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gpu version of HoughCircles

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This commit is contained in:
Vladislav Vinogradov
2012-08-23 16:54:48 +04:00
parent e60a50c43c
commit c3f277b7bc
7 changed files with 596 additions and 118 deletions
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209
modules/gpu/src/hough.cpp
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@@ -44,12 +44,14 @@
#if !defined (HAVE_CUDA)
void cv::gpu::HoughLinesTransform(const GpuMat&, GpuMat&, GpuMat&, float, float) { throw_nogpu(); }
void cv::gpu::HoughLinesGet(const GpuMat&, GpuMat&, float, float, int, bool, int) { throw_nogpu(); }
void cv::gpu::HoughLines(const GpuMat&, GpuMat&, float, float, int, bool, int) { throw_nogpu(); }
void cv::gpu::HoughLines(const GpuMat&, GpuMat&, GpuMat&, GpuMat&, float, float, int, bool, int) { throw_nogpu(); }
void cv::gpu::HoughLines(const GpuMat&, GpuMat&, HoughLinesBuf&, float, float, int, bool, int) { throw_nogpu(); }
void cv::gpu::HoughLinesDownload(const GpuMat&, OutputArray, OutputArray) { throw_nogpu(); }
void cv::gpu::HoughCircles(const GpuMat&, GpuMat&, int, float, float, int, int, int, int, int) { throw_nogpu(); }
void cv::gpu::HoughCircles(const GpuMat&, GpuMat&, HoughCirclesBuf&, int, float, float, int, int, int, int, int) { throw_nogpu(); }
void cv::gpu::HoughCirclesDownload(const GpuMat&, OutputArray) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
namespace cv { namespace gpu { namespace device
@@ -60,6 +62,11 @@ namespace cv { namespace gpu { namespace device
void linesAccum_gpu(const unsigned int* list, int count, DevMem2Di accum, float rho, float theta, size_t sharedMemPerBlock, bool has20);
int linesGetResult_gpu(DevMem2Di accum, float2* out, int* votes, int maxSize, float rho, float theta, float threshold, bool doSort);
void circlesAccumCenters_gpu(const unsigned int* list, int count, PtrStepi dx, PtrStepi dy, DevMem2Di accum, int minRadius, int maxRadius, float idp);
int buildCentersList_gpu(DevMem2Di accum, unsigned int* centers, int threshold);
int circlesAccumRadius_gpu(const unsigned int* centers, int centersCount, const unsigned int* list, int count,
float3* circles, int maxCircles, float dp, int minRadius, int maxRadius, int threshold, bool has20);
}
}}}
@@ -68,17 +75,11 @@ namespace cv { namespace gpu { namespace device
void cv::gpu::HoughLines(const GpuMat& src, GpuMat& lines, float rho, float theta, int threshold, bool doSort, int maxLines)
{
GpuMat accum, buf;
HoughLines(src, lines, accum, buf, rho, theta, threshold, doSort, maxLines);
HoughLinesBuf buf;
HoughLines(src, lines, buf, rho, theta, threshold, doSort, maxLines);
}
void cv::gpu::HoughLines(const GpuMat& src, GpuMat& lines, GpuMat& accum, GpuMat& buf, float rho, float theta, int threshold, bool doSort, int maxLines)
{
HoughLinesTransform(src, accum, buf, rho, theta);
HoughLinesGet(accum, lines, rho, theta, threshold, doSort, maxLines);
}
void cv::gpu::HoughLinesTransform(const GpuMat& src, GpuMat& accum, GpuMat& buf, float rho, float theta)
