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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);
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);
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);
69     }
70 }}}
71 
72 namespace
73 {
74     class HoughSegmentDetectorImpl : public HoughSegmentDetector
75     {
76     public:
HoughSegmentDetectorImpl(float rho,float theta,int minLineLength,int maxLineGap,int maxLines)77         HoughSegmentDetectorImpl(float rho, float theta, int minLineLength, int maxLineGap, int maxLines) :
78             rho_(rho), theta_(theta), minLineLength_(minLineLength), maxLineGap_(maxLineGap), maxLines_(maxLines)
79         {
80         }
81 
82         void detect(InputArray src, OutputArray lines, Stream& stream);
83 
setRho(float rho)84         void setRho(float rho) { rho_ = rho; }
getRho() const85         float getRho() const { return rho_; }
86 
setTheta(float theta)87         void setTheta(float theta) { theta_ = theta; }
getTheta() const88         float getTheta() const { return theta_; }
89 
setMinLineLength(int minLineLength)90         void setMinLineLength(int minLineLength) { minLineLength_ = minLineLength; }
getMinLineLength() const91         int getMinLineLength() const { return minLineLength_; }
92 
setMaxLineGap(int maxLineGap)93         void setMaxLineGap(int maxLineGap) { maxLineGap_ = maxLineGap; }
getMaxLineGap() const94         int getMaxLineGap() const { return maxLineGap_; }
95 
setMaxLines(int maxLines)96         void setMaxLines(int maxLines) { maxLines_ = maxLines; }
getMaxLines() const97         int getMaxLines() const { return maxLines_; }
98 
write(FileStorage & fs) const99         void write(FileStorage& fs) const
100         {
101             fs << "name" << "PHoughLinesDetector_CUDA"
102             << "rho" << rho_
103             << "theta" << theta_
104             << "minLineLength" << minLineLength_
105             << "maxLineGap" << maxLineGap_
106             << "maxLines" << maxLines_;
107         }
108 
read(const FileNode & fn)109         void read(const FileNode& fn)
110         {
111             CV_Assert( String(fn["name"]) == "PHoughLinesDetector_CUDA" );
112             rho_ = (float)fn["rho"];
113             theta_ = (float)fn["theta"];
114             minLineLength_ = (int)fn["minLineLength"];
115             maxLineGap_ = (int)fn["maxLineGap"];
116             maxLines_ = (int)fn["maxLines"];
117         }
118 
119     private:
120         float rho_;
121         float theta_;
122         int minLineLength_;
123         int maxLineGap_;
124         int maxLines_;
125 
126         GpuMat accum_;
127         GpuMat list_;
128         GpuMat result_;
129     };
130 
detect(InputArray _src,OutputArray lines,Stream & stream)131     void HoughSegmentDetectorImpl::detect(InputArray _src, OutputArray lines, Stream& stream)
132     {
133         // TODO : implement async version
134         (void) stream;
135 
136         using namespace cv::cuda::device::hough;
137         using namespace cv::cuda::device::hough_lines;
138         using namespace cv::cuda::device::hough_segments;
139 
140         GpuMat src = _src.getGpuMat();
141 
142         CV_Assert( src.type() == CV_8UC1 );
143         CV_Assert( src.cols < std::numeric_limits<unsigned short>::max() );
144         CV_Assert( src.rows < std::numeric_limits<unsigned short>::max() );
145 
146         ensureSizeIsEnough(1, src.size().area(), CV_32SC1, list_);
147         unsigned int* srcPoints = list_.ptr<unsigned int>();
148 
149         const int pointsCount = buildPointList_gpu(src, srcPoints);
150         if (pointsCount == 0)
151         {
152             lines.release();
153             return;
154         }
155 
156         const int numangle = cvRound(CV_PI / theta_);
157         const int numrho = cvRound(((src.cols + src.rows) * 2 + 1) / rho_);
158         CV_Assert( numangle > 0 && numrho > 0 );
159 
160         ensureSizeIsEnough(numangle + 2, numrho + 2, CV_32SC1, accum_);
161         accum_.setTo(Scalar::all(0));
162 
163         DeviceInfo devInfo;
164         linesAccum_gpu(srcPoints, pointsCount, accum_, rho_, theta_, devInfo.sharedMemPerBlock(), devInfo.supports(FEATURE_SET_COMPUTE_20));
165 
166         ensureSizeIsEnough(1, maxLines_, CV_32SC4, result_);
167 
168         int linesCount = houghLinesProbabilistic_gpu(src, accum_, result_.ptr<int4>(), maxLines_, rho_, theta_, maxLineGap_, minLineLength_);
169 
170         if (linesCount == 0)
171         {
172             lines.release();
173             return;
174         }
175 
176         result_.cols = linesCount;
177         result_.copyTo(lines);
178     }
179 }
180 
createHoughSegmentDetector(float rho,float theta,int minLineLength,int maxLineGap,int maxLines)181 Ptr<HoughSegmentDetector> cv::cuda::createHoughSegmentDetector(float rho, float theta, int minLineLength, int maxLineGap, int maxLines)
182 {
183     return makePtr<HoughSegmentDetectorImpl>(rho, theta, minLineLength, maxLineGap, maxLines);
184 }
185 
186 #endif /* !defined (HAVE_CUDA) */
187