From: Suenghoon Park Date: Fri, 14 Dec 2012 08:25:46 +0000 (-0500) Subject: finished ocl::HoughCircles X-Git-Tag: submit/tizen_ivi/20141117.190038~2^2~1203^2~10 X-Git-Url: http://review.tizen.org/git/?a=commitdiff_plain;h=13c44dd3189d36eb83c8734cba876164073935fb;p=profile%2Fivi%2Fopencv.git finished ocl::HoughCircles --- diff --git a/modules/ocl/include/opencv2/ocl/ocl.hpp b/modules/ocl/include/opencv2/ocl/ocl.hpp index db24b38..ee5e784 100644 --- a/modules/ocl/include/opencv2/ocl/ocl.hpp +++ b/modules/ocl/include/opencv2/ocl/ocl.hpp @@ -833,7 +833,8 @@ namespace cv { oclMat edges; oclMat accum; - oclMat list; + oclMat srcPoints; + oclMat centers; CannyBuf cannyBuf; }; diff --git a/modules/ocl/src/hough.cpp b/modules/ocl/src/hough.cpp index 2adf20e..9c51804 100644 --- a/modules/ocl/src/hough.cpp +++ b/modules/ocl/src/hough.cpp @@ -50,31 +50,29 @@ 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 cv::ocl::GeneralizedHough_GPU::create(int) { throw_nogpu(); return Ptr(); } -// 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); +#define MUL_UP(a, b) ((a)/(b)+1)*(b) +namespace cv { namespace ocl { ///////////////////////////OpenCL kernel strings/////////////////////////// - extern const char *hough; + extern const char *imgproc_hough; + + namespace hough + { + int buildPointList_gpu(const oclMat& src, oclMat& list); + void circlesAccumCenters_gpu(const unsigned int* list, int count, const oclMat& dx, const oclMat& dy, oclMat& accum, int minRadius, int maxRadius, float idp); + int buildCentersList_gpu(const oclMat& accum, oclMat& centers, int threshold); + + int circlesAccumRadius_gpu(const oclMat& centers, int centersCount, + const oclMat& list, int count, + oclMat& circles, int maxCircles, + float dp, int minRadius, int maxRadius, int threshold); + } }} @@ -82,9 +80,9 @@ namespace cv { namespace ocl ////////////////////////////////////////////////////////// // common functions -namespace cv { namespace ocl +namespace cv { namespace ocl { namespace hough { - int buildPointList_gpu(const oclMat& src, unsigned int* list) + int buildPointList_gpu(const oclMat& src, oclMat& list) { const int PIXELS_PER_THREAD = 16; @@ -102,8 +100,8 @@ namespace cv { namespace ocl 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; + const size_t glbSizeX = src.cols % (PIXELS_PER_BLOCK) == 0 ? src.cols : MUL_UP(src.cols, PIXELS_PER_BLOCK); + const size_t glbSizeY = src.rows % blkSizeY == 0 ? src.rows : MUL_UP(src.rows, blkSizeY); size_t globalThreads[3] = { glbSizeX, glbSizeY, 1 }; vector > args; @@ -111,110 +109,141 @@ namespace cv { namespace ocl 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 *)&list.data )); args.push_back( make_pair( sizeof(cl_mem) , (void *)&counter )); - openCLExecuteKernel(src.clCxt, &hough, "buildPointList", globalThreads, localThreads, args, -1, -1); + openCLExecuteKernel(src.clCxt, &imgproc_hough, "buildPointList", globalThreads, localThreads, args, -1, -1); 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::max()); -// CV_Assert(src.rows < std::numeric_limits::max()); - -// ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf.list); -// unsigned int* srcPoints = buf.list.ptr(); - -// 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(0), lines.ptr(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(d_lines.ptr(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); -// } -// }} +namespace cv { namespace ocl { namespace hough +{ + void circlesAccumCenters_gpu(const oclMat& list, int count, const oclMat& dx, const oclMat& dy, oclMat& accum, int minRadius, int maxRadius, float idp) + { + const size_t blkSizeX = 256; + size_t localThreads[3] = { 256, 1, 1 }; + + const size_t glbSizeX = count % blkSizeX == 0 ? count : MUL_UP(count, blkSizeX); + size_t globalThreads[3] = { glbSizeX, 1, 1 }; + + const int width = accum.cols - 2; + const int height = accum.rows - 2; + + vector > args; + args.push_back( make_pair( sizeof(cl_mem) , (void *)&list.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&count )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)&dx.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&dx.step )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)&dy.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&dy.step )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)&accum.