mirror of
https://github.com/opencv/opencv.git
synced 2026-07-31 08:13:04 +04:00
Canny
This commit is contained in:
Vladislav Vinogradov
+397
-393
@@ -43,459 +43,463 @@
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#if !defined CUDA_DISABLER
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#include <utility>
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#include <algorithm>
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#include "internal_shared.hpp"
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#include "opencv2/gpu/device/common.hpp"
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#include "opencv2/gpu/device/emulation.hpp"
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#include "opencv2/gpu/device/transform.hpp"
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#include "opencv2/gpu/device/functional.hpp"
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#include "opencv2/gpu/device/utility.hpp"
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using namespace cv::gpu;
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using namespace cv::gpu::device;
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namespace
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{
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struct L1 : binary_function<int, int, float>
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{
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__device__ __forceinline__ float operator ()(int x, int y) const
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{
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return ::abs(x) + ::abs(y);
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}
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__device__ __forceinline__ L1() {}
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__device__ __forceinline__ L1(const L1&) {}
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};
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struct L2 : binary_function<int, int, float>
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{
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__device__ __forceinline__ float operator ()(int x, int y) const
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{
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return ::sqrtf(x * x + y * y);
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}
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__device__ __forceinline__ L2() {}
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__device__ __forceinline__ L2(const L2&) {}
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};
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}
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namespace cv { namespace gpu { namespace device
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{
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namespace canny
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template <> struct TransformFunctorTraits<L1> : DefaultTransformFunctorTraits<L1>
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{
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__global__ void calcSobelRowPass(const PtrStepb src, PtrStepi dx_buf, PtrStepi dy_buf, int rows, int cols)
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enum { smart_shift = 4 };
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};
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template <> struct TransformFunctorTraits<L2> : DefaultTransformFunctorTraits<L2>
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{
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enum { smart_shift = 4 };
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};
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}}}
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namespace
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{
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texture<uchar, cudaTextureType2D, cudaReadModeElementType> tex_src(false, cudaFilterModePoint, cudaAddressModeClamp);
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struct SrcTex
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{
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const int xoff;
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const int yoff;
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__host__ SrcTex(int _xoff, int _yoff) : xoff(_xoff), yoff(_yoff) {}
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__device__ __forceinline__ int operator ()(int y, int x) const
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{
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__shared__ int smem[16][18];
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return tex2D(tex_src, x + xoff, y + yoff);
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}
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};
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const int j = blockIdx.x * blockDim.x + threadIdx.x;
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const int i = blockIdx.y * blockDim.y + threadIdx.y;
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template <class Norm> __global__
