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Optimization for HoughLinesP

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This commit is contained in:
Alexander Karsakov 2014-10-07 14:57:02 +04:00
parent eaf5a163b1
commit 66a8acfd3d
4 changed files with 37 additions and 40 deletions
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2
modules/cudaimgproc/src/cuda/hough_segments.cu
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@ -117,7 +117,7 @@ namespace cv { namespace cuda { namespace device
if (dir.x < 0) if (dir.x < 0)
dir = -dir; dir = -dir;
} }
else if (pb[1].x == cols - 1 && (pb[0].y >= 0 && pb[0].y < rows)) else if (pb[1].x == cols - 1 && (pb[1].y >= 0 && pb[1].y < rows))
{ {
p0 = pb[1]; p0 = pb[1];
if (dir.x > 0) if (dir.x > 0)

21
modules/imgproc/src/hough.cpp
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@ -221,7 +221,7 @@ HoughLinesSDiv( const Mat& img,
std::vector<hough_index> lst; std::vector<hough_index> lst;
CV_Assert( img.type() == CV_8UC1 ); CV_Assert( img.type() == CV_8UC1 );
CV_Assert( linesMax > 0 && rho > 0 && theta > 0 ); CV_Assert( linesMax > 0 );
threshold = MIN( threshold, 255 ); threshold = MIN( threshold, 255 );
@ -655,6 +655,8 @@ HoughLinesProbabilistic( Mat& image,
#ifdef HAVE_OPENCL #ifdef HAVE_OPENCL
#define OCL_MAX_LINES 4096
static bool ocl_makePointsList(InputArray _src, OutputArray _pointsList, InputOutputArray _counters) static bool ocl_makePointsList(InputArray _src, OutputArray _pointsList, InputOutputArray _counters)
{ {
UMat src = _src.getUMat(); UMat src = _src.getUMat();
@ -702,7 +704,7 @@ static bool ocl_fillAccum(InputArray _pointsList, OutputArray _accum, int total_
if (fillAccumKernel.empty()) if (fillAccumKernel.empty())
return false; return false;
globalThreads[0] = workgroup_size; globalThreads[1] = numangle; globalThreads[0] = workgroup_size; globalThreads[1] = numangle;
fillAccumKernel.args(ocl::KernelArg::ReadOnlyNoSize(pointsList), ocl::KernelArg::WriteOnly(accum), fillAccumKernel.args(ocl::KernelArg::ReadOnlyNoSize(pointsList), ocl::KernelArg::WriteOnlyNoSize(accum),
total_points, irho, (float) theta, numrho, numangle); total_points, irho, (float) theta, numrho, numangle);
return fillAccumKernel.run(2, globalThreads, NULL, false); return fillAccumKernel.run(2, globalThreads, NULL, false);
} }
@ -714,7 +716,7 @@ static bool ocl_fillAccum(InputArray _pointsList, OutputArray _accum, int total_
return false; return false;
localThreads[0] = workgroup_size; localThreads[1] = 1; localThreads[0] = workgroup_size; localThreads[1] = 1;
globalThreads[0] = workgroup_size; globalThreads[1] = numangle+2; globalThreads[0] = workgroup_size; globalThreads[1] = numangle+2;
fillAccumKernel.args(ocl::KernelArg::ReadOnlyNoSize(pointsList), ocl::KernelArg::WriteOnly(accum), fillAccumKernel.args(ocl::KernelArg::ReadOnlyNoSize(pointsList), ocl::KernelArg::WriteOnlyNoSize(accum),
total_points, irho, (float) theta, numrho, numangle); total_points, irho, (float) theta, numrho, numangle);
