_;
+ // ushort2* newBuf = newBuf_;
+
+ // cudaSafeCall( cudaMemcpy(oldBuf, centers, centersCount * sizeof(ushort2), cudaMemcpyDeviceToHost) );
+
+ // const int cellSize = cvRound(minDist);
+ // const int gridWidth = (src.cols + cellSize - 1) / cellSize;
+ // const int gridHeight = (src.rows + cellSize - 1) / cellSize;
+
+ // std::vector< std::vector<ushort2> > grid(gridWidth * gridHeight);
+
+ // const float minDist2 = minDist * minDist;
+
+ // for (int i = 0; i < centersCount; ++i)
+ // {
+ // ushort2 p = oldBuf[i];
+
+ // bool good = true;
+
+ // int xCell = static_cast<int>(p.x / cellSize);
+ // int yCell = static_cast<int>(p.y / cellSize);
+
+ // int x1 = xCell - 1;
+ // int y1 = yCell - 1;
+ // int x2 = xCell + 1;
+ // int y2 = yCell + 1;
+
+ // // boundary check
+ // x1 = std::max(0, x1);
+ // y1 = std::max(0, y1);
+ // x2 = std::min(gridWidth - 1, x2);
+ // y2 = std::min(gridHeight - 1, y2);
+
+ // for (int yy = y1; yy <= y2; ++yy)
+ // {
+ // for (int xx = x1; xx <= x2; ++xx)
+ // {
+ // vector<ushort2>& m = grid[yy * gridWidth + xx];
+
+ // for(size_t j = 0; j < m.size(); ++j)
+ // {
+ // float dx = (float)(p.x - m[j].x);
+ // float dy = (float)(p.y - m[j].y);
+
+ // if (dx * dx + dy * dy < minDist2)
+ // {
+ // good = false;
+ // goto break_out;
+ // }
+ // }
+ // }
+ // }
+
+ // break_out:
+
+ // if(good)
+ // {
+ // grid[yCell * gridWidth + xCell].push_back(p);
+
+ // newBuf[newCount++] = p;
+ // }
+ // }
+
+ // cudaSafeCall( cudaMemcpy(centers, newBuf, newCount * sizeof(unsigned int), cudaMemcpyHostToDevice) );
+ // centersCount = newCount;
+ // }
+
+ // ensureSizeIsEnough(1, maxCircles, CV_32FC3, circles);
+
+ // DeviceInfo devInfo;
+ // const int circlesCount = circlesAccumRadius_gpu(centers, centersCount, srcPoints, pointsCount, circles.ptr<float3>(), maxCircles,
+ // dp, minRadius, maxRadius, votesThreshold, devInfo.supports(FEATURE_SET_COMPUTE_20));
+
+ // if (circlesCount > 0)
+ // circles.cols = circlesCount;
+ // else
+ // circles.release();
+}
+
+void cv::ocl::HoughCirclesDownload(const oclMat& d_circles, cv::OutputArray h_circles_)
+{
+ if (d_circles.empty())
+ {
+ h_circles_.release();
+ return;
+ }
+
+ CV_Assert(d_circles.rows == 1 && d_circles.type() == CV_32FC3);
+
+ h_circles_.create(1, d_circles.cols, CV_32FC3);
+ Mat h_circles = h_circles_.getMat();
+ d_circles.download(h_circles);
+}
+
+#endif /* !defined (HAVE_OPENCL) */
--- /dev/null
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+// By downloading, copying, installing or using the software you agree to this license.
+// If you do not agree to this license, do not download, install,
+// copy or use the software.