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void calcMagnitude(const SrcTex src, PtrStepi dx, PtrStepi dy, PtrStepSzf mag, const Norm norm)
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{
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const int x = blockIdx.x * blockDim.x + threadIdx.x;
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const int y = blockIdx.y * blockDim.y + threadIdx.y;
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if (i < rows)
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{
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smem[threadIdx.y][threadIdx.x + 1] = src.ptr(i)[j];
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if (threadIdx.x == 0)
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{
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smem[threadIdx.y][0] = src.ptr(i)[::max(j - 1, 0)];
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smem[threadIdx.y][17] = src.ptr(i)[::min(j + 16, cols - 1)];
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}
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__syncthreads();
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if (y >= mag.rows || x >= mag.cols)
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return;
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if (j < cols)
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{
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dx_buf.ptr(i)[j] = -smem[threadIdx.y][threadIdx.x] + smem[threadIdx.y][threadIdx.x + 2];
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dy_buf.ptr(i)[j] = smem[threadIdx.y][threadIdx.x] + 2 * smem[threadIdx.y][threadIdx.x + 1] + smem[threadIdx.y][threadIdx.x + 2];
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}
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}
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int dxVal = (src(y - 1, x + 1) + 2 * src(y, x + 1) + src(y + 1, x + 1)) - (src(y - 1, x - 1) + 2 * src(y, x - 1) + src(y + 1, x - 1));
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int dyVal = (src(y + 1, x - 1) + 2 * src(y + 1, x) + src(y + 1, x + 1)) - (src(y - 1, x - 1) + 2 * src(y - 1, x) + src(y - 1, x + 1));
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dx(y, x) = dxVal;
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dy(y, x) = dyVal;
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mag(y, x) = norm(dxVal, dyVal);
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}
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}
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namespace canny
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{
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void calcMagnitude(PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzi dx, PtrStepSzi dy, PtrStepSzf mag, bool L2Grad)
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{
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const dim3 block(16, 16);
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const dim3 grid(divUp(mag.cols, block.x), divUp(mag.rows, block.y));
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bindTexture(&tex_src, srcWhole);
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SrcTex src(xoff, yoff);
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if (L2Grad)
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{
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L2 norm;
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::calcMagnitude<<<grid, block>>>(src, dx, dy, mag, norm);
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}
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else
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{
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L1 norm;
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::calcMagnitude<<<grid, block>>>(src, dx, dy, mag, norm);
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}
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void calcSobelRowPass_gpu(PtrStepb src, PtrStepi dx_buf, PtrStepi dy_buf, int rows, int cols)
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cudaSafeCall( cudaGetLastError() );
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cudaSafeCall(cudaThreadSynchronize());
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}
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void calcMagnitude(PtrStepSzi dx, PtrStepSzi dy, PtrStepSzf mag, bool L2Grad)
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{
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if (L2Grad)
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{
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dim3 block(16, 16, 1);
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dim3 grid(divUp(cols, block.x), divUp(rows, block.y), 1);
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calcSobelRowPass<<<grid, block>>>(src, dx_buf, dy_buf, rows, cols);
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cudaSafeCall( cudaGetLastError() );
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cudaSafeCall( cudaDeviceSynchronize() );
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L2 norm;
