2a6fb2867e
Made all STL usages explicit to be able automatically find all usages of particular class or function.
404 lines
17 KiB
C++
404 lines
17 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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using namespace cv;
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using namespace cv::ocl;
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#if !defined (HAVE_OPENCL)
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void cv::ocl::HoughCircles(const oclMat&, oclMat&, int, float, float, int, int, int, int, int) { throw_nogpu(); }
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void cv::ocl::HoughCircles(const oclMat&, oclMat&, HoughCirclesBuf&, int, float, float, int, int, int, int, int) { throw_nogpu(); }
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void cv::ocl::HoughCirclesDownload(const oclMat&, OutputArray) { throw_nogpu(); }
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#else /* !defined (HAVE_OPENCL) */
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#define MUL_UP(a, b) ((a)/(b)+1)*(b)
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namespace cv { namespace ocl {
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///////////////////////////OpenCL kernel strings///////////////////////////
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extern const char *imgproc_hough;
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}}
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//////////////////////////////////////////////////////////
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// common functions
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namespace
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{
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int buildPointList_gpu(const oclMat& src, oclMat& list)
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{
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const int PIXELS_PER_THREAD = 16;
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int totalCount = 0;
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int err = CL_SUCCESS;
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cl_mem counter = clCreateBuffer(src.clCxt->impl->clContext,
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CL_MEM_COPY_HOST_PTR,
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sizeof(int),
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&totalCount,
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&err);
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openCLSafeCall(err);
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const size_t blkSizeX = 32;
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const size_t blkSizeY = 4;
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size_t localThreads[3] = { blkSizeX, blkSizeY, 1 };
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const int PIXELS_PER_BLOCK = blkSizeX * PIXELS_PER_THREAD;
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const size_t glbSizeX = src.cols % (PIXELS_PER_BLOCK) == 0 ? src.cols : MUL_UP(src.cols, PIXELS_PER_BLOCK);
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const size_t glbSizeY = src.rows % blkSizeY == 0 ? src.rows : MUL_UP(src.rows, blkSizeY);
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size_t globalThreads[3] = { glbSizeX, glbSizeY, 1 };
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std::vector<std::pair<size_t , const void *> > args;
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&src.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&src.cols ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&src.rows ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&src.step ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&list.data ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&counter ));
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openCLExecuteKernel(src.clCxt, &imgproc_hough, "buildPointList", globalThreads, localThreads, args, -1, -1);
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openCLSafeCall(clEnqueueReadBuffer(src.clCxt->impl->clCmdQueue, counter, CL_TRUE, 0, sizeof(int), &totalCount, 0, NULL, NULL));
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openCLSafeCall(clReleaseMemObject(counter));
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return totalCount;
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}
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}
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//////////////////////////////////////////////////////////
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// HoughCircles
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namespace
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{
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void circlesAccumCenters_gpu(const oclMat& list, int count, const oclMat& dx, const oclMat& dy, oclMat& accum, int minRadius, int maxRadius, float idp)
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{
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const size_t blkSizeX = 256;
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size_t localThreads[3] = { 256, 1, 1 };
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const size_t glbSizeX = count % blkSizeX == 0 ? count : MUL_UP(count, blkSizeX);
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size_t globalThreads[3] = { glbSizeX, 1, 1 };
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const int width = accum.cols - 2;
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const int height = accum.rows - 2;
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std::vector<std::pair<size_t , const void *> > args;
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&list.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&count ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&dx.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&dx.step ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&dy.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&dy.step ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&accum.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&accum.step ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&width ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&height ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&minRadius));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&maxRadius));
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args.push_back( std::make_pair( sizeof(cl_float), (void *)&idp));
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openCLExecuteKernel(accum.clCxt, &imgproc_hough, "circlesAccumCenters", globalThreads, localThreads, args, -1, -1);
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}
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int buildCentersList_gpu(const oclMat& accum, oclMat& centers, int threshold)
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{
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int totalCount = 0;
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int err = CL_SUCCESS;
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cl_mem counter = clCreateBuffer(accum.clCxt->impl->clContext,
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CL_MEM_COPY_HOST_PTR,
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sizeof(int),
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&totalCount,
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&err);
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openCLSafeCall(err);
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const size_t blkSizeX = 32;
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const size_t blkSizeY = 8;
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size_t localThreads[3] = { blkSizeX, blkSizeY, 1 };
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const size_t glbSizeX = (accum.cols - 2) % blkSizeX == 0 ? accum.cols - 2 : MUL_UP(accum.cols - 2, blkSizeX);
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const size_t glbSizeY = (accum.rows - 2) % blkSizeY == 0 ? accum.rows - 2 : MUL_UP(accum.rows - 2, blkSizeY);