+//
+//
+// License Agreement
+// For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+// * Redistribution's of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+//
+// * Redistribution's in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+//
+// * The name of the copyright holders may not be used to endorse or promote products
+// derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or bpied warranties, including, but not limited to, the bpied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#pragma OPENCL EXTENSION cl_khr_global_int32_base_atomics : enable
+#pragma OPENCL EXTENSION cl_khr_local_int32_base_atomics : enable
+
+////////////////////////////////////////////////////////////////////////
+// buildPointList
+
+#define PIXELS_PER_THREAD 16
+
+__kernel void buildPointList(__global const uchar* src,
+ int cols,
+ int rows,
+ int step,
+ __global unsigned int* list,
+ __global int* counter)
+{
+ __local unsigned int s_queues[4][32 * PIXELS_PER_THREAD];
+ __local int s_qsize[4];
+ __local int s_globStart[4];
+
+ const int x = get_group_id(0) * get_local_size(0) * PIXELS_PER_THREAD + get_local_id(0);
+ const int y = get_global_id(1);
+
+ if (get_local_id(0) == 0)
+ s_qsize[get_local_id(1)] = 0;
+ barrier(CLK_LOCAL_MEM_FENCE);
+
+ if (y < rows)
+ {
+ // fill the queue
+ __global const uchar* srcRow = &src[y * step];
+ for (int i = 0, xx = x; i < PIXELS_PER_THREAD && xx < cols; ++i, xx += get_local_size(0))
+ {
+ if (srcRow[xx])
+ {
+ const unsigned int val = (y << 16) | xx;
+ const int qidx = atomic_add(&s_qsize[get_local_id(1)], 1);
+ s_queues[get_local_id(1)][qidx] = val;
+ }
+ }
+ }
+
+ barrier(CLK_LOCAL_MEM_FENCE);
+
+ // let one work-item reserve the space required in the global list
+ if (get_local_id(0) == 0 && get_local_id(1) == 0)
+ {
+ // find how many items are stored in each list
+ int totalSize = 0;
+ for (int i = 0; i < get_local_size(1); ++i)
+ {
+ s_globStart[i] = totalSize;
+ totalSize += s_qsize[i];
+ }
+
+ // calculate the offset in the global list
+ const int globalOffset = atomic_add(counter, totalSize);
+ for (int i = 0; i < get_local_size(1); ++i)
+ s_globStart[i] += globalOffset;
+ }
+
+ barrier(CLK_GLOBAL_MEM_FENCE);
+
+ // copy local queues to global queue
+ const int qsize = s_qsize[get_local_id(1)];
+ int gidx = s_globStart[get_local_id(1)] + get_local_id(0);
+ for(int i = get_local_id(0); i < qsize; i += get_local_size(0), gidx += get_local_size(0))
+ list[gidx] = s_queues[get_local_id(1)][i];
+}
+
+////////////////////////////////////////////////////////////////////////
+// circlesAccumCenters
+
+// __global__ void circlesAccumCenters(const unsigned int* list, const int count, const PtrStepi dx, const PtrStepi dy,
+// PtrStepi accum, const int width, const int height, const int minRadius, const int maxRadius, const float idp)
+// {
+// const int SHIFT = 10;
+// const int ONE = 1 << SHIFT;
+
+// const int tid = blockIdx.x * blockDim.x + threadIdx.x;
+
+// if (tid >= count)
+// return;
+
+// const unsigned int val = list[tid];
+
+// const int x = (val & 0xFFFF);
+// const int y = (val >> 16) & 0xFFFF;
+
+// const int vx = dx(y, x);
+// const int vy = dy(y, x);
+
+// if (vx == 0 && vy == 0)
+// return;
+
+// const float mag = ::sqrtf(vx * vx + vy * vy);
+
+// const int x0 = __float2int_rn((x * idp) * ONE);
+// const int y0 = __float2int_rn((y * idp) * ONE);
+
+// int sx = __float2int_rn((vx * idp) * ONE / mag);
+// int sy = __float2int_rn((vy * idp) * ONE / mag);
+
+// // Step from minRadius to maxRadius in both directions of the gradient
+// for (int k1 = 0; k1 < 2; ++k1)
+// {
+// int x1 = x0 + minRadius * sx;
+// int y1 = y0 + minRadius * sy;
+
+// for (int r = minRadius; r <= maxRadius; x1 += sx, y1 += sy, ++r)
+// {
+// const int x2 = x1 >> SHIFT;
+// const int y2 = y1 >> SHIFT;
+
+// if (x2 < 0 || x2 >= width || y2 < 0 || y2 >= height)
+// break;
+
+// ::atomicAdd(accum.ptr(y2 + 1) + x2 + 1, 1);
+// }
+
+// sx = -sx;
+// sy = -sy;
+// }
+// }
+
+// void circlesAccumCenters_gpu(const unsigned int* list, int count, PtrStepi dx, PtrStepi dy, PtrStepSzi accum, int minRadius, int maxRadius, float idp)
+// {
+// const dim3 block(256);
+// const dim3 grid(divUp(count, block.x));
+
+// cudaSafeCall( cudaFuncSetCacheConfig(circlesAccumCenters, cudaFuncCachePreferL1) );