return fillAccumKernel.run(2, globalThreads, localThreads, false); return fillAccumKernel.run(2, globalThreads, localThreads, false);
} }
@ -731,6 +733,9 @@ static bool ocl_HoughLines(InputArray _src, OutputArray _lines, double rho, doub
if (min_theta < 0 || min_theta > max_theta ) { if (min_theta < 0 || min_theta > max_theta ) {
CV_Error( CV_StsBadArg, "min_theta must fall between 0 and max_theta" ); CV_Error( CV_StsBadArg, "min_theta must fall between 0 and max_theta" );
} }
if (!(rho > 0 && theta > 0)) {
CV_Error( CV_StsBadArg, "rho and theta must be greater 0" );
}
UMat src = _src.getUMat(); UMat src = _src.getUMat();
int numangle = cvRound((max_theta - min_theta) / theta); int numangle = cvRound((max_theta - min_theta) / theta);
@ -759,8 +764,7 @@ static bool ocl_HoughLines(InputArray _src, OutputArray _lines, double rho, doub
if (getLinesKernel.empty()) if (getLinesKernel.empty())
return false; return false;
// TODO: investigate other strategies to choose linesMax int linesMax = threshold > 0 ? min(total_points*numangle/threshold, OCL_MAX_LINES) : OCL_MAX_LINES;
int linesMax = min(total_points*numangle/threshold, 4096);
UMat lines(linesMax, 1, CV_32FC2); UMat lines(linesMax, 1, CV_32FC2);
getLinesKernel.args(ocl::KernelArg::ReadOnly(accum), ocl::KernelArg::WriteOnlyNoSize(lines), getLinesKernel.args(ocl::KernelArg::ReadOnly(accum), ocl::KernelArg::WriteOnlyNoSize(lines),
@ -783,6 +787,10 @@ static bool ocl_HoughLinesP(InputArray _src, OutputArray _lines, double rho, dou
{ {
CV_Assert(_src.type() == CV_8UC1); CV_Assert(_src.type() == CV_8UC1);
if (!(rho > 0 && theta > 0)) {
CV_Error( CV_StsBadArg, "rho and theta must be greater 0" );
}
UMat src = _src.getUMat(); UMat src = _src.getUMat();
int numangle = cvRound(CV_PI / theta); int numangle = cvRound(CV_PI / theta);
int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho); int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho);
@ -809,8 +817,7 @@ static bool ocl_HoughLinesP(InputArray _src, OutputArray _lines, double rho, dou
if (getLinesKernel.empty()) if (getLinesKernel.empty())
return false; return false;
// TODO: investigate other strategies to choose linesMax int linesMax = threshold > 0 ? min(total_points*numangle/threshold, OCL_MAX_LINES) : OCL_MAX_LINES;
int linesMax = min(total_points*numangle/threshold, 4096);
UMat lines(linesMax, 1, CV_32SC4); UMat lines(linesMax, 1, CV_32SC4);
getLinesKernel.args(ocl::KernelArg::ReadOnly(accum), ocl::KernelArg::ReadOnly(src), getLinesKernel.args(ocl::KernelArg::ReadOnly(accum), ocl::KernelArg::ReadOnly(src),

52
modules/imgproc/src/opencl/hough_lines.cl
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@ -5,6 +5,8 @@
// Copyright (C) 2014, Itseez, Inc., all rights reserved. // Copyright (C) 2014, Itseez, Inc., all rights reserved.
// Third party copyrights are property of their respective owners. // Third party copyrights are property of their respective owners.