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transform(dx, dy, mag, norm, WithOutMask(), 0);
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}
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struct L1
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else
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{
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static __device__ __forceinline__ float calc(int x, int y)
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{
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return ::abs(x) + ::abs(y);
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}
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};
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struct L2
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{
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static __device__ __forceinline__ float calc(int x, int y)
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{
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return ::sqrtf(x * x + y * y);
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}
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};
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template <typename Norm> __global__ void calcMagnitude(const PtrStepi dx_buf, const PtrStepi dy_buf,
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PtrStepi dx, PtrStepi dy, PtrStepf mag, int rows, int cols)
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{
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__shared__ int sdx[18][16];
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__shared__ int sdy[18][16];
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const int j = blockIdx.x * blockDim.x + threadIdx.x;
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const int i = blockIdx.y * blockDim.y + threadIdx.y;
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if (j < cols)
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{
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sdx[threadIdx.y + 1][threadIdx.x] = dx_buf.ptr(i)[j];
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sdy[threadIdx.y + 1][threadIdx.x] = dy_buf.ptr(i)[j];
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if (threadIdx.y == 0)
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{
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sdx[0][threadIdx.x] = dx_buf.ptr(::max(i - 1, 0))[j];
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sdx[17][threadIdx.x] = dx_buf.ptr(::min(i + 16, rows - 1))[j];
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sdy[0][threadIdx.x] = dy_buf.ptr(::max(i - 1, 0))[j];
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sdy[17][threadIdx.x] = dy_buf.ptr(::min(i + 16, rows - 1))[j];
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}
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__syncthreads();
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if (i < rows)
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{
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int x = sdx[threadIdx.y][threadIdx.x] + 2 * sdx[threadIdx.y + 1][threadIdx.x] + sdx[threadIdx.y + 2][threadIdx.x];
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int y = -sdy[threadIdx.y][threadIdx.x] + sdy[threadIdx.y + 2][threadIdx.x];
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dx.ptr(i)[j] = x;
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dy.ptr(i)[j] = y;
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mag.ptr(i + 1)[j + 1] = Norm::calc(x, y);
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}
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}
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L1 norm;
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transform(dx, dy, mag, norm, WithOutMask(), 0);
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}
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}
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}
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void calcMagnitude_gpu(PtrStepi dx_buf, PtrStepi dy_buf, PtrStepi dx, PtrStepi dy, PtrStepf mag, int rows, int cols, bool L2Grad)
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//////////////////////////////////////////////////////////////////////////////////////////
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namespace
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{
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texture<float, cudaTextureType2D, cudaReadModeElementType> tex_mag(false, cudaFilterModePoint, cudaAddressModeClamp);
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__global__ void calcMap(const PtrStepSzi dx, const PtrStepi dy, PtrStepi map, const float low_thresh, const float high_thresh)
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{
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const int CANNY_SHIFT = 15;
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const int TG22 = (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5);
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const int x = blockIdx.x * blockDim.x + threadIdx.x;
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const int y = blockIdx.y * blockDim.y + threadIdx.y;