void cv::gpu::HoughLines(const GpuMat& src, GpuMat& lines, HoughLinesBuf& buf, float rho, float theta, int threshold, bool doSort, int maxLines)
{
using namespace cv::gpu::device::hough;
@@ -86,36 +87,31 @@ void cv::gpu::HoughLinesTransform(const GpuMat& src, GpuMat& accum, GpuMat& buf,
CV_Assert(src.cols < std::numeric_limits<unsigned short>::max());
CV_Assert(src.rows < std::numeric_limits<unsigned short>::max());
ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf);
ensureSizeIsEnough(1, src.size().area(), CV_32SC1, buf.list);
unsigned int* srcPoints = buf.list.ptr<unsigned int>();
const int count = buildPointList_gpu(src, buf.ptr<unsigned int>());
const int pointsCount = buildPointList_gpu(src, srcPoints);
if (pointsCount == 0)
{
lines.release();
return;
}
const int numangle = cvRound(CV_PI / theta);
const int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho);
CV_Assert(numangle > 0 && numrho > 0);
ensureSizeIsEnough(numangle + 2, numrho + 2, CV_32SC1, accum);
accum.setTo(Scalar::all(0));
ensureSizeIsEnough(numangle + 2, numrho + 2, CV_32SC1, buf.accum);
buf.accum.setTo(Scalar::all(0));
DeviceInfo devInfo;
if (count > 0)
linesAccum_gpu(buf.ptr<unsigned int>(), count, accum, rho, theta, devInfo.sharedMemPerBlock(), devInfo.supports(FEATURE_SET_COMPUTE_20));
}
void cv::gpu::HoughLinesGet(const GpuMat& accum, GpuMat& lines, float rho, float theta, int threshold, bool doSort, int maxLines)
{
using namespace cv::gpu::device::hough;
CV_Assert(accum.type() == CV_32SC1);
linesAccum_gpu(srcPoints, pointsCount, buf.accum, rho, theta, devInfo.sharedMemPerBlock(), devInfo.supports(FEATURE_SET_COMPUTE_20));
ensureSizeIsEnough(2, maxLines, CV_32FC2, lines);
int count = linesGetResult_gpu(accum, lines.ptr<float2>(0), lines.ptr<int>(1), maxLines, rho, theta, (float)threshold, doSort);
if (count > 0)
lines.cols = count;
int linesCount = linesGetResult_gpu(buf.accum, lines.ptr<float2>(0), lines.ptr<int>(1), maxLines, rho, theta, threshold, doSort);
if (linesCount > 0)
lines.cols = linesCount;
else
lines.release();
}
@@ -145,4 +141,155 @@ void cv::gpu::HoughLinesDownload(const GpuMat& d_lines, OutputArray h_lines_, Ou
}
}
//////////////////////////////////////////////////////////
// HoughCircles
void cv::gpu::HoughCircles(const GpuMat& src, GpuMat& circles, int method, float dp, float minDist, int cannyThreshold, int votesThreshold, int minRadius, int maxRadius, int maxCircles)
{
HoughCirclesBuf buf;
HoughCircles(src, circles, buf, method, dp, minDist, cannyThreshold, votesThreshold, minRadius, maxRadius, maxCircles);
}
void cv::gpu::HoughCircles(const GpuMat& src, GpuMat& circles, HoughCirclesBuf& buf, int method,
float dp, float minDist, int cannyThreshold, int votesThreshold, int minRadius, int maxRadius, int maxCircles)
{
using namespace cv::gpu::device::hough;
CV_Assert(src.type() == CV_8UC1);
CV_Assert(src.cols < std::numeric_limits<unsigned short>::max());
CV_Assert(src.rows < std::numeric_limits<unsigned short>::max());
CV_Assert(method == CV_HOUGH_GRADIENT);
CV_Assert(dp > 0);
CV_Assert(minRadius > 0 && maxRadius > minRadius);