#define ACCUM(ptr) *((__global int*)(ptr))
#ifdef MAKE_POINTS_LIST #ifdef MAKE_POINTS_LIST
__kernel void make_point_list(__global const uchar * src_ptr, int src_step, int src_offset, int src_rows, int src_cols, __kernel void make_point_list(__global const uchar * src_ptr, int src_step, int src_offset, int src_rows, int src_cols,
@ -25,11 +27,13 @@ __kernel void make_point_list(__global const uchar * src_ptr, int src_step, int
if (y < src_rows) if (y < src_rows)
{ {
y <<= 16;
for (int i=x; i < src_cols; i+=GROUP_SIZE) for (int i=x; i < src_cols; i+=GROUP_SIZE)
{ {
if (src[i]) if (src[i])
{ {
int val = (y << 16) | i; int val = y | i;
int index = atomic_inc(&l_index); int index = atomic_inc(&l_index);
l_points[index] = val; l_points[index] = val;
} }
@ -53,7 +57,7 @@ __kernel void make_point_list(__global const uchar * src_ptr, int src_step, int
#elif defined FILL_ACCUM_GLOBAL #elif defined FILL_ACCUM_GLOBAL
__kernel void fill_accum_global(__global const uchar * list_ptr, int list_step, int list_offset, __kernel void fill_accum_global(__global const uchar * list_ptr, int list_step, int list_offset,
__global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols, __global uchar * accum_ptr, int accum_step, int accum_offset,
int total_points, float irho, float theta, int numrho, int numangle) int total_points, float irho, float theta, int numrho, int numangle)
{ {
int theta_idx = get_global_id(1); int theta_idx = get_global_id(1);
@ -76,7 +80,7 @@ __kernel void fill_accum_global(__global const uchar * list_ptr, int list_step,
const int x = (val & 0xFFFF); const int x = (val & 0xFFFF);
const int y = (val >> 16) & 0xFFFF; const int y = (val >> 16) & 0xFFFF;
int r = convert_int_rte(x * cosVal + y * sinVal) + shift; int r = convert_int_rte(mad(x, cosVal, y * sinVal)) + shift;
atomic_inc(accum + r + 1); atomic_inc(accum + r + 1);
} }
} }
@ -85,7 +89,7 @@ __kernel void fill_accum_global(__global const uchar * list_ptr, int list_step,
#elif defined FILL_ACCUM_LOCAL #elif defined FILL_ACCUM_LOCAL
__kernel void fill_accum_local(__global const uchar * list_ptr, int list_step, int list_offset, __kernel void fill_accum_local(__global const uchar * list_ptr, int list_step, int list_offset,
__global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols, __global uchar * accum_ptr, int accum_step, int accum_offset,
int total_points, float irho, float theta, int numrho, int numangle) int total_points, float irho, float theta, int numrho, int numangle)
{ {
int theta_idx = get_group_id(1); int theta_idx = get_group_id(1);
@ -133,15 +137,13 @@ __kernel void fill_accum_local(__global const uchar * list_ptr, int list_step, i
#elif defined GET_LINES #elif defined GET_LINES
#define ACCUM(ptr) *((__global int*)(ptr))
__kernel void get_lines(__global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols, __kernel void get_lines(__global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols,
__global uchar * lines_ptr, int lines_step, int lines_offset, __global int* lines_index_ptr, __global uchar * lines_ptr, int lines_step, int lines_offset, __global int* lines_index_ptr,
int linesMax, int threshold, float rho, float theta) int linesMax, int threshold, float rho, float theta)
{ {
int x0 = get_global_id(0); int x0 = get_global_id(0);
int y = get_global_id(1); int y = get_global_id(1);
int gl_size = get_global_size(0); int glob_size = get_global_size(0);
if (y < accum_rows-2) if (y < accum_rows-2)
{ {
@ -149,7 +151,7 @@ __kernel void get_lines(__global uchar * accum_ptr, int accum_step, int accum_of
