diff --git a/modules/cudaobjdetect/src/cuda/hog.cu b/modules/cudaobjdetect/src/cuda/hog.cu index c8609e7b03..d7dbd4a3d6 100644 --- a/modules/cudaobjdetect/src/cuda/hog.cu +++ b/modules/cudaobjdetect/src/cuda/hog.cu @@ -52,6 +52,7 @@ namespace cv { namespace cuda { namespace device namespace hog { + __constant__ int cnbins; __constant__ int cblock_stride_x; __constant__ int cblock_stride_y; @@ -99,27 +100,28 @@ namespace cv { namespace cuda { namespace device void set_up_constants(int nbins, int block_stride_x, int block_stride_y, - int nblocks_win_x, int nblocks_win_y, int ncells_block_x, int ncells_block_y) + int nblocks_win_x, int nblocks_win_y, int ncells_block_x, int ncells_block_y, + const cudaStream_t& stream) { - cudaSafeCall( cudaMemcpyToSymbol(cnbins, &nbins, sizeof(nbins)) ); - cudaSafeCall( cudaMemcpyToSymbol(cblock_stride_x, &block_stride_x, sizeof(block_stride_x)) ); - cudaSafeCall( cudaMemcpyToSymbol(cblock_stride_y, &block_stride_y, sizeof(block_stride_y)) ); - cudaSafeCall( cudaMemcpyToSymbol(cnblocks_win_x, &nblocks_win_x, sizeof(nblocks_win_x)) ); - cudaSafeCall( cudaMemcpyToSymbol(cnblocks_win_y, &nblocks_win_y, sizeof(nblocks_win_y)) ); - cudaSafeCall( cudaMemcpyToSymbol(cncells_block_x, &ncells_block_x, sizeof(ncells_block_x)) ); - cudaSafeCall( cudaMemcpyToSymbol(cncells_block_y, &ncells_block_y, sizeof(ncells_block_y)) ); + cudaSafeCall(cudaMemcpyToSymbolAsync(cnbins, &nbins, sizeof(nbins), 0, cudaMemcpyHostToDevice, stream)); + cudaSafeCall(cudaMemcpyToSymbolAsync(cblock_stride_x, &block_stride_x, sizeof(block_stride_x), 0, cudaMemcpyHostToDevice, stream)); + cudaSafeCall(cudaMemcpyToSymbolAsync(cblock_stride_y, &block_stride_y, sizeof(block_stride_y), 0, cudaMemcpyHostToDevice, stream)); + cudaSafeCall(cudaMemcpyToSymbolAsync(cnblocks_win_x, &nblocks_win_x, sizeof(nblocks_win_x), 0, cudaMemcpyHostToDevice, stream)); + cudaSafeCall(cudaMemcpyToSymbolAsync(cnblocks_win_y, &nblocks_win_y, sizeof(nblocks_win_y), 0, cudaMemcpyHostToDevice, stream)); + cudaSafeCall(cudaMemcpyToSymbolAsync(cncells_block_x, &ncells_block_x, sizeof(ncells_block_x), 0, cudaMemcpyHostToDevice, stream)); + cudaSafeCall(cudaMemcpyToSymbolAsync(cncells_block_y, &ncells_block_y, sizeof(ncells_block_y), 0, cudaMemcpyHostToDevice, stream)); int block_hist_size = nbins * ncells_block_x * ncells_block_y; - cudaSafeCall( cudaMemcpyToSymbol(cblock_hist_size, &block_hist_size, sizeof(block_hist_size)) ); + cudaSafeCall(cudaMemcpyToSymbolAsync(cblock_hist_size, &block_hist_size, sizeof(block_hist_size), 0, cudaMemcpyHostToDevice, stream)); int block_hist_size_2up = power_2up(block_hist_size); - cudaSafeCall( cudaMemcpyToSymbol(cblock_hist_size_2up, &block_hist_size_2up, sizeof(block_hist_size_2up)) ); + cudaSafeCall(cudaMemcpyToSymbolAsync(cblock_hist_size_2up, &block_hist_size_2up, sizeof(block_hist_size_2up), 0, cudaMemcpyHostToDevice, stream)); int descr_width = nblocks_win_x * block_hist_size; - cudaSafeCall( cudaMemcpyToSymbol(cdescr_width, &descr_width, sizeof(descr_width)) ); + cudaSafeCall(cudaMemcpyToSymbolAsync(cdescr_width, &descr_width, sizeof(descr_width), 0, cudaMemcpyHostToDevice, stream)); int descr_size = descr_width * nblocks_win_y; - cudaSafeCall( cudaMemcpyToSymbol(cdescr_size, &descr_size, sizeof(descr_size)) ); + cudaSafeCall(cudaMemcpyToSymbolAsync(cdescr_size, &descr_size, sizeof(descr_size), 0, cudaMemcpyHostToDevice, stream)); } @@ -233,7 +235,8 @@ namespace cv { namespace cuda { namespace device void compute_hists(int nbins, int block_stride_x, int block_stride_y, int height, int width, const PtrStepSzf& grad, const PtrStepSzb& qangle, float sigma, float* block_hists, - int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y) + int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y, + const cudaStream_t& stream) { const int ncells_block = ncells_block_x * ncells_block_y; const int patch_side = cell_size_x / 4; @@ -259,20 +262,15 @@ namespace cv { namespace cuda { namespace device int final_hists_size = (nbins * ncells_block * nblocks) * sizeof(float); int smem = hists_size + final_hists_size; if (nblocks == 4) - compute_hists_kernel_many_blocks<4><<>>( - img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); + compute_hists_kernel_many_blocks<4><<>>(img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); else if (nblocks == 3) - compute_hists_kernel_many_blocks<3><<>>( - img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); + compute_hists_kernel_many_blocks<3><<>>(img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); else if (nblocks == 2) - compute_hists_kernel_many_blocks<2><<>>( - img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); + compute_hists_kernel_many_blocks<2><<>>(img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); else - compute_hists_kernel_many_blocks<1><<>>( - img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); - cudaSafeCall( cudaGetLastError() ); + compute_hists_kernel_many_blocks<1><<>>(img_block_width, grad, qangle, scale, block_hists, cell_size_x, patch_size, block_patch_size, threads_cell, threads_block, half_cell_size); - cudaSafeCall( cudaDeviceSynchronize() ); + cudaSafeCall( cudaGetLastError() ); } @@ -348,7 +346,8 @@ namespace cv { namespace cuda { namespace device void normalize_hists(int nbins, int block_stride_x, int block_stride_y, - int height, int width, float* block_hists, float threshold, int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y) + int height, int width, float* block_hists, float threshold, int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y, + const cudaStream_t& stream) { const int nblocks = 1; @@ -361,21 +360,19 @@ namespace cv { namespace cuda { namespace device dim3 grid(divUp(img_block_width, nblocks), img_block_height); if (nthreads == 32) - normalize_hists_kernel_many_blocks<32, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); + normalize_hists_kernel_many_blocks<32, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); else if (nthreads == 64) - normalize_hists_kernel_many_blocks<64, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); + normalize_hists_kernel_many_blocks<64, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); else if (nthreads == 128) - normalize_hists_kernel_many_blocks<128, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); + normalize_hists_kernel_many_blocks<128, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); else if (nthreads == 256) - normalize_hists_kernel_many_blocks<256, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); + normalize_hists_kernel_many_blocks<256, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); else if (nthreads == 512) - normalize_hists_kernel_many_blocks<512, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); + normalize_hists_kernel_many_blocks<512, nblocks><<>>(block_hist_size, img_block_width, block_hists, threshold); else CV_Error(cv::Error::StsBadArg, "normalize_hists: histogram's size is too big, try to decrease number of bins"); cudaSafeCall( cudaGetLastError() ); - - cudaSafeCall( cudaDeviceSynchronize() ); } @@ -581,7 +578,8 @@ namespace cv { namespace cuda { namespace device void extract_descrs_by_cols(int win_height, int win_width, int block_stride_y, int block_stride_x, int win_stride_y, int win_stride_x, int height, int width, float* block_hists, int cell_size_x, int ncells_block_x, - PtrStepSzf descriptors) + PtrStepSzf descriptors, + const cudaStream_t& stream) { const int nthreads = 256; @@ -593,11 +591,9 @@ namespace cv { namespace cuda { namespace device dim3 grid(img_win_width, img_win_height); int img_block_width = (width - ncells_block_x * cell_size_x + block_stride_x) / block_stride_x; - extract_descrs_by_cols_kernel<<>>( - img_block_width, win_block_stride_x, win_block_stride_y, block_hists, descriptors); - cudaSafeCall( cudaGetLastError() ); + extract_descrs_by_cols_kernel<<>>(img_block_width, win_block_stride_x, win_block_stride_y, block_hists, descriptors); - cudaSafeCall( cudaDeviceSynchronize() ); + cudaSafeCall( cudaGetLastError() ); } //---------------------------------------------------------------------------- @@ -708,7 +704,8 @@ namespace cv { namespace cuda { namespace device void compute_gradients_8UC4(int nbins, int height, int width, const PtrStepSzb& img, - float angle_scale, PtrStepSzf grad, PtrStepSzb qangle, bool correct_gamma) + float angle_scale, PtrStepSzf grad, PtrStepSzb qangle, bool correct_gamma, + const cudaStream_t& stream) { (void)nbins; const int nthreads = 256; @@ -717,13 +714,11 @@ namespace cv { namespace cuda { namespace device dim3 gdim(divUp(width, bdim.x), divUp(height, bdim.y)); if (correct_gamma) - compute_gradients_8UC4_kernel<<>>(height, width, img, angle_scale, grad, qangle); + compute_gradients_8UC4_kernel<<>>(height, width, img, angle_scale, grad, qangle); else - compute_gradients_8UC4_kernel<<>>(height, width, img, angle_scale, grad, qangle); + compute_gradients_8UC4_kernel<<>>(height, width, img, angle_scale, grad, qangle); cudaSafeCall( cudaGetLastError() ); - - cudaSafeCall( cudaDeviceSynchronize() ); } template diff --git a/modules/cudaobjdetect/src/hog.cpp b/modules/cudaobjdetect/src/hog.cpp index 3d3b5d336f..a9b4404a67 100644 --- a/modules/cudaobjdetect/src/hog.cpp +++ b/modules/cudaobjdetect/src/hog.cpp @@ -66,15 +66,18 @@ namespace cv { namespace cuda { namespace device { void set_up_constants(int nbins, int block_stride_x, int block_stride_y, int nblocks_win_x, int nblocks_win_y, - int ncells_block_x, int ncells_block_y); + int ncells_block_x, int ncells_block_y, + const cudaStream_t& stream); void compute_hists(int nbins, int block_stride_x, int block_stride_y, int height, int width, const PtrStepSzf& grad, const PtrStepSzb& qangle, float sigma, float* block_hists, - int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y); + int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y, + const cudaStream_t& stream); void normalize_hists(int nbins, int block_stride_x, int block_stride_y, - int height, int width, float* block_hists, float threshold, int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y); + int height, int width, float* block_hists, float threshold, int cell_size_x, int cell_size_y, int ncells_block_x, int ncells_block_y, + const cudaStream_t& stream); void classify_hists(int win_height, int win_width, int block_stride_y, int block_stride_x, int win_stride_y, int win_stride_x, int height, @@ -90,12 +93,14 @@ namespace cv { namespace cuda { namespace device cv::cuda::PtrStepSzf descriptors); void extract_descrs_by_cols(int win_height, int win_width, int block_stride_y, int block_stride_x, int win_stride_y, int win_stride_x, int height, int width, float* block_hists, int cell_size_x, int ncells_block_x, - cv::cuda::PtrStepSzf descriptors); + cv::cuda::PtrStepSzf descriptors, + const cudaStream_t& stream); void compute_gradients_8UC1(int nbins, int height, int width, const cv::cuda::PtrStepSzb& img, float angle_scale, cv::cuda::PtrStepSzf grad, cv::cuda::PtrStepSzb qangle, bool correct_gamma); void compute_gradients_8UC4(int nbins, int height, int width, const cv::cuda::PtrStepSzb& img, - float angle_scale, cv::cuda::PtrStepSzf grad, cv::cuda::PtrStepSzb qangle, bool correct_gamma); + float angle_scale, cv::cuda::PtrStepSzf grad, cv::cuda::PtrStepSzb qangle, bool correct_gamma, + const cudaStream_t& stream); void resize_8UC1(const cv::cuda::PtrStepSzb& src, cv::cuda::PtrStepSzb dst); void resize_8UC4(const cv::cuda::PtrStepSzb& src, cv::cuda::PtrStepSzb dst); @@ -182,8 +187,8 @@ namespace private: int getTotalHistSize(Size img_size) const; - void computeBlockHistograms(const GpuMat& img, GpuMat& block_hists); - void computeGradient(const GpuMat& img, GpuMat& grad, GpuMat& qangle); + void computeBlockHistograms(const GpuMat& img, GpuMat& block_hists, Stream& stream); +// void computeGradient(const GpuMat& img, GpuMat& grad, GpuMat& qangle, Stream& stream); // Coefficients of the separating plane float free_coef_; @@ -310,7 +315,7 @@ namespace BufferPool pool(Stream::Null()); GpuMat block_hists = pool.getBuffer(1, getTotalHistSize(img.size()), CV_32FC1); - computeBlockHistograms(img, block_hists); + computeBlockHistograms(img, block_hists, Stream::Null()); Size wins_per_img = numPartsWithin(img.size(), win_size_, win_stride_); @@ -458,19 +463,16 @@ namespace CV_Assert( img.type() == CV_8UC1 || img.type() == CV_8UC4 ); CV_Assert( win_stride_.width % block_stride_.width == 0 && win_stride_.height % block_stride_.height == 0 ); - CV_Assert( !stream ); - - BufferPool pool(stream); - - GpuMat block_hists = pool.getBuffer(1, getTotalHistSize(img.size()), CV_32FC1); - computeBlockHistograms(img, block_hists); + BufferPool pool(stream); + GpuMat block_hists = pool.getBuffer(1, getTotalHistSize(img.size()), CV_32FC1); + Size wins_per_img = numPartsWithin(img.size(), win_size_, win_stride_); + Size blocks_per_win = numPartsWithin(win_size_, block_size_, block_stride_); const size_t block_hist_size = getBlockHistogramSize(); - Size blocks_per_win = numPartsWithin(win_size_, block_size_, block_stride_); - Size wins_per_img = numPartsWithin(img.size(), win_size_, win_stride_); - _descriptors.create(wins_per_img.area(), static_cast(blocks_per_win.area() * block_hist_size), CV_32FC1); - GpuMat descriptors = _descriptors.getGpuMat(); + GpuMat descriptors = _descriptors.getGpuMat(); + + computeBlockHistograms(img, block_hists, stream); switch (descr_format_) { @@ -490,7 +492,8 @@ namespace img.rows, img.cols, block_hists.ptr(), cell_size_.width, cells_per_block_.width, - descriptors); + descriptors, + StreamAccessor::getStream(stream)); break; default: CV_Error(cv::Error::StsBadArg, "Unknown descriptor format"); @@ -504,18 +507,25 @@ namespace return static_cast(block_hist_size * blocks_per_img.area()); } - void HOG_Impl::computeBlockHistograms(const GpuMat& img, GpuMat& block_hists) + void HOG_Impl::computeBlockHistograms(const GpuMat& img, GpuMat& block_hists, Stream& stream) { + BufferPool pool(stream); cv::Size blocks_per_win = numPartsWithin(win_size_, block_size_, block_stride_); - hog::set_up_constants(nbins_, block_stride_.width, block_stride_.height, blocks_per_win.width, blocks_per_win.height, cells_per_block_.width, cells_per_block_.height); + float angleScale = static_cast(nbins_ / CV_PI); + GpuMat grad = pool.getBuffer(img.size(), CV_32FC2); + GpuMat qangle = pool.getBuffer(img.size(), CV_8UC2); - BufferPool pool(Stream::Null()); + hog::set_up_constants(nbins_, block_stride_.width, block_stride_.height, blocks_per_win.width, blocks_per_win.height, cells_per_block_.width, cells_per_block_.height, StreamAccessor::getStream(stream)); - GpuMat grad = pool.getBuffer(img.size(), CV_32FC2); - GpuMat qangle = pool.getBuffer(img.size(), CV_8UC2); - computeGradient(img, grad, qangle); - - block_hists.create(1, getTotalHistSize(img.size()), CV_32FC1); + switch (img.type()) + { + case CV_8UC1: + hog::compute_gradients_8UC1(nbins_, img.rows, img.cols, img, angleScale, grad, qangle, gamma_correction_); + break; + case CV_8UC4: + hog::compute_gradients_8UC4(nbins_, img.rows, img.cols, img, angleScale, grad, qangle, gamma_correction_, StreamAccessor::getStream(stream)); + break; + } hog::compute_hists(nbins_, block_stride_.width, block_stride_.height, @@ -524,7 +534,8 @@ namespace (float)getWinSigma(), block_hists.ptr(), cell_size_.width, cell_size_.height, - cells_per_block_.width, cells_per_block_.height); + cells_per_block_.width, cells_per_block_.height, + StreamAccessor::getStream(stream)); hog::normalize_hists(nbins_, block_stride_.width, block_stride_.height, @@ -532,24 +543,8 @@ namespace block_hists.ptr(), (float)threshold_L2hys_, cell_size_.width, cell_size_.height, - cells_per_block_.width, cells_per_block_.height); - } - - void HOG_Impl::computeGradient(const GpuMat& img, GpuMat& grad, GpuMat& qangle) - { - grad.create(img.size(), CV_32FC2); - qangle.create(img.size(), CV_8UC2); - - float angleScale = (float)(nbins_ / CV_PI); - switch (img.type()) - { - case CV_8UC1: - hog::compute_gradients_8UC1(nbins_, img.rows, img.cols, img, angleScale, grad, qangle, gamma_correction_); - break; - case CV_8UC4: - hog::compute_gradients_8UC4(nbins_, img.rows, img.cols, img, angleScale, grad, qangle, gamma_correction_); - break; - } + cells_per_block_.width, cells_per_block_.height, + StreamAccessor::getStream(stream)); } }