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size_t globalThreads[3] = { glbSizeX, glbSizeY, 1 };
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std::vector<std::pair<size_t , const void *> > args;
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&accum.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&accum.cols ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&accum.rows ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&accum.step ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)¢ers.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&threshold ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&counter ));
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openCLExecuteKernel(accum.clCxt, &imgproc_hough, "buildCentersList", globalThreads, localThreads, args, -1, -1);
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openCLSafeCall(clEnqueueReadBuffer(accum.clCxt->impl->clCmdQueue, counter, CL_TRUE, 0, sizeof(int), &totalCount, 0, NULL, NULL));
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openCLSafeCall(clReleaseMemObject(counter));
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return totalCount;
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}
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int circlesAccumRadius_gpu(const oclMat& centers, int centersCount,
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const oclMat& list, int count,
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oclMat& circles, int maxCircles,
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float dp, int minRadius, int maxRadius, int threshold)
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{
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int totalCount = 0;
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int err = CL_SUCCESS;
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cl_mem counter = clCreateBuffer(circles.clCxt->impl->clContext,
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CL_MEM_COPY_HOST_PTR,
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sizeof(int),
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&totalCount,
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&err);
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openCLSafeCall(err);
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const size_t blkSizeX = circles.clCxt->impl->maxWorkGroupSize;
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size_t localThreads[3] = { blkSizeX, 1, 1 };
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const size_t glbSizeX = centersCount * blkSizeX;
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size_t globalThreads[3] = { glbSizeX, 1, 1 };
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const int histSize = maxRadius - minRadius + 1;
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size_t smemSize = (histSize + 2) * sizeof(int);
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std::vector<std::pair<size_t , const void *> > args;
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)¢ers.data ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&list.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&count ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&circles.data ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&maxCircles ));
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args.push_back( std::make_pair( sizeof(cl_float), (void *)&dp ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&minRadius ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&maxRadius ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&histSize ));
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args.push_back( std::make_pair( sizeof(cl_int) , (void *)&threshold ));
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args.push_back( std::make_pair( smemSize , (void *)NULL ));
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args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&counter ));
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CV_Assert(circles.offset == 0);
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openCLExecuteKernel(circles.clCxt, &imgproc_hough, "circlesAccumRadius", globalThreads, localThreads, args, -1, -1);
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openCLSafeCall(clEnqueueReadBuffer(circles.clCxt->impl->clCmdQueue, counter, CL_TRUE, 0, sizeof(int), &totalCount, 0, NULL, NULL));
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openCLSafeCall(clReleaseMemObject(counter));
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totalCount = std::min(totalCount, maxCircles);
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return totalCount;
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}
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} // namespace
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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)
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{
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HoughCirclesBuf buf;
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HoughCircles(src, circles, buf, method, dp, minDist, cannyThreshold, votesThreshold, minRadius, maxRadius, maxCircles);
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}
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void cv::ocl::HoughCircles(const oclMat& src, oclMat& circles, HoughCirclesBuf& buf, int method,
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float dp, float minDist, int cannyThreshold, int votesThreshold, int minRadius, int maxRadius, int maxCircles)
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{
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CV_Assert(src.type() == CV_8UC1);
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CV_Assert(src.cols < std::numeric_limits<unsigned short>::max());
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CV_Assert(src.rows < std::numeric_limits<unsigned short>::max());
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CV_Assert(method == CV_HOUGH_GRADIENT);
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CV_Assert(dp > 0);
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CV_Assert(minRadius > 0 && maxRadius > minRadius);
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CV_Assert(cannyThreshold > 0);
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CV_Assert(votesThreshold > 0);
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CV_Assert(maxCircles > 0);
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const float idp = 1.0f / dp;
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cv::ocl::Canny(src, buf.cannyBuf, buf.edges, std::max(cannyThreshold / 2, 1), cannyThreshold);
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ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf.srcPoints);
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const int pointsCount = buildPointList_gpu(buf.edges, buf.srcPoints);
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if (pointsCount == 0)
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{
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circles.release();
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return;
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}
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ensureSizeIsEnough(cvCeil(src.rows * idp) + 2, cvCeil(src.cols * idp) + 2, CV_32SC1, buf.accum);
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buf.accum.setTo(Scalar::all(0));
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circlesAccumCenters_gpu(buf.srcPoints, pointsCount, buf.cannyBuf.dx, buf.cannyBuf.dy, buf.accum, minRadius, maxRadius, idp);
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ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf.centers);
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int centersCount = buildCentersList_gpu(buf.accum, buf.centers, votesThreshold);
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if (centersCount == 0)
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{