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if (x >= dx.cols || y >= dx.rows)
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return;
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int dxVal = dx(y, x);
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int dyVal = dy(y, x);
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const int s = (dxVal ^ dyVal) < 0 ? -1 : 1;
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const float m = tex2D(tex_mag, x, y);
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dxVal = ::abs(dxVal);
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dyVal = ::abs(dyVal);
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// 0 - the pixel can not belong to an edge
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// 1 - the pixel might belong to an edge
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// 2 - the pixel does belong to an edge
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int edge_type = 0;
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if (m > low_thresh)
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{
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dim3 block(16, 16, 1);
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dim3 grid(divUp(cols, block.x), divUp(rows, block.y), 1);
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const int tg22x = dxVal * TG22;
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const int tg67x = tg22x + ((dxVal + dxVal) << CANNY_SHIFT);
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if (L2Grad)
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calcMagnitude<L2><<<grid, block>>>(dx_buf, dy_buf, dx, dy, mag, rows, cols);
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dyVal <<= CANNY_SHIFT;
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if (dyVal < tg22x)
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{
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if (m > tex2D(tex_mag, x - 1, y) && m >= tex2D(tex_mag, x + 1, y))
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edge_type = 1 + (int)(m > high_thresh);
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}
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else if(dyVal > tg67x)
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{
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if (m > tex2D(tex_mag, x, y - 1) && m >= tex2D(tex_mag, x, y + 1))
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edge_type = 1 + (int)(m > high_thresh);
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}
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else
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calcMagnitude<L1><<<grid, block>>>(dx_buf, dy_buf, dx, dy, mag, rows, cols);
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cudaSafeCall( cudaGetLastError() );
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cudaSafeCall(cudaThreadSynchronize());
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{
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if (m > tex2D(tex_mag, x - s, y - 1) && m >= tex2D(tex_mag, x + s, y + 1))
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edge_type = 1 + (int)(m > high_thresh);
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}
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}
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template <typename Norm> __global__ void calcMagnitude(PtrStepi dx, PtrStepi dy, PtrStepf mag, int rows, int cols)
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{
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const int j = blockIdx.x * blockDim.x + threadIdx.x;
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const int i = blockIdx.y * blockDim.y + threadIdx.y;
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map(y, x) = edge_type;
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}
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}
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if (i < rows && j < cols)
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mag.ptr(i + 1)[j + 1] = Norm::calc(dx.ptr(i)[j], dy.ptr(i)[j]);
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namespace canny
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{
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void calcMap(PtrStepSzi dx, PtrStepSzi dy, PtrStepSzf mag, PtrStepSzi map, float low_thresh, float high_thresh)
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{
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const dim3 block(16, 16);
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const dim3 grid(divUp(dx.cols, block.x), divUp(dx.rows, block.y));
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bindTexture(&tex_mag, mag);
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::calcMap<<<grid, block>>>(dx, dy, map, low_thresh, high_thresh);
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cudaSafeCall( cudaGetLastError() );
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cudaSafeCall( cudaDeviceSynchronize() );
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}
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}