CV_Assert(cannyThreshold > 0);
CV_Assert(votesThreshold > 0);
CV_Assert(maxCircles > 0);
const float idp = 1.0f / dp;
cv::gpu::Canny(src, buf.cannyBuf, buf.edges, std::max(cannyThreshold / 2, 1), cannyThreshold);
ensureSizeIsEnough(2, src.size().area(), CV_32SC1, buf.list);
unsigned int* srcPoints = buf.list.ptr<unsigned int>(0);
unsigned int* centers = buf.list.ptr<unsigned int>(1);
const int pointsCount = buildPointList_gpu(buf.edges, srcPoints);
if (pointsCount == 0)
{
circles.release();
return;
}
ensureSizeIsEnough(cvCeil(src.rows * idp) + 2, cvCeil(src.cols * idp) + 2, CV_32SC1, buf.accum);
buf.accum.setTo(Scalar::all(0));
circlesAccumCenters_gpu(srcPoints, pointsCount, buf.cannyBuf.dx, buf.cannyBuf.dy, buf.accum, minRadius, maxRadius, idp);
int centersCount = buildCentersList_gpu(buf.accum, centers, votesThreshold);
if (centersCount == 0)
{
circles.release();
return;
}
if (minDist > 1)
{
cv::AutoBuffer<ushort2> oldBuf_(centersCount);
cv::AutoBuffer<ushort2> newBuf_(centersCount);
int newCount = 0;
ushort2* oldBuf = oldBuf_;
ushort2* newBuf = newBuf_;
cudaSafeCall( cudaMemcpy(oldBuf, centers, centersCount * sizeof(ushort2), cudaMemcpyDeviceToHost) );
const int cellSize = cvRound(minDist);
const int gridWidth = (src.cols + cellSize - 1) / cellSize;
const int gridHeight = (src.rows + cellSize - 1) / cellSize;
std::vector< std::vector<ushort2> > grid(gridWidth * gridHeight);
minDist *= minDist;
for (int i = 0; i < centersCount; ++i)
{
ushort2 p = oldBuf[i];
bool good = true;
int xCell = static_cast<int>(p.x / cellSize);
int yCell = static_cast<int>(p.y / cellSize);
int x1 = xCell - 1;
int y1 = yCell - 1;
int x2 = xCell + 1;
int y2 = yCell + 1;
// boundary check
x1 = std::max(0, x1);
y1 = std::max(0, y1);
x2 = std::min(gridWidth - 1, x2);
y2 = std::min(gridHeight - 1, y2);
for (int yy = y1; yy <= y2; ++yy)
{
for (int xx = x1; xx <= x2; ++xx)
{
vector<ushort2>& m = grid[yy * gridWidth + xx];
for(size_t j = 0; j < m.size(); ++j)
{
float dx = p.x - m[j].x;
float dy = p.y - m[j].y;
if (dx * dx + dy * dy < minDist)
{
good = false;
goto break_out;
}
}
}
}
break_out:
if(good)
{
grid[yCell * gridWidth + xCell].push_back(p);
newBuf[newCount++] = p;
}
}
cudaSafeCall( cudaMemcpy(centers, newBuf, newCount * sizeof(unsigned int), cudaMemcpyHostToDevice) );
centersCount = newCount;
}
ensureSizeIsEnough(1, maxCircles, CV_32FC3, circles);
DeviceInfo devInfo;
const int circlesCount = circlesAccumRadius_gpu(centers, centersCount, srcPoints, pointsCount, circles.ptr<float3>(), maxCircles,
dp, minRadius, maxRadius, votesThreshold, devInfo.supports(FEATURE_SET_COMPUTE_20));
if (circlesCount > 0)
circles.cols = circlesCount;
else
circles.release();
}
void cv::gpu::HoughCirclesDownload(const GpuMat& d_circles, cv::OutputArray h_circles_)
{
if (d_circles.empty())
{
h_circles_.release();
return;
}
CV_Assert(d_circles.rows == 1 && d_circles.type() == CV_32FC3);
h_circles_.create(1, d_circles.cols, CV_32FC3);
Mat h_circles = h_circles_.getMat();
d_circles.download(h_circles);
}
#endif /* !defined (HAVE_CUDA) */