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11 // For Open Source Computer Vision Library
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41 //M*/
42
43 #include "precomp.hpp"
44
45 using namespace cv;
46 using namespace cv::cuda;
47
48 #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
49
createHoughSegmentDetector(float,float,int,int,int)50 Ptr<cuda::HoughSegmentDetector> cv::cuda::createHoughSegmentDetector(float, float, int, int, int) { throw_no_cuda(); return Ptr<HoughSegmentDetector>(); }
51
52 #else /* !defined (HAVE_CUDA) */
53
54 namespace cv { namespace cuda { namespace device
55 {
56 namespace hough
57 {
58 int buildPointList_gpu(PtrStepSzb src, unsigned int* list, int* counterPtr, cudaStream_t stream);
59 }
60
61 namespace hough_lines
62 {
63 void linesAccum_gpu(const unsigned int* list, int count, PtrStepSzi accum, float rho, float theta, size_t sharedMemPerBlock, bool has20, cudaStream_t stream);
64 }
65
66 namespace hough_segments
67 {
68 int houghLinesProbabilistic_gpu(PtrStepSzb mask, PtrStepSzi accum, int4* out, int maxSize, float rho, float theta, int lineGap, int lineLength, int* counterPtr, cudaStream_t stream);
69 }
70 }}}
71
72 namespace
73 {
74 class HoughSegmentDetectorImpl : public HoughSegmentDetector
75 {
76 public:
77 HoughSegmentDetectorImpl(float rho, float theta, int minLineLength, int maxLineGap, int maxLines);
78 ~HoughSegmentDetectorImpl();
79
80 void detect(InputArray src, OutputArray lines, Stream& stream);
81
setRho(float rho)82 void setRho(float rho) { rho_ = rho; }
getRho() const83 float getRho() const { return rho_; }
84
setTheta(float theta)85 void setTheta(float theta) { theta_ = theta; }
getTheta() const86 float getTheta() const { return theta_; }
87
setMinLineLength(int minLineLength)88 void setMinLineLength(int minLineLength) { minLineLength_ = minLineLength; }
getMinLineLength() const89 int getMinLineLength() const { return minLineLength_; }
90
setMaxLineGap(int maxLineGap)91 void setMaxLineGap(int maxLineGap) { maxLineGap_ = maxLineGap; }
getMaxLineGap() const92 int getMaxLineGap() const { return maxLineGap_; }
93
setMaxLines(int maxLines)94 void setMaxLines(int maxLines) { maxLines_ = maxLines; }
getMaxLines() const95 int getMaxLines() const { return maxLines_; }
96
write(FileStorage & fs) const97 void write(FileStorage& fs) const
98 {
99 writeFormat(fs);
100 fs << "name" << "PHoughLinesDetector_CUDA"
101 << "rho" << rho_
102 << "theta" << theta_
103 << "minLineLength" << minLineLength_
104 << "maxLineGap" << maxLineGap_
105 << "maxLines" << maxLines_;
106 }
107
read(const FileNode & fn)108 void read(const FileNode& fn)
109 {
110 CV_Assert( String(fn["name"]) == "PHoughLinesDetector_CUDA" );
111 rho_ = (float)fn["rho"];
112 theta_ = (float)fn["theta"];
113 minLineLength_ = (int)fn["minLineLength"];
114 maxLineGap_ = (int)fn["maxLineGap"];
115 maxLines_ = (int)fn["maxLines"];
116 }
117
118 private:
119 float rho_;
120 float theta_;
121 int minLineLength_;
122 int maxLineGap_;
123 int maxLines_;
124
125 GpuMat accum_;
126 GpuMat list_;
127 GpuMat result_;
128
129 int* counterPtr_;
130 };
131
HoughSegmentDetectorImpl(float rho,float theta,int minLineLength,int maxLineGap,int maxLines)132 HoughSegmentDetectorImpl::HoughSegmentDetectorImpl(float rho, float theta, int minLineLength, int maxLineGap, int maxLines) :
133 rho_(rho), theta_(theta), minLineLength_(minLineLength), maxLineGap_(maxLineGap), maxLines_(maxLines)
134 {
135 cudaSafeCall(cudaMalloc(&counterPtr_, sizeof(int)));
136 }
137
~HoughSegmentDetectorImpl()138 HoughSegmentDetectorImpl::~HoughSegmentDetectorImpl()
139 {
140 cudaSafeCall(cudaFree(counterPtr_));
141 }
142
detect(InputArray _src,OutputArray lines,Stream & stream)143 void HoughSegmentDetectorImpl::detect(InputArray _src, OutputArray lines, Stream& stream)
144 {
145 // TODO : implement async version
146 CV_UNUSED(stream);
147
148 using namespace cv::cuda::device::hough;
149 using namespace cv::cuda::device::hough_lines;
150 using namespace cv::cuda::device::hough_segments;
151
152 auto cudaStream = StreamAccessor::getStream(stream);
153 GpuMat src = _src.getGpuMat();
154
155 CV_Assert( src.type() == CV_8UC1 );
156 CV_Assert( src.cols < std::numeric_limits<unsigned short>::max() );
157 CV_Assert( src.rows < std::numeric_limits<unsigned short>::max() );
158
159 ensureSizeIsEnough(1, src.size().area(), CV_32SC1, list_);
160 unsigned int* srcPoints = list_.ptr<unsigned int>();
161
162 const int pointsCount = buildPointList_gpu(src, srcPoints, counterPtr_, cudaStream);
163 if (pointsCount == 0)
164 {
165 lines.release();
166 return;
167 }
168
169 const int numangle = cvRound(CV_PI / theta_);
170 const int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho_);
171 CV_Assert( numangle > 0 && numrho > 0 );
172
173 ensureSizeIsEnough(numangle + 2, numrho + 2, CV_32SC1, accum_);
174 accum_.setTo(Scalar::all(0), stream);
175
176 DeviceInfo devInfo;
177 linesAccum_gpu(srcPoints, pointsCount, accum_, rho_, theta_, devInfo.sharedMemPerBlock(), devInfo.supports(FEATURE_SET_COMPUTE_20), cudaStream);
178
179 ensureSizeIsEnough(1, maxLines_, CV_32SC4, result_);
180
181 int linesCount = houghLinesProbabilistic_gpu(src, accum_, result_.ptr<int4>(), maxLines_, rho_, theta_, maxLineGap_, minLineLength_, counterPtr_, cudaStream);
182
183 if (linesCount == 0)
184 {
185 lines.release();
186 return;
187 }
188
189 result_.cols = linesCount;
190 result_.copyTo(lines, stream);
191 }
192 }
193
createHoughSegmentDetector(float rho,float theta,int minLineLength,int maxLineGap,int maxLines)194 Ptr<HoughSegmentDetector> cv::cuda::createHoughSegmentDetector(float rho, float theta, int minLineLength, int maxLineGap, int maxLines)
195 {
196 return makePtr<HoughSegmentDetectorImpl>(rho, theta, minLineLength, maxLineGap, maxLines);
197 }
198
199 #endif /* !defined (HAVE_CUDA) */
200