__global float2* lines = (__global float2*)(lines_ptr + lines_offset); __global float2* lines = (__global float2*)(lines_ptr + lines_offset);
__global int* lines_index = lines_index_ptr + 1; __global int* lines_index = lines_index_ptr + 1;
for (int x=x0; x<accum_cols-2; x+=gl_size) for (int x=x0; x<accum_cols-2; x+=glob_size)
{ {
int curVote = ACCUM(accum); int curVote = ACCUM(accum);
@ -167,15 +169,13 @@ __kernel void get_lines(__global uchar * accum_ptr, int accum_step, int accum_of
} }
} }
accum += gl_size * (int) sizeof(int); accum += glob_size * (int) sizeof(int);
} }
} }
} }
#elif GET_LINES_PROBABOLISTIC #elif GET_LINES_PROBABOLISTIC
#define ACCUM(ptr) *((__global int*)(ptr))
__kernel void get_lines(__global const uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols, __kernel void get_lines(__global const uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols,
__global const uchar * src_ptr, int src_step, int src_offset, int src_rows, int src_cols, __global const uchar * src_ptr, int src_step, int src_offset, int src_rows, int src_cols,
__global uchar * lines_ptr, int lines_step, int lines_offset, __global int* lines_index_ptr, __global uchar * lines_ptr, int lines_step, int lines_offset, __global int* lines_index_ptr,
@ -222,6 +222,7 @@ __kernel void get_lines(__global const uchar * accum_ptr, int accum_step, int ac
pb[1].x = src_cols - 1; pb[1].x = src_cols - 1;
pb[1].y = p0.y + a * dir.y; pb[1].y = p0.y + a * dir.y;
} }
if (dir.y != 0) if (dir.y != 0)
{ {
a = -p0.y / dir.y; a = -p0.y / dir.y;
@ -239,7 +240,7 @@ __kernel void get_lines(__global const uchar * accum_ptr, int accum_step, int ac
if (dir.x < 0) if (dir.x < 0)
dir = -dir; dir = -dir;
} }
else if (pb[1].x == src_cols - 1 && (pb[0].y >= 0 && pb[0].y < src_rows)) else if (pb[1].x == src_cols - 1 && (pb[1].y >= 0 && pb[1].y < src_rows))
{ {
p0 = pb[1]; p0 = pb[1];
if (dir.x > 0) if (dir.x > 0)
@ -258,41 +259,30 @@ __kernel void get_lines(__global const uchar * accum_ptr, int accum_step, int ac
dir = -dir; dir = -dir;
} }
float2 d; dir /= max(fabs(dir.x), fabs(dir.y));
if (fabs(dir.x) > fabs(dir.y))
{
d.x = dir.x > 0 ? 1 : -1;
d.y = dir.y / fabs(dir.x);
}
else
{
d.x = dir.x / fabs(dir.y);
d.y = dir.y > 0 ? 1 : -1;
}
float2 line_end[2]; float2 line_end[2];
int gap; int gap;
bool inLine = false; bool inLine = false;
float2 p1 = p0; if (p0.x < 0 || p0.x >= src_cols || p0.y < 0 || p0.y >= src_rows)
if (p1.x < 0 || p1.x >= src_cols || p1.y < 0 || p1.y >= src_rows)
return; return;
for (;;) for (;;)
{ {
if (*(src_ptr + mad24(p1.y, src_step, p1.x + src_offset))) if (*(src_ptr + mad24(p0.y, src_step, p0.x + src_offset)))
{ {
gap = 0; gap = 0;
if (!inLine) if (!inLine)
{ {
line_end[0] = p1; line_end[0] = p0;
line_end[1] = p1; line_end[1] = p0;
inLine = true; inLine = true;
} }
else else
{ {
line_end[1] = p1; line_end[1] = p0;
} }
} }
else if (inLine) else if (inLine)
@ -314,8 +304,8 @@ __kernel void get_lines(__global const uchar * accum_ptr, int accum_step, int ac
} }
} }
p1 = p1 + d; p0 = p0 + dir;
if (p1.x < 0 || p1.x >= src_cols || p1.y < 0 || p1.y >= src_rows) if (p0.x < 0 || p0.x >= src_cols || p0.y < 0 || p0.y >= src_rows)
{ {
if (inLine) if (inLine)
{ {

2
modules/imgproc/test/ocl/test_houghlines.cpp
View File

@ -168,7 +168,7 @@ OCL_TEST_P(HoughLinesP, RealImage)
OCL_OFF(cv::HoughLinesP(src, dst, rhoStep, thetaStep, threshold, minLineLength, maxGap)); OCL_OFF(cv::HoughLinesP(src, dst, rhoStep, thetaStep, threshold, minLineLength, maxGap));
OCL_ON(cv::HoughLinesP(usrc, udst, rhoStep, thetaStep, threshold, minLineLength, maxGap)); OCL_ON(cv::HoughLinesP(usrc, udst, rhoStep, thetaStep, threshold, minLineLength, maxGap));
Near(0.2); Near(0.25);
} }
OCL_INSTANTIATE_TEST_CASE_P(Imgproc, HoughLines, Combine(Values(1, 0.5), // rhoStep OCL_INSTANTIATE_TEST_CASE_P(Imgproc, HoughLines, Combine(Values(1, 0.5), // rhoStep