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//////////////////////////////////////////////////////////////////////////////////////////
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namespace
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{
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__device__ int counter = 0;
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__global__ void edgesHysteresisLocal(PtrStepSzi map, ushort2* st)
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{
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__shared__ volatile int smem[18][18];
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const int x = blockIdx.x * blockDim.x + threadIdx.x;
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const int y = blockIdx.y * blockDim.y + threadIdx.y;
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smem[threadIdx.y + 1][threadIdx.x + 1] = x < map.cols && y < map.rows ? map(y, x) : 0;
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if (threadIdx.y == 0)
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smem[0][threadIdx.x + 1] = y > 0 ? map(y - 1, x) : 0;
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if (threadIdx.y == blockDim.y - 1)
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smem[blockDim.y + 1][threadIdx.x + 1] = y + 1 < map.rows ? map(y + 1, x) : 0;
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if (threadIdx.x == 0)
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smem[threadIdx.y + 1][0] = x > 0 ? map(y, x - 1) : 0;
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if (threadIdx.x == blockDim.x - 1)
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smem[threadIdx.y + 1][blockDim.x + 1] = x + 1 < map.cols ? map(y, x + 1) : 0;
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if (threadIdx.x == 0 && threadIdx.y == 0)
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smem[0][0] = y > 0 && x > 0 ? map(y - 1, x - 1) : 0;
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if (threadIdx.x == blockDim.x - 1 && threadIdx.y == 0)
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smem[0][blockDim.x + 1] = y > 0 && x + 1 < map.cols ? map(y - 1, x + 1) : 0;
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if (threadIdx.x == 0 && threadIdx.y == blockDim.y - 1)
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smem[blockDim.y + 1][0] = y + 1 < map.rows && x > 0 ? map(y + 1, x - 1) : 0;
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if (threadIdx.x == blockDim.x - 1 && threadIdx.y == blockDim.y - 1)
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smem[blockDim.y + 1][blockDim.x + 1] = y + 1 < map.rows && x + 1 < map.cols ? map(y + 1, x + 1) : 0;
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__syncthreads();
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if (x >= map.cols || y >= map.rows)
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return;
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int n;
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#pragma unroll
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for (int k = 0; k < 16; ++k)
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{
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n = 0;
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if (smem[threadIdx.y + 1][threadIdx.x + 1] == 1)
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{
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n += smem[threadIdx.y ][threadIdx.x ] == 2;
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n += smem[threadIdx.y ][threadIdx.x + 1] == 2;
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n += smem[threadIdx.y ][threadIdx.x + 2] == 2;
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n += smem[threadIdx.y + 1][threadIdx.x ] == 2;
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n += smem[threadIdx.y + 1][threadIdx.x + 2] == 2;
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n += smem[threadIdx.y + 2][threadIdx.x ] == 2;
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n += smem[threadIdx.y + 2][threadIdx.x + 1] == 2;
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n += smem[threadIdx.y + 2][threadIdx.x + 2] == 2;
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}
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if (n > 0)
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smem[threadIdx.y + 1][threadIdx.x + 1] = 2;
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}
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void calcMagnitude_gpu(PtrStepi dx, PtrStepi dy, PtrStepf mag, int rows, int cols, bool L2Grad)
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const int e = smem[threadIdx.y + 1][threadIdx.x + 1];
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map(y, x) = e;
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n = 0;
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if (e == 2)
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{
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dim3 block(16, 16, 1);
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dim3 grid(divUp(cols, block.x), divUp(rows, block.y), 1);