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circles.release();
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return;
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}
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if (minDist > 1)
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{
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cv::AutoBuffer<unsigned int> oldBuf_(centersCount);
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cv::AutoBuffer<unsigned int> newBuf_(centersCount);
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int newCount = 0;
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unsigned int* oldBuf = oldBuf_;
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unsigned int* newBuf = newBuf_;
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openCLSafeCall(clEnqueueReadBuffer(buf.centers.clCxt->impl->clCmdQueue,
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(cl_mem)buf.centers.data,
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CL_TRUE,
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0,
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centersCount * sizeof(unsigned int),
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oldBuf,
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0,
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NULL,
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NULL));
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const int cellSize = cvRound(minDist);
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const int gridWidth = (src.cols + cellSize - 1) / cellSize;
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const int gridHeight = (src.rows + cellSize - 1) / cellSize;
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std::vector< std::vector<unsigned int> > grid(gridWidth * gridHeight);
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const float minDist2 = minDist * minDist;
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for (int i = 0; i < centersCount; ++i)
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{
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unsigned int p = oldBuf[i];
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const int px = p & 0xFFFF;
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const int py = (p >> 16) & 0xFFFF;
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bool good = true;
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int xCell = static_cast<int>(px / cellSize);
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int yCell = static_cast<int>(py / cellSize);
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int x1 = xCell - 1;
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int y1 = yCell - 1;
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int x2 = xCell + 1;
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int y2 = yCell + 1;
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// boundary check
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x1 = std::max(0, x1);
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y1 = std::max(0, y1);
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x2 = std::min(gridWidth - 1, x2);
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y2 = std::min(gridHeight - 1, y2);
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for (int yy = y1; yy <= y2; ++yy)
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{
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for (int xx = x1; xx <= x2; ++xx)
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{
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std::vector<unsigned int>& m = grid[yy * gridWidth + xx];
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for(size_t j = 0; j < m.size(); ++j)
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{
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const int val = m[j];
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const int jx = val & 0xFFFF;
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const int jy = (val >> 16) & 0xFFFF;
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float dx = (float)(px - jx);
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float dy = (float)(py - jy);
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if (dx * dx + dy * dy < minDist2)
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{
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good = false;
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goto break_out;
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}
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}
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}
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}
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break_out:
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if(good)
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{
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grid[yCell * gridWidth + xCell].push_back(p);
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newBuf[newCount++] = p;
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}
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}
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openCLSafeCall(clEnqueueWriteBuffer(buf.centers.clCxt->impl->clCmdQueue,
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(cl_mem)buf.centers.data,
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CL_TRUE,
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0,
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newCount * sizeof(unsigned int),
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newBuf,
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0,
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0,
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0));
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centersCount = newCount;
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}
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ensureSizeIsEnough(1, maxCircles, CV_32FC3, circles);
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const int circlesCount = circlesAccumRadius_gpu(buf.centers, centersCount,
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buf.srcPoints, pointsCount,
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circles, maxCircles,
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dp, minRadius, maxRadius, votesThreshold);
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if (circlesCount > 0)
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circles.cols = circlesCount;
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else
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circles.release();
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}
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void cv::ocl::HoughCirclesDownload(const oclMat& d_circles, cv::OutputArray h_circles_)
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{
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// FIX ME: garbage values are copied!
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CV_Error(CV_StsNotImplemented, "HoughCirclesDownload is not implemented");
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if (d_circles.empty())
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{
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h_circles_.release();
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return;
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}
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CV_Assert(d_circles.rows == 1 && d_circles.type() == CV_32FC3);
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h_circles_.create(1, d_circles.cols, CV_32FC3);
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Mat h_circles = h_circles_.getMat();
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d_circles.download(h_circles);
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}
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#endif /* !defined (HAVE_OPENCL) */
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