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&accum.step )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&width )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&height )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&minRadius)); + args.push_back( make_pair( sizeof(cl_int) , (void *)&maxRadius)); + args.push_back( make_pair( sizeof(cl_float), (void *)&idp)); + + openCLExecuteKernel(accum.clCxt, &imgproc_hough, "circlesAccumCenters", globalThreads, localThreads, args, -1, -1); + } + + int buildCentersList_gpu(const oclMat& accum, oclMat& centers, int threshold) + { + int totalCount = 0; + int err = CL_SUCCESS; + cl_mem counter = clCreateBuffer(accum.clCxt->impl->clContext, + CL_MEM_COPY_HOST_PTR, + sizeof(int), + &totalCount, + &err); + openCLSafeCall(err); + + const size_t blkSizeX = 32; + const size_t blkSizeY = 8; + size_t localThreads[3] = { blkSizeX, blkSizeY, 1 }; + + const size_t glbSizeX = (accum.cols - 2) % blkSizeX == 0 ? accum.cols - 2 : MUL_UP(accum.cols - 2, blkSizeX); + const size_t glbSizeY = (accum.rows - 2) % blkSizeY == 0 ? accum.rows - 2 : MUL_UP(accum.rows - 2, blkSizeY); + size_t globalThreads[3] = { glbSizeX, glbSizeY, 1 }; + + vector > args; + args.push_back( make_pair( sizeof(cl_mem) , (void *)&accum.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&accum.cols )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&accum.rows )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&accum.step )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)¢ers.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&threshold )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)&counter )); + + openCLExecuteKernel(accum.clCxt, &imgproc_hough, "buildCentersList", globalThreads, localThreads, args, -1, -1); + + openCLSafeCall(clEnqueueReadBuffer(accum.clCxt->impl->clCmdQueue, counter, CL_TRUE, 0, sizeof(int), &totalCount, 0, NULL, NULL)); + openCLSafeCall(clReleaseMemObject(counter)); + + return totalCount; + } + + int circlesAccumRadius_gpu(const oclMat& centers, int centersCount, + const oclMat& list, int count, + oclMat& circles, int maxCircles, + float dp, int minRadius, int maxRadius, int threshold) + { + int totalCount = 0; + int err = CL_SUCCESS; + cl_mem counter = clCreateBuffer(circles.clCxt->impl->clContext, + CL_MEM_COPY_HOST_PTR, + sizeof(int), + &totalCount, + &err); + openCLSafeCall(err); + + const size_t blkSizeX = circles.clCxt->impl->maxWorkGroupSize; + size_t localThreads[3] = { blkSizeX, 1, 1 }; + + const size_t glbSizeX = centersCount * blkSizeX; + size_t globalThreads[3] = { glbSizeX, 1, 1 }; + + const int histSize = maxRadius - minRadius + 1; + size_t smemSize = (histSize + 2) * sizeof(int); + + vector > args; + args.push_back( make_pair( sizeof(cl_mem) , (void *)¢ers.data )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)&list.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&count )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)&circles.data )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&maxCircles )); + args.push_back( make_pair( sizeof(cl_float), (void *)&dp )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&minRadius )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&maxRadius )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&histSize )); + args.push_back( make_pair( sizeof(cl_int) , (void *)&threshold )); + args.push_back( make_pair( smemSize , (void *)NULL )); + args.push_back( make_pair( sizeof(cl_mem) , (void *)&counter )); + + CV_Assert(circles.offset == 0); + + openCLExecuteKernel(circles.clCxt, &imgproc_hough, "circlesAccumRadius", globalThreads, localThreads, args, -1, -1); + + openCLSafeCall(clEnqueueReadBuffer(circles.clCxt->impl->clCmdQueue, counter, CL_TRUE, 0, sizeof(int), &totalCount, 0, NULL, NULL)); + + openCLSafeCall(clReleaseMemObject(counter)); + + totalCount = ::min(totalCount, maxCircles); + + return totalCount; + } + + +}}} // namespace cv { namespace ocl { namespace hough + + 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) { @@ -239,119 +268,140 @@ void cv::ocl::HoughCircles(const oclMat& src, oclMat& circles, HoughCirclesBuf& 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(0); - unsigned int* srcPoints = (unsigned int*)buf.list.data; - // unsigned int* centers = buf.list.ptr(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; + ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf.srcPoints); + const int pointsCount = hough::buildPointList_gpu(buf.edges, buf.srcPoints); 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; - // } + ensureSizeIsEnough(cvCeil(src.rows * idp) + 2, cvCeil(src.cols * idp) + 2, CV_32SC1, buf.accum); + buf.accum.setTo(Scalar::all(0)); - // if (minDist > 1) - // { - // cv::AutoBuffer oldBuf_(centersCount); - // cv::AutoBuffer newBuf_(centersCount); - // int newCount = 0; + hough::circlesAccumCenters_gpu(buf.srcPoints, pointsCount, buf.cannyBuf.dx, buf.cannyBuf.dy, buf.accum, minRadius, maxRadius, idp); - // 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 > 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(p.x / cellSize); - // int yCell = static_cast(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& 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); + ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf.centers); + int centersCount = hough::buildCentersList_gpu(buf.accum, buf.centers, votesThreshold); + if (centersCount == 0) + { + circles.release(); + return; + } - // newBuf[newCount++] = p; - // } - // } + if (minDist > 1) + { + cv::AutoBuffer oldBuf_(centersCount); + cv::AutoBuffer newBuf_(centersCount); + int newCount = 0; + + unsigned int* oldBuf = oldBuf_; + unsigned int* newBuf = newBuf_; + + openCLSafeCall(clEnqueueReadBuffer(buf.centers.clCxt->impl->clCmdQueue, + (cl_mem)buf.centers.data, + CL_TRUE, + 0, + centersCount * sizeof(unsigned int), + oldBuf, + 0, + NULL, + NULL)); - // cudaSafeCall( cudaMemcpy(centers, newBuf, newCount * sizeof(unsigned int), cudaMemcpyHostToDevice) ); - // centersCount = newCount; - // } + + 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 > grid(gridWidth * gridHeight); + + const float minDist2 = minDist * minDist; + + for (int i = 0; i < centersCount; ++i) + { + unsigned int p = oldBuf[i]; + const int px = p & 0xFFFF; + const int py = (p >> 16) & 0xFFFF; + + bool good = true; + + int xCell = static_cast(px / cellSize); + int yCell = static_cast(py / 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& m = grid[yy * gridWidth + xx]; + + for(size_t j = 0; j < m.size(); ++j) + { + const int val = m[j]; + const int jx = val & 0xFFFF; + const int jy = (val >> 16) & 0xFFFF; + + float dx = (float)(px - jx); + float dy = (float)(py - jy); + + 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; + } + } + + openCLSafeCall(clEnqueueWriteBuffer(buf.centers.clCxt->impl->clCmdQueue, + (cl_mem)buf.centers.data, + CL_TRUE, + 0, + newCount * sizeof(unsigned int), + newBuf, + 0, + 0, + 0)); + centersCount = newCount; + } - // ensureSizeIsEnough(1, maxCircles, CV_32FC3, circles); + ensureSizeIsEnough(1, maxCircles, CV_32FC3, circles); - // DeviceInfo devInfo; - // const int circlesCount = circlesAccumRadius_gpu(centers, centersCount, srcPoints, pointsCount, circles.ptr(), maxCircles, - // dp, minRadius, maxRadius, votesThreshold, devInfo.supports(FEATURE_SET_COMPUTE_20)); + const int circlesCount = hough::circlesAccumRadius_gpu(buf.centers, centersCount, + buf.srcPoints, pointsCount, + circles, maxCircles, + dp, minRadius, maxRadius, votesThreshold); - // if (circlesCount > 0) - // circles.cols = circlesCount; - // else - // circles.release(); + if (circlesCount > 0) + circles.cols = circlesCount; + else + circles.release(); } void cv::ocl::HoughCirclesDownload(const oclMat& d_circles, cv::OutputArray h_circles_) { + // FIX ME: garbage values are copied! + CV_Error(CV_StsNotImplemented, "HoughCirclesDownload is not implemented"); + if (d_circles.empty()) { h_circles_.release(); diff --git a/modules/ocl/src/kernels/hough.cl b/modules/ocl/src/kernels/hough.cl deleted file mode 100644 index e4eabc6..0000000 --- a/modules/ocl/src/kernels/hough.cl +++ /dev/null @@ -1,307 +0,0 @@ -/*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<<>>(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<<>>(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(); - -// 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<<>>(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; -// } diff --git a/modules/ocl/src/kernels/imgproc_hough.cl b/modules/ocl/src/kernels/imgproc_hough.cl new file mode 100644 