From 5f00a1ba9075f3bc8d41f233c77226c856dc3db5 Mon Sep 17 00:00:00 2001
From: Kevron Rees <tripzero.kev@gmail.com>
Date: Fri, 6 Sep 2013 00:00:38 -0700
Subject: [PATCH] added cuda support for opencv plugin

---
 examples/opencvdbusconfig             |  1 +
 examples/opencvluxconfig              |  1 +
 plugins/examplesink.cpp               |  1 +
 plugins/opencvlux/CMakeLists.txt      |  9 ++++++
 plugins/opencvlux/README              |  9 ++++++
 plugins/opencvlux/opencvluxplugin.cpp | 53 +++++++++++++++++++++++++++++++++--
 plugins/opencvlux/opencvluxplugin.h   |  1 +
 7 files changed, 73 insertions(+), 2 deletions(-)

diff --git a/examples/opencvdbusconfig b/examples/opencvdbusconfig
index 4cc9e4f..9b326b6 100644
--- a/examples/opencvdbusconfig
+++ b/examples/opencvdbusconfig
@@ -4,6 +4,7 @@
 			"name" : "OpenCV LUX",
 			"path" : "/usr/lib/automotive-message-broker/opencvluxplugin.so",
 			"threaded" : "true",
+			"cuda" : "true",
 			"fps" : "30",
 			"pixelLowerBound" : "18",
 			"pixelUpperBound" : "255",
diff --git a/examples/opencvluxconfig b/examples/opencvluxconfig
index d0c01b1..27b6cd7 100644
--- a/examples/opencvluxconfig
+++ b/examples/opencvluxconfig
@@ -7,6 +7,7 @@
 			"threaded" : "true",
 			"kinect" : "false",
 			"opencl" : "false",
+			"cuda" : "false",
 			"pixelLowerBound" : "0",
 			"pixelUpperBound" : "255",
 			"fps" : "30",
diff --git a/plugins/examplesink.cpp b/plugins/examplesink.cpp
index 5c1fb0a..ef05d16 100644
--- a/plugins/examplesink.cpp
+++ b/plugins/examplesink.cpp
@@ -36,6 +36,7 @@ ExampleSink::ExampleSink(AbstractRoutingEngine* engine, map<string, string> conf
 	routingEngine->subscribeToProperty(VehicleProperty::VehicleSpeed, this);
 	routingEngine->subscribeToProperty(VehicleProperty::Latitude, this);
 	routingEngine->subscribeToProperty(VehicleProperty::Longitude, this);
+	routingEngine->subscribeToProperty(VehicleProperty::ExteriorBrightness, this);
 
 	supportedChanged(engine->supported());
 }
diff --git a/plugins/opencvlux/CMakeLists.txt b/plugins/opencvlux/CMakeLists.txt
index c965c62..17ebedb 100644
--- a/plugins/opencvlux/CMakeLists.txt
+++ b/plugins/opencvlux/CMakeLists.txt
@@ -18,6 +18,15 @@ else(ocl)
 	message(STATUS "no opencv ocl headers found (ocl.hpp). no opencl support")
 endif(ocl)
 
+find_path(cuda gpu.hpp PATH_SUFFIXES opencv/gpu opencv2/gpu DOC "opencv cuda headers")
+
+if(cuda)
+	message(STATUS "found opencv cuda headers.  enabling cuda support. ${cuda}")
+	add_definitions(-DCUDA)
+else(cuda)
+	message(STATUS "no opencv cuda headers found.  no cuda support")
+endif(cuda)
+
 include_directories(${CMAKE_SOURCE_DIR}/lib ${include_dirs} ${OpenCV_INCLUDE_DIRS})
 
 set(opencvluxplugin_headers opencvluxplugin.h)
diff --git a/plugins/opencvlux/README b/plugins/opencvlux/README
index 76cad19..4722213 100644
--- a/plugins/opencvlux/README
+++ b/plugins/opencvlux/README
@@ -74,3 +74,12 @@ NOTE: This option has not been tested because at implementation, OpenCL 1.2 was
 on-hand.
 
 Default: "false"
+
+"cuda"
+Use nvidia cuda gpu processing to process image data.  This will only work if OpenCV was compiled with
+cuda support.
+
+NOTE: this does not appear to have a noticable impact on processing given the way we are using it.
+this does however make memory usage explode.
+
+Default: "false"
diff --git a/plugins/opencvlux/opencvluxplugin.cpp b/plugins/opencvlux/opencvluxplugin.cpp
index 142ced4..d2181f0 100644
--- 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);
diff --git a/plugins/opencvlux/opencvluxplugin.h b/plugins/opencvlux/opencvluxplugin.h
index f59a2a4..2d0af7b 100644
--- a/plugins/opencvlux/opencvluxplugin.h
+++ b/plugins/opencvlux/opencvluxplugin.h
@@ -42,6 +42,7 @@ public:
 		bool threaded;
 		bool kinect;
 		bool useOpenCl;
+        bool useCuda;
 		int pixelLowerBound;
 		int pixelUpperBound;
 	};
-- 
2.7.4