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n += smem[threadIdx.y ][threadIdx.x ] == 1;
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n += smem[threadIdx.y ][threadIdx.x + 1] == 1;
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n += smem[threadIdx.y ][threadIdx.x + 2] == 1;
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if (L2Grad)
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calcMagnitude<L2><<<grid, block>>>(dx, dy, mag, rows, cols);
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else
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calcMagnitude<L1><<<grid, block>>>(dx, dy, mag, rows, cols);
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n += smem[threadIdx.y + 1][threadIdx.x ] == 1;
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n += smem[threadIdx.y + 1][threadIdx.x + 2] == 1;
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cudaSafeCall( cudaGetLastError() );
|
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cudaSafeCall( cudaDeviceSynchronize() );
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n += smem[threadIdx.y + 2][threadIdx.x ] == 1;
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n += smem[threadIdx.y + 2][threadIdx.x + 1] == 1;
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||||
n += smem[threadIdx.y + 2][threadIdx.x + 2] == 1;
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#define CANNY_SHIFT 15
|
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#define TG22 (int)(0.4142135623730950488016887242097*(1<<CANNY_SHIFT) + 0.5)
|
||||
|
||||
__global__ void calcMap(const PtrStepi dx, const PtrStepi dy, const PtrStepf mag, PtrStepi map, int rows, int cols, float low_thresh, float high_thresh)
|
||||
if (n > 0)
|
||||
{
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||||
__shared__ float smem[18][18];
|
||||
const int ind = ::atomicAdd(&counter, 1);
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st[ind] = make_ushort2(x, y);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
const int j = blockIdx.x * 16 + threadIdx.x;
|
||||
const int i = blockIdx.y * 16 + threadIdx.y;
|
||||
namespace canny
|
||||
{
|
||||
void edgesHysteresisLocal(PtrStepSzi map, ushort2* st1)
|
||||
{
|
||||
void* counter_ptr;
|
||||
cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, counter) );
|
||||
|
||||
const int tid = threadIdx.y * 16 + threadIdx.x;
|
||||
const int lx = tid % 18;
|
||||
const int ly = tid / 18;
|
||||
cudaSafeCall( cudaMemset(counter_ptr, 0, sizeof(int)) );
|
||||
|
||||
if (ly < 14)
|
||||
smem[ly][lx] = mag.ptr(blockIdx.y * 16 + ly)[blockIdx.x * 16 + lx];
|
||||
const dim3 block(16, 16);
|
||||
const dim3 grid(divUp(map.cols, block.x), divUp(map.rows, block.y));
|
||||
|
||||
if (ly < 4 && blockIdx.y * 16 + ly + 14 <= rows && blockIdx.x * 16 + lx <= cols)
|
||||
smem[ly + 14][lx] = mag.ptr(blockIdx.y * 16 + ly + 14)[blockIdx.x * 16 + lx];
|
||||
::edgesHysteresisLocal<<<grid, block>>>(map, st1);
|
||||
cudaSafeCall( cudaGetLastError() );
|
||||
|
||||
cudaSafeCall( cudaDeviceSynchronize() );
|
||||
}
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
namespace
|
||||
{
|
||||
__constant__ int c_dx[8] = {-1, 0, 1, -1, 1, -1, 0, 1};
|
||||
__constant__ int c_dy[8] = {-1, -1, -1, 0, 0, 1, 1, 1};
|
||||
|
||||
__global__ void edgesHysteresisGlobal(PtrStepSzi map, ushort2* st1, ushort2* st2, const int count)
|
||||
{
|
||||
const int stack_size = 512;
|
||||
|
||||
__shared__ int s_counter;
|
||||
__shared__ int s_ind;
|
||||
__shared__ ushort2 s_st[stack_size];
|
||||
|
||||
if (threadIdx.x == 0)
|
||||
s_counter = 0;
|
||||
|
||||
__syncthreads();
|
||||
|
||||
int ind = blockIdx.y * gridDim.x + blockIdx.x;
|
||||
|
||||
if (ind >= count)
|
||||
return;
|
||||
|
||||
ushort2 pos = st1[ind];
|
||||
|
||||
if (threadIdx.x < 8)
|
||||
{
|
||||
pos.x += c_dx[threadIdx.x];
|
||||
pos.y += c_dy[threadIdx.x];
|
||||
|
||||
if (pos.x > 0 && pos.x <= map.cols && pos.y > 0 && pos.y <= map.rows && map(pos.y, pos.x) == 1)
|
||||
{
|
||||
map(pos.y, pos.x) = 2;
|
||||
|
||||
ind = Emulation::smem::atomicAdd(&s_counter, 1);
|
||||
|
||||
s_st[ind] = pos;
|
||||
}
|
||||
}
|
||||
|
||||
__syncthreads();
|
||||
|
||||
while (s_counter > 0 && s_counter <= stack_size - blockDim.x)
|
||||
{
|
||||
const int subTaskIdx = threadIdx.x >> 3;
|
||||
const int portion = ::min(s_counter, blockDim.x >> 3);
|
||||
|
||||
if (subTaskIdx < portion)
|
||||
pos = s_st[s_counter - 1 - subTaskIdx];
|
||||
|
||||
__syncthreads();
|
||||
|
||||
if (i < rows && j < cols)
|
||||
{
|
||||
int x = dx.ptr(i)[j];
|
||||
int y = dy.ptr(i)[j];
|
||||
const int s = (x ^ y) < 0 ? -1 : 1;
|
||||
const float m = smem[threadIdx.y + 1][threadIdx.x + 1];
|
||||
|
||||
x = ::abs(x);
|
||||
y = ::abs(y);
|
||||
|
||||
// 0 - the pixel can not belong to an edge
|
||||
// 1 - the pixel might belong to an edge
|
||||
// 2 - the pixel does belong to an edge
|
||||
int edge_type = 0;
|
||||
|
||||
if (m > low_thresh)
|
||||
{
|
||||
const int tg22x = x * TG22;
|
||||
const int tg67x = tg22x + ((x + x) << CANNY_SHIFT);
|
||||
|
||||
y <<= CANNY_SHIFT;
|
||||
|
||||
if (y < tg22x)
|
||||
{
|
||||
if (m > smem[threadIdx.y + 1][threadIdx.x] && m >= smem[threadIdx.y + 1][threadIdx.x + 2])
|