+
+// circlesAccumCenters<<<grid, block>>>(list, count, dx, dy, accum, accum.cols - 2, accum.rows - 2, minRadius, maxRadius, idp);
+// cudaSafeCall( cudaGetLastError() );
+
+// cudaSafeCall( cudaDeviceSynchronize() );
+// }
+
+// ////////////////////////////////////////////////////////////////////////
+// // buildCentersList
+
+// __global__ void buildCentersList(const PtrStepSzi accum, unsigned int* centers, const int threshold)
+// {
+// const int x = blockIdx.x * blockDim.x + threadIdx.x;
+// const int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+// if (x < accum.cols - 2 && y < accum.rows - 2)
+// {
+// const int top = accum(y, x + 1);
+
+// const int left = accum(y + 1, x);
+// const int cur = accum(y + 1, x + 1);
+// const int right = accum(y + 1, x + 2);
+
+// const int bottom = accum(y + 2, x + 1);
+
+// if (cur > threshold && cur > top && cur >= bottom && cur > left && cur >= right)
+// {
+// const unsigned int val = (y << 16) | x;
+// const int idx = ::atomicAdd(&g_counter, 1);
+// centers[idx] = val;
+// }
+// }
+// }
+
+// int buildCentersList_gpu(PtrStepSzi accum, unsigned int* centers, int threshold)
+// {
+// void* counterPtr;
+// cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+
+// cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) );
+
+// const dim3 block(32, 8);
+// const dim3 grid(divUp(accum.cols - 2, block.x), divUp(accum.rows - 2, block.y));
+
+// cudaSafeCall( cudaFuncSetCacheConfig(buildCentersList, cudaFuncCachePreferL1) );
+
+// buildCentersList<<<grid, block>>>(accum, centers, threshold);
+// cudaSafeCall( cudaGetLastError() );
+
+// cudaSafeCall( cudaDeviceSynchronize() );
+
+// int totalCount;
+// cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+
+// return totalCount;
+// }
+
+// ////////////////////////////////////////////////////////////////////////
+// // circlesAccumRadius
+
+// __global__ void circlesAccumRadius(const unsigned int* centers, const unsigned int* list, const int count,
+// float3* circles, const int maxCircles, const float dp,
+// const int minRadius, const int maxRadius, const int histSize, const int threshold)
+// {
+// int* smem = DynamicSharedMem<int>();
+
+// for (int i = threadIdx.x; i < histSize + 2; i += blockDim.x)
+// smem[i] = 0;
+// __syncthreads();
+
+// unsigned int val = centers[blockIdx.x];
+
+// float cx = (val & 0xFFFF);
+// float cy = (val >> 16) & 0xFFFF;
+
+// cx = (cx + 0.5f) * dp;
+// cy = (cy + 0.5f) * dp;
+
+// for (int i = threadIdx.x; i < count; i += blockDim.x)
+// {
+// val = list[i];
+
+// const int x = (val & 0xFFFF);
+// const int y = (val >> 16) & 0xFFFF;
+
+// const float rad = ::sqrtf((cx - x) * (cx - x) + (cy - y) * (cy - y));
+// if (rad >= minRadius && rad <= maxRadius)
+// {
+// const int r = __float2int_rn(rad - minRadius);
+
+// Emulation::smem::atomicAdd(&smem[r + 1], 1);
+// }
+// }
+
+// __syncthreads();
+
+// for (int i = threadIdx.x; i < histSize; i += blockDim.x)
+// {
+// const int curVotes = smem[i + 1];
+
+// if (curVotes >= threshold && curVotes > smem[i] && curVotes >= smem[i + 2])
+// {
+// const int ind = ::atomicAdd(&g_counter, 1);
+// if (ind < maxCircles)
+// circles[ind] = make_float3(cx, cy, i + minRadius);
+// }
+// }
+// }
+
+// int circlesAccumRadius_gpu(const unsigned int* centers, int centersCount, const unsigned int* list, int count,
+// float3* circles, int maxCircles, float dp, int minRadius, int maxRadius, int threshold, bool has20)
+// {
+// void* counterPtr;
+// cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) );
+
+// cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) );
+
+// const dim3 block(has20 ? 1024 : 512);
+// const dim3 grid(centersCount);
+
+// const int histSize = maxRadius - minRadius + 1;
+// size_t smemSize = (histSize + 2) * sizeof(int);
+
+// circlesAccumRadius<<<grid, block, smemSize>>>(centers, list, count, circles, maxCircles, dp, minRadius, maxRadius, histSize, threshold);
+// cudaSafeCall( cudaGetLastError() );
+
+// cudaSafeCall( cudaDeviceSynchronize() );
+
+// int totalCount;
+// cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) );
+
+// totalCount = ::min(totalCount, maxCircles);
+
+// return totalCount;
+// }
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