From 3703722a7215e2ed371aeb758e4ea9a5354488f9 Mon Sep 17 00:00:00 2001 From: Vladislav Vinogradov Date: Mon, 13 Aug 2012 17:44:23 +0400 Subject: [PATCH] first naive version --- modules/gpu/include/opencv2/gpu/gpu.hpp | 6 ++ modules/gpu/src/cuda/hough.cu | 156 ++++++++++++++++++++++++++++++++ modules/gpu/src/hough.cpp | 105 +++++++++++++++++++++ 3 files changed, 267 insertions(+) create mode 100644 modules/gpu/src/cuda/hough.cu create mode 100644 modules/gpu/src/hough.cpp diff --git a/modules/gpu/include/opencv2/gpu/gpu.hpp b/modules/gpu/include/opencv2/gpu/gpu.hpp index ca9ad89..cb2e688 100644 --- a/modules/gpu/include/opencv2/gpu/gpu.hpp +++ b/modules/gpu/include/opencv2/gpu/gpu.hpp @@ -820,6 +820,12 @@ private: int nLayers_; }; +CV_EXPORTS void HoughLines(const GpuMat& src, GpuMat& lines, float rho, float theta, int threshold, bool doSort = false, int maxLines = 4096); +CV_EXPORTS void HoughLines(const GpuMat& src, GpuMat& lines, GpuMat& accum, float rho, float theta, int threshold, bool doSort = false, int maxLines = 4096); +CV_EXPORTS void HoughLinesTransform(const GpuMat& src, GpuMat& accum, float rho, float theta); +CV_EXPORTS void HoughLinesGet(const GpuMat& accum, GpuMat& lines, float rho, float theta, int threshold, bool doSort = false, int maxLines = 4096); +CV_EXPORTS void HoughLinesDownload(const GpuMat& d_lines, OutputArray h_lines, OutputArray h_voices = noArray()); + ////////////////////////////// Matrix reductions ////////////////////////////// //! computes mean value and standard deviation of all or selected array elements diff --git a/modules/gpu/src/cuda/hough.cu b/modules/gpu/src/cuda/hough.cu new file mode 100644 index 0000000..0a439f4 --- /dev/null +++ b/modules/gpu/src/cuda/hough.cu @@ -0,0 +1,156 @@ +/*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*/ + +#include +#include "opencv2/gpu/device/common.hpp" + +namespace cv { namespace gpu { namespace device +{ + namespace hough + { + __global__ void linesAccum(const DevMem2Db src, PtrStep_ accum, const float theta, const int numangle, const int numrho, const float irho) + { + const int x = blockIdx.x * blockDim.x + threadIdx.x; + const int y = blockIdx.y * blockDim.y + threadIdx.y; + + if (x >= src.cols || y >= src.rows) + return; + + if (src(y, x)) + { + float ang = 0.0f; + for(int n = 0; n < numangle; ++n, ang += theta) + { + float sin_ang; + float cos_ang; + sincosf(ang, &sin_ang, &cos_ang); + + const float tabSin = sin_ang * irho; + const float tabCos = cos_ang * irho; + + int r = __float2int_rn(x * tabCos + y * tabSin); + r += (numrho - 1) / 2; + + atomicInc(accum.ptr(n + 1) + r + 1, (unsigned int)-1); + } + } + } + + void linesAccum_gpu(DevMem2Db src, PtrStep_ accum, float theta, int numangle, int numrho, float irho) + { + const dim3 block(32, 8); + const dim3 grid(divUp(src.cols, block.x), divUp(src.rows, block.y)); + + linesAccum<<>>(src, accum, theta, numangle, numrho, irho); + cudaSafeCall( cudaGetLastError() ); + + cudaSafeCall( cudaDeviceSynchronize() ); + } + + __device__ unsigned int g_counter; + + __global__ void linesGetResult(const DevMem2D_ accum, float2* out, int* voices, const int maxSize, const float threshold, const float theta, const float rho, const int numrho) + { + __shared__ uint smem[8][32]; + + int r = blockIdx.x * (blockDim.x - 2) + threadIdx.x; + int n = blockIdx.y * (blockDim.y - 2) + threadIdx.y; + + if (r >= accum.cols || n >= accum.rows) + return; + + smem[threadIdx.y][threadIdx.x] = accum(n, r); + __syncthreads(); + + r -= 1; + n -= 1; + + if (threadIdx.x == 0 || threadIdx.x == blockDim.x - 1 || threadIdx.y == 0 || threadIdx.y == blockDim.y - 1 || r >= accum.cols - 2 || n >= accum.rows - 2) + return; + + if (smem[threadIdx.y][threadIdx.x] > threshold && + smem[threadIdx.y][threadIdx.x] > smem[threadIdx.y - 1][threadIdx.x] && + smem[threadIdx.y][threadIdx.x] >= smem[threadIdx.y + 1][threadIdx.x] && + smem[threadIdx.y][threadIdx.x] > smem[threadIdx.y][threadIdx.x - 1] && + smem[threadIdx.y][threadIdx.x] >= smem[threadIdx.y][threadIdx.x + 1]) + { + float radius = (r - (numrho - 1) * 0.5f) * rho; + float angle = n * theta; + + const unsigned int ind = atomicInc(&g_counter, (unsigned int)(-1)); + if (ind < maxSize) + { + out[ind] = make_float2(radius, angle); + voices[ind] = smem[threadIdx.y][threadIdx.x]; + } + } + } + + int linesGetResult_gpu(DevMem2D_ accum, float2* out, int* voices, int maxSize, float threshold, float theta, float rho, bool doSort) + { + void* counter_ptr; + cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, g_counter) ); + + cudaSafeCall( cudaMemset(counter_ptr, 0, sizeof(unsigned int)) ); + + const dim3 block(32, 8); + const dim3 grid(divUp(accum.cols, block.x - 2), divUp(accum.rows, block.y - 2)); + + linesGetResult<<>>(accum, out, voices, maxSize, threshold, theta, rho, accum.cols - 2); + cudaSafeCall( cudaGetLastError() ); + + cudaSafeCall( cudaDeviceSynchronize() ); + + uint total_count; + cudaSafeCall( cudaMemcpy(&total_count, counter_ptr, sizeof(uint), cudaMemcpyDeviceToHost) ); + + if (doSort) + { + thrust::device_ptr out_ptr(out); + thrust::device_ptr voices_ptr(voices); + thrust::sort_by_key(voices_ptr, voices_ptr + total_count, out_ptr, thrust::greater()); + } + + return total_count; + } + } +}}} diff --git a/modules/gpu/src/hough.cpp b/modules/gpu/src/hough.cpp new file mode 100644 index 0000000..888c027 --- /dev/null +++ b/modules/gpu/src/hough.cpp @@ -0,0 +1,105 @@ +/*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 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" + +namespace cv { namespace gpu { namespace device +{ + namespace hough + { + void linesAccum_gpu(DevMem2Db src, PtrStep_ accum, float theta, int numangle, int numrho, float irho); + int linesGetResult_gpu(DevMem2D_ accum, float2* out, int* voices, int maxSize, float threshold, float theta, float rho, bool doSort); + } +}}} + +void cv::gpu::HoughLinesTransform(const GpuMat& src, GpuMat& accum, float rho, float theta) +{ + using namespace cv::gpu::device; + + CV_Assert(src.type() == CV_8UC1); + + const int numangle = cvRound(CV_PI / theta); + const int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho); + const float irho = 1.0f / rho; + + accum.create(numangle + 2, numrho + 2, CV_32SC1); + accum.setTo(cv::Scalar::all(0)); + + hough::linesAccum_gpu(src, accum, theta, numangle, numrho, irho); +} + +void cv::gpu::HoughLinesGet(const GpuMat& accum, GpuMat& lines, float rho, float theta, int threshold, bool doSort, int maxLines) +{ + using namespace cv::gpu::device; + + CV_Assert(accum.type() == CV_32SC1); + + lines.create(2, maxLines, CV_32FC2); + lines.cols = hough::linesGetResult_gpu(accum, lines.ptr(0), lines.ptr(1), maxLines, threshold, theta, rho, doSort); +} + +void cv::gpu::HoughLines(const GpuMat& src, GpuMat& lines, float rho, float theta, int threshold, bool doSort, int maxLines) +{ + cv::gpu::GpuMat accum; + HoughLines(src, lines, accum, rho, theta, threshold, doSort, maxLines); +} + +void cv::gpu::HoughLines(const GpuMat& src, GpuMat& lines, GpuMat& accum, float rho, float theta, int threshold, bool doSort, int maxLines) +{ + HoughLinesTransform(src, accum, rho, theta); + HoughLinesGet(accum, lines, rho, theta, threshold, doSort, maxLines); +} + +void cv::gpu::HoughLinesDownload(const GpuMat& d_lines, OutputArray h_lines_, OutputArray h_voices_) +{ + h_lines_.create(1, d_lines.cols, CV_32FC2); + cv::Mat h_lines = h_lines_.getMat(); + d_lines.row(0).download(h_lines); + + if (h_voices_.needed()) + { + h_voices_.create(1, d_lines.cols, CV_32SC1); + cv::Mat h_voices = h_voices_.getMat(); + cv::gpu::GpuMat d_voices(1, d_lines.cols, CV_32SC1, const_cast(d_lines.ptr(1))); + d_voices.download(h_voices); + } +} -- 2.7.4