||||
edge_type = 1 + (int)(m > high_thresh);
|
||||
}
|
||||
else if( y > tg67x )
|
||||
{
|
||||
if (m > smem[threadIdx.y][threadIdx.x + 1] && m >= smem[threadIdx.y + 2][threadIdx.x + 1])
|
||||
edge_type = 1 + (int)(m > high_thresh);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (m > smem[threadIdx.y][threadIdx.x + 1 - s] && m > smem[threadIdx.y + 2][threadIdx.x + 1 + s])
|
||||
edge_type = 1 + (int)(m > high_thresh);
|
||||
}
|
||||
}
|
||||
|
||||
map.ptr(i + 1)[j + 1] = edge_type;
|
||||
}
|
||||
}
|
||||
|
||||
#undef CANNY_SHIFT
|
||||
#undef TG22
|
||||
|
||||
void calcMap_gpu(PtrStepi dx, PtrStepi dy, PtrStepf mag, PtrStepi map, int rows, int cols, float low_thresh, float high_thresh)
|
||||
{
|
||||
dim3 block(16, 16, 1);
|
||||
dim3 grid(divUp(cols, block.x), divUp(rows, block.y), 1);
|
||||
|
||||
calcMap<<<grid, block>>>(dx, dy, mag, map, rows, cols, low_thresh, high_thresh);
|
||||
cudaSafeCall( cudaGetLastError() );
|
||||
|
||||
cudaSafeCall( cudaDeviceSynchronize() );
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
__device__ unsigned int counter = 0;
|
||||
|
||||
__global__ void edgesHysteresisLocal(PtrStepi map, ushort2* st, int rows, int cols)
|
||||
{
|
||||
#if defined (__CUDA_ARCH__) && (__CUDA_ARCH__ >= 120)
|
||||
|
||||
__shared__ int smem[18][18];
|
||||
|
||||
const int j = blockIdx.x * 16 + threadIdx.x;
|
||||
const int i = blockIdx.y * 16 + threadIdx.y;
|
||||
|
||||
const int tid = threadIdx.y * 16 + threadIdx.x;
|
||||
const int lx = tid % 18;
|
||||
const int ly = tid / 18;
|
||||
|
||||
if (ly < 14)
|
||||
smem[ly][lx] = map.ptr(blockIdx.y * 16 + ly)[blockIdx.x * 16 + lx];
|
||||
|
||||
if (ly < 4 && blockIdx.y * 16 + ly + 14 <= rows && blockIdx.x * 16 + lx <= cols)
|
||||
smem[ly + 14][lx] = map.ptr(blockIdx.y * 16 + ly + 14)[blockIdx.x * 16 + lx];
|
||||
|
||||
__syncthreads();
|
||||
|
||||
if (i < rows && j < cols)
|
||||
{
|
||||
int n;
|
||||
|
||||
#pragma unroll
|
||||
for (int k = 0; k < 16; ++k)
|
||||
{
|
||||
n = 0;
|
||||
|
||||
if (smem[threadIdx.y + 1][threadIdx.x + 1] == 1)
|
||||
{
|
||||
n += smem[threadIdx.y ][threadIdx.x ] == 2;
|
||||
n += smem[threadIdx.y ][threadIdx.x + 1] == 2;
|
||||
n += smem[threadIdx.y ][threadIdx.x + 2] == 2;
|
||||
|
||||
n += smem[threadIdx.y + 1][threadIdx.x ] == 2;
|
||||
n += smem[threadIdx.y + 1][threadIdx.x + 2] == 2;
|
||||
|
||||
n += smem[threadIdx.y + 2][threadIdx.x ] == 2;
|
||||
n += smem[threadIdx.y + 2][threadIdx.x + 1] == 2;
|
||||
n += smem[threadIdx.y + 2][threadIdx.x + 2] == 2;
|
||||
}
|
||||
|
||||
if (n > 0)
|
||||
smem[threadIdx.y + 1][threadIdx.x + 1] = 2;
|
||||
}
|
||||
|
||||
const int e = smem[threadIdx.y + 1][threadIdx.x + 1];
|
||||
|
||||
map.ptr(i + 1)[j + 1] = e;
|
||||
|
||||
n = 0;
|
||||
|
||||
if (e == 2)
|
||||
{
|
||||
n += smem[threadIdx.y ][threadIdx.x ] == 1;
|
||||
n += smem[threadIdx.y ][threadIdx.x + 1] == 1;
|
||||
n += smem[threadIdx.y ][threadIdx.x + 2] == 1;
|
||||
|
||||
n += smem[threadIdx.y + 1][threadIdx.x ] == 1;
|
||||
n += smem[threadIdx.y + 1][threadIdx.x + 2] == 1;
|
||||
|
||||
n += smem[threadIdx.y + 2][threadIdx.x ] == 1;
|
||||
n += smem[threadIdx.y + 2][threadIdx.x + 1] == 1;
|
||||
n += smem[threadIdx.y + 2][threadIdx.x + 2] == 1;
|
||||
}
|
||||
|
||||
if (n > 0)
|
||||
{
|
||||
const unsigned int ind = atomicInc(&counter, (unsigned int)(-1));
|
||||
st[ind] = make_ushort2(j + 1, i + 1);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
void edgesHysteresisLocal_gpu(PtrStepi map, ushort2* st1, int rows, int cols)
|
||||
{
|
||||
void* counter_ptr;
|
||||
cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, counter) );
|
||||
|
||||
cudaSafeCall( cudaMemset(counter_ptr, 0, sizeof(unsigned int)) );
|
||||
|
||||
dim3 block(16, 16, 1);
|
||||
dim3 grid(divUp(cols, block.x), divUp(rows, block.y), 1);
|
||||
|
||||
edgesHysteresisLocal<<<grid, block>>>(map, st1, rows, cols);
|
||||
cudaSafeCall( cudaGetLastError() );
|
||||
|
||||
cudaSafeCall( cudaDeviceSynchronize() );
|
||||
}
|
||||
|
||||
__constant__ int c_dx[8] = {-1, 0, 1, -1, 1, -1, 0, 1};
|
||||
__constant__ int c_dy[8] = {-1, -1, -1, 0, 0, 1, 1, 1};
|
||||
|
||||
__global__ void edgesHysteresisGlobal(PtrStepi map, ushort2* st1, ushort2* st2, int rows, int cols, int count)
|
||||
{
|
||||
#if defined (__CUDA_ARCH__) && __CUDA_ARCH__ >= 120
|
||||
|
||||
const int stack_size = 512;
|
||||
|
||||
__shared__ unsigned int s_counter;
|
||||
__shared__ unsigned int s_ind;
|
||||
__shared__ ushort2 s_st[stack_size];
|
||||
|
||||
if (threadIdx.x == 0)
|
||||
s_counter = 0;
|
||||
s_counter -= portion;
|
||||
|
||||
__syncthreads();
|
||||
|
||||
int ind = blockIdx.y * gridDim.x + blockIdx.x;
|
||||
|
||||
if (ind < count)
|
||||
if (subTaskIdx < portion)
|
||||
{
|
||||
ushort2 pos = st1[ind];
|
||||
pos.x += c_dx[threadIdx.x & 7];
|
||||
pos.y += c_dy[threadIdx.x & 7];
|
||||
|
||||
if (pos.x > 0 && pos.x <= cols && pos.y > 0 && pos.y <= rows)
|
||||
if (pos.x > 0 && pos.x <= map.cols && pos.y > 0 && pos.y <= map.rows && map(pos.y, pos.x) == 1)
|
||||
{
|
||||
if (threadIdx.x < 8)
|
||||
{
|
||||
pos.x += c_dx[threadIdx.x];
|
||||
pos.y += c_dy[threadIdx.x];
|
||||
map(pos.y, pos.x) = 2;
|
||||
|
||||