index 0000000..42210e3 --- /dev/null +++ b/modules/ocl/src/kernels/imgproc_hough.cl @@ -0,0 +1,282 @@ +/*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 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 + +// TODO: add offset to support ROI +__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 + +// TODO: add offset to support ROI +__kernel void circlesAccumCenters(__global const unsigned int* list, + const int count, + __global const int* dx, + const int dxStep, + __global const int* dy, + const int dyStep, + __global int* accum, + const int accumStep, + const int width, + const int height, + const int minRadius, + const int maxRadius, + const float idp) +{ + const int dxStepInPixel = dxStep / sizeof(int); + const int dyStepInPixel = dyStep / sizeof(int); + const int accumStepInPixel = accumStep / sizeof(int); + + const int SHIFT = 10; + const int ONE = 1 << SHIFT; + + // const int tid = blockIdx.x * blockDim.x + threadIdx.x; + const int wid = get_global_id(0); + + if (wid >= count) + return; + + const unsigned int val = list[wid]; + + const int x = (val & 0xFFFF); + const int y = (val >> 16) & 0xFFFF; + + const int vx = dx[mad24(y, dxStepInPixel, x)]; + const int vy = dy[mad24(y, dyStepInPixel, x)]; + + if (vx == 0 && vy == 0) + return; + + const float mag = sqrt(convert_float(vx * vx + vy * vy)); + + const int x0 = convert_int_rte((x * idp) * ONE); + const int y0 = convert_int_rte((y * idp) * ONE); + + int sx = convert_int_rte((vx * idp) * ONE / mag); + int sy = convert_int_rte((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; + + atomic_add(&accum[mad24(y2+1, accumStepInPixel, x2+1)], 1); + } + + sx = -sx; + sy = -sy; + } +} + +// //////////////////////////////////////////////////////////////////////// +// // buildCentersList + +// TODO: add offset to support ROI +__kernel void buildCentersList(__global const int* accum, + const int accumCols, + const int accumRows, + const int accumStep, + __global unsigned int* centers, + const int threshold, + __global int* counter) +{ + const int accumStepInPixel = accumStep/sizeof(int); + + const int x = get_global_id(0); + const int y = get_global_id(1); + + if (x < accumCols - 2 && y < accumRows - 2) + { + const int top = accum[mad24(y, accumStepInPixel, x + 1)]; + + const int left = accum[mad24(y + 1, accumStepInPixel, x)]; + const int cur = accum[mad24(y + 1, accumStepInPixel, x + 1)]; + const int right = accum[mad24(y + 1, accumStepInPixel, x + 2)]; + + const int bottom = accum[mad24(y + 2, accumStepInPixel, x + 1)];; + + if (cur > threshold && cur > top && cur >= bottom && cur > left && cur >= right) + { + const unsigned int val = (y << 16) | x; + const int idx = atomic_add(counter, 1); + centers[idx] = val; + } + } +} + + +// //////////////////////////////////////////////////////////////////////// +// // circlesAccumRadius + +// TODO: add offset to support ROI +__kernel void circlesAccumRadius(__global const unsigned int* centers, + __global const unsigned int* list, const int count, + __global float4* circles, const int maxCircles, + const float dp, + const int minRadius, const int maxRadius, + const int histSize, + const int threshold, + __local int* smem, + __global int* counter) +{ + for (int i = get_local_id(0); i < histSize + 2; i += get_local_size(0)) + smem[i] = 0; + barrier(CLK_LOCAL_MEM_FENCE); + + unsigned int val = centers[get_group_id(0)]; + + float cx = convert_float(val & 0xFFFF); + float cy = convert_float((val >> 16) & 0xFFFF); + + cx = (cx + 0.5f) * dp; + cy = (cy + 0.5f) * dp; + + for (int i = get_local_id(0); i < count; i += get_local_size(0)) + { + val = list[i]; + + const int x = (val & 0xFFFF); + const int y = (val >> 16) & 0xFFFF; + + const float rad = sqrt((cx - x) * (cx - x) + (cy - y) * (cy - y)); + if (rad >= minRadius && rad <= maxRadius) + { + const int r = convert_int_rte(rad - minRadius); + + atomic_add(&smem[r + 1], 1); + } + } + + barrier(CLK_LOCAL_MEM_FENCE); + + for (int i = get_local_id(0); i < histSize; i += get_local_size(0)) + { + const int curVotes = smem[i + 1]; + + if (curVotes >= threshold && curVotes > smem[i] && curVotes >= smem[i + 2]) + + { + const int ind = atomic_add(counter, 1); + if (ind < maxCircles) + { + circles[ind] = (float4)(cx, cy, convert_float(i + minRadius), 0.0f); + } + } + } +}