1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #if !defined CUDA_DISABLER 44 45 #include <thrust/device_ptr.h> 46 #include <thrust/sort.h> 47 48 #include "opencv2/core/cuda/common.hpp" 49 #include "opencv2/core/cuda/emulation.hpp" 50 #include "opencv2/core/cuda/dynamic_smem.hpp" 51 52 namespace cv { namespace cuda { namespace device 53 { 54 namespace hough_lines 55 { 56 __device__ int g_counter; 57 58 //////////////////////////////////////////////////////////////////////// 59 // linesAccum 60 61 __global__ void linesAccumGlobal(const unsigned int* list, const int count, PtrStepi accum, const float irho, const float theta, const int numrho) 62 { 63 const int n = blockIdx.x; 64 const float ang = n * theta; 65 66 float sinVal; 67 float cosVal; 68 sincosf(ang, &sinVal, &cosVal); 69 sinVal *= irho; 70 cosVal *= irho; 71 72 const int shift = (numrho - 1) / 2; 73 74 int* accumRow = accum.ptr(n + 1); 75 for (int i = threadIdx.x; i < count; i += blockDim.x) 76 { 77 const unsigned int val = list[i]; 78 79 const int x = (val & 0xFFFF); 80 const int y = (val >> 16) & 0xFFFF; 81 82 int r = __float2int_rn(x * cosVal + y * sinVal); 83 r += shift; 84 85 ::atomicAdd(accumRow + r + 1, 1); 86 } 87 } 88 89 __global__ void linesAccumShared(const unsigned int* list, const int count, PtrStepi accum, const float irho, const float theta, const int numrho) 90 { 91 int* smem = DynamicSharedMem<int>(); 92 93 for (int i = threadIdx.x; i < numrho + 1; i += blockDim.x) 94 smem[i] = 0; 95 96 __syncthreads(); 97 98 const int n = blockIdx.x; 99 const float ang = n * theta; 100 101 float sinVal; 102 float cosVal; 103 sincosf(ang, &sinVal, &cosVal); 104 sinVal *= irho; 105 cosVal *= irho; 106 107 const int shift = (numrho - 1) / 2; 108 109 for (int i = threadIdx.x; i < count; i += blockDim.x) 110 { 111 const unsigned int val = list[i]; 112 113 const int x = (val & 0xFFFF); 114 const int y = (val >> 16) & 0xFFFF; 115 116 int r = __float2int_rn(x * cosVal + y * sinVal); 117 r += shift; 118 119 Emulation::smem::atomicAdd(&smem[r + 1], 1); 120 } 121 122 __syncthreads(); 123 124 int* accumRow = accum.ptr(n + 1); 125 for (int i = threadIdx.x; i < numrho + 1; i += blockDim.x) 126 accumRow[i] = smem[i]; 127 } 128 129 void linesAccum_gpu(const unsigned int* list, int count, PtrStepSzi accum, float rho, float theta, size_t sharedMemPerBlock, bool has20) 130 { 131 const dim3 block(has20 ? 1024 : 512); 132 const dim3 grid(accum.rows - 2); 133 134 size_t smemSize = (accum.cols - 1) * sizeof(int); 135 136 if (smemSize < sharedMemPerBlock - 1000) 137 linesAccumShared<<<grid, block, smemSize>>>(list, count, accum, 1.0f / rho, theta, accum.cols - 2); 138 else 139 linesAccumGlobal<<<grid, block>>>(list, count, accum, 1.0f / rho, theta, accum.cols - 2); 140 141 cudaSafeCall( cudaGetLastError() ); 142 143 cudaSafeCall( cudaDeviceSynchronize() ); 144 } 145 146 //////////////////////////////////////////////////////////////////////// 147 // linesGetResult 148 149 __global__ void linesGetResult(const PtrStepSzi accum, float2* out, int* votes, const int maxSize, const float rho, const float theta, const int threshold, const int numrho) 150 { 151 const int r = blockIdx.x * blockDim.x + threadIdx.x; 152 const int n = blockIdx.y * blockDim.y + threadIdx.y; 153 154 if (r >= accum.cols - 2 || n >= accum.rows - 2) 155 return; 156 157 const int curVotes = accum(n + 1, r + 1); 158 159 if (curVotes > threshold && 160 curVotes > accum(n + 1, r) && 161 curVotes >= accum(n + 1, r + 2) && 162 curVotes > accum(n, r + 1) && 163 curVotes >= accum(n + 2, r + 1)) 164 { 165 const float radius = (r - (numrho - 1) * 0.5f) * rho; 166 const float angle = n * theta; 167 168 const int ind = ::atomicAdd(&g_counter, 1); 169 if (ind < maxSize) 170 { 171 out[ind] = make_float2(radius, angle); 172 votes[ind] = curVotes; 173 } 174 } 175 } 176 177 int linesGetResult_gpu(PtrStepSzi accum, float2* out, int* votes, int maxSize, float rho, float theta, int threshold, bool doSort) 178 { 179 void* counterPtr; 180 cudaSafeCall( cudaGetSymbolAddress(&counterPtr, g_counter) ); 181 182 cudaSafeCall( cudaMemset(counterPtr, 0, sizeof(int)) ); 183 184 const dim3 block(32, 8); 185 const dim3 grid(divUp(accum.cols - 2, block.x), divUp(accum.rows - 2, block.y)); 186 187 cudaSafeCall( cudaFuncSetCacheConfig(linesGetResult, cudaFuncCachePreferL1) ); 188 189 linesGetResult<<<grid, block>>>(accum, out, votes, maxSize, rho, theta, threshold, accum.cols - 2); 190 cudaSafeCall( cudaGetLastError() ); 191 192 cudaSafeCall( cudaDeviceSynchronize() ); 193 194 int totalCount; 195 cudaSafeCall( cudaMemcpy(&totalCount, counterPtr, sizeof(int), cudaMemcpyDeviceToHost) ); 196 197 totalCount = ::min(totalCount, maxSize); 198 199 if (doSort && totalCount > 0) 200 { 201 thrust::device_ptr<float2> outPtr(out); 202 thrust::device_ptr<int> votesPtr(votes); 203 thrust::sort_by_key(votesPtr, votesPtr + totalCount, outPtr, thrust::greater<int>()); 204 } 205 206 return totalCount; 207 } 208 } 209 }}} 210 211 212 #endif /* CUDA_DISABLER */ 213