if (map.ptr(pos.y)[pos.x] == 1)
|
||||
{
|
||||
map.ptr(pos.y)[pos.x] = 2;
|
||||
ind = Emulation::smem::atomicAdd(&s_counter, 1);
|
||||
|
||||
ind = atomicInc(&s_counter, (unsigned int)(-1));
|
||||
|
||||
s_st[ind] = pos;
|
||||
}
|
||||
}
|
||||
__syncthreads();
|
||||
|
||||
while (s_counter > 0 && s_counter <= stack_size - blockDim.x)
|
||||
{
|
||||
const int subTaskIdx = threadIdx.x >> 3;
|
||||
const int portion = ::min(s_counter, blockDim.x >> 3);
|
||||
|
||||
pos.x = pos.y = 0;
|
||||
|
||||
if (subTaskIdx < portion)
|
||||
pos = s_st[s_counter - 1 - subTaskIdx];
|
||||
__syncthreads();
|
||||
|
||||
if (threadIdx.x == 0)
|
||||
s_counter -= portion;
|
||||
__syncthreads();
|
||||
|
||||
if (pos.x > 0 && pos.x <= cols && pos.y > 0 && pos.y <= rows)
|
||||
{
|
||||
pos.x += c_dx[threadIdx.x & 7];
|
||||
pos.y += c_dy[threadIdx.x & 7];
|
||||
|
||||
if (map.ptr(pos.y)[pos.x] == 1)
|
||||
{
|
||||
map.ptr(pos.y)[pos.x] = 2;
|
||||
|
||||
ind = atomicInc(&s_counter, (unsigned int)(-1));
|
||||
|
||||
s_st[ind] = pos;
|
||||
}
|
||||
}
|
||||
__syncthreads();
|
||||
}
|
||||
|
||||
if (s_counter > 0)
|
||||
{
|
||||
if (threadIdx.x == 0)
|
||||
{
|
||||
ind = atomicAdd(&counter, s_counter);
|
||||
s_ind = ind - s_counter;
|
||||
}
|
||||
__syncthreads();
|
||||
|
||||
ind = s_ind;
|
||||
|
||||
for (int i = threadIdx.x; i < s_counter; i += blockDim.x)
|
||||
{
|
||||
st2[ind + i] = s_st[i];
|
||||
}
|
||||
}
|
||||
s_st[ind] = pos;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
__syncthreads();
|
||||
}
|
||||
|
||||
void edgesHysteresisGlobal_gpu(PtrStepi map, ushort2* st1, ushort2* st2, int rows, int cols)
|
||||
if (s_counter > 0)
|
||||
{
|
||||
void* counter_ptr;
|
||||
cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, counter) );
|
||||
|
||||
unsigned int count;
|
||||
cudaSafeCall( cudaMemcpy(&count, counter_ptr, sizeof(unsigned int), cudaMemcpyDeviceToHost) );
|
||||
|
||||
while (count > 0)
|
||||
if (threadIdx.x == 0)
|
||||
{
|
||||
cudaSafeCall( cudaMemset(counter_ptr, 0, sizeof(unsigned int)) );
|
||||
|
||||
dim3 block(128, 1, 1);
|
||||
dim3 grid(std::min(count, 65535u), divUp(count, 65535), 1);
|
||||
edgesHysteresisGlobal<<<grid, block>>>(map, st1, st2, rows, cols, count);
|
||||
cudaSafeCall( cudaGetLastError() );
|
||||
|
||||
cudaSafeCall( cudaDeviceSynchronize() );
|
||||
|
||||
cudaSafeCall( cudaMemcpy(&count, counter_ptr, sizeof(unsigned int), cudaMemcpyDeviceToHost) );
|
||||
|
||||
std::swap(st1, st2);
|
||||
ind = ::atomicAdd(&counter, s_counter);
|
||||
s_ind = ind - s_counter;
|
||||
}
|
||||
|
||||
__syncthreads();
|
||||
|
||||
ind = s_ind;
|
||||
|
||||
for (int i = threadIdx.x; i < s_counter; i += blockDim.x)
|
||||
st2[ind + i] = s_st[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
__global__ void getEdges(PtrStepi map, PtrStepb dst, int rows, int cols)
|
||||
namespace canny
|
||||
{
|
||||
void edgesHysteresisGlobal(PtrStepSzi map, ushort2* st1, ushort2* st2)
|
||||
{
|
||||
void* counter_ptr;
|
||||
cudaSafeCall( cudaGetSymbolAddress(&counter_ptr, ::counter) );
|
||||
|
||||
int count;
|
||||
cudaSafeCall( cudaMemcpy(&count, counter_ptr, sizeof(int), cudaMemcpyDeviceToHost) );
|
||||
|
||||
while (count > 0)
|
||||
{
|
||||
const int j = blockIdx.x * 16 + threadIdx.x;
|
||||
const int i = blockIdx.y * 16 + threadIdx.y;
|
||||
cudaSafeCall( cudaMemset(counter_ptr, 0, sizeof(int)) );
|
||||
|
||||
if (i < rows && j < cols)
|
||||
dst.ptr(i)[j] = (uchar)(-(map.ptr(i + 1)[j + 1] >> 1));
|
||||
}
|
||||
const dim3 block(128);
|
||||
const dim3 grid(::min(count, 65535u), divUp(count, 65535), 1);
|
||||
|
||||
void getEdges_gpu(PtrStepi map, PtrStepb dst, int rows, int cols)
|
||||
{
|
||||
dim3 block(16, 16, 1);
|
||||
dim3 grid(divUp(cols, block.x), divUp(rows, block.y), 1);
|
||||
|
||||
getEdges<<<grid, block>>>(map, dst, rows, cols);
|
||||
::edgesHysteresisGlobal<<<grid, block>>>(map, st1, st2, count);
|
||||
cudaSafeCall( cudaGetLastError() );
|
||||
|
||||
cudaSafeCall( cudaDeviceSynchronize() );
|
||||
|
||||
cudaSafeCall( cudaMemcpy(&count, counter_ptr, sizeof(int), cudaMemcpyDeviceToHost) );
|
||||
|
||||
std::swap(st1, st2);
|
||||
}
|
||||
} // namespace canny
|
||||
}}} // namespace cv { namespace gpu { namespace device
|
||||
}
|
||||
}
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#endif /* CUDA_DISABLER */
|
||||
namespace
|
||||
{
|
||||
struct GetEdges : unary_function<int, uchar>
|
||||
{
|
||||
__device__ __forceinline__ uchar operator ()(int e) const
|
||||
{
|
||||
return (uchar)(-(e >> 1));
|
||||
}
|
||||
|
||||
__device__ __forceinline__ GetEdges() {}
|
||||
__device__ __forceinline__ GetEdges(const GetEdges&) {}
|
||||
};
|
||||
}
|
||||
|
||||
namespace cv { namespace gpu { namespace device
|
||||
{
|
||||
template <> struct TransformFunctorTraits<GetEdges> : DefaultTransformFunctorTraits<GetEdges>
|
||||
{
|
||||
enum { smart_shift = 4 };
|
||||
};
|
||||
}}}
|
||||
|
||||
namespace canny
|
||||
{
|
||||
void getEdges(PtrStepSzi map, PtrStepSzb dst)
|
||||
{
|
||||
transform(map, dst, GetEdges(), WithOutMask(), 0);
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* CUDA_DISABLER */
|
||||
|
||||
Reference in New Issue
Block a user