opencv/modules/ocl/src/canny.cpp

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//                For Open Source Computer Vision Library
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// @Authors
//    Peng Xiao, pengxiao@multicorewareinc.com
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#include <iomanip>
#include "precomp.hpp"

using namespace cv;
using namespace cv::ocl;
using namespace std;

#if !defined (HAVE_OPENCL)
void cv::ocl::Canny(const oclMat& image, oclMat& edges, double low_thresh, double high_thresh, int apperture_size = 3, bool L2gradient = false) { throw_nogpu(); }
void cv::ocl::Canny(const oclMat& image, CannyBuf& buf, oclMat& edges, double low_thresh, double high_thresh, int apperture_size = 3, bool L2gradient = false){ throw_nogpu(); }
void cv::ocl::Canny(const oclMat& dx, const oclMat& dy, oclMat& edges, double low_thresh, double high_thresh, bool L2gradient = false){ throw_nogpu(); }
void cv::ocl::Canny(const oclMat& dx, const oclMat& dy, CannyBuf& buf, oclMat& edges, double low_thresh, double high_thresh, bool L2gradient = false){ throw_nogpu(); }
#else

namespace cv
{
    namespace ocl
    {
        ///////////////////////////OpenCL kernel strings///////////////////////////
        extern const char *imgproc_canny;
    }
}

cv::ocl::CannyBuf::CannyBuf(const oclMat& dx_, const oclMat& dy_) : dx(dx_), dy(dy_), counter(NULL)
{
    CV_Assert(dx_.type() == CV_32SC1 && dy_.type() == CV_32SC1 && dx_.size() == dy_.size());

    create(dx_.size(), -1);
}

void cv::ocl::CannyBuf::create(const Size& image_size, int apperture_size)
{
    dx.create(image_size, CV_32SC1);
    dy.create(image_size, CV_32SC1);

    if(apperture_size == 3)
    {
        dx_buf.create(image_size, CV_32SC1);
        dy_buf.create(image_size, CV_32SC1);
    }
    else if(apperture_size > 0)
    {
        Mat kx, ky;
        if (!filterDX)
        {
            filterDX = createDerivFilter_GPU(CV_8U, CV_32S, 1, 0, apperture_size, BORDER_REPLICATE);
        }
        if (!filterDY)
        {
            filterDY = createDerivFilter_GPU(CV_8U, CV_32S, 0, 1, apperture_size, BORDER_REPLICATE);
        }
    }
    edgeBuf.create(image_size.height + 2, image_size.width + 2, CV_32FC1);

    trackBuf1.create(1, image_size.width * image_size.height, CV_16UC2);
    trackBuf2.create(1, image_size.width * image_size.height, CV_16UC2);

    float counter_f [1] = { 0 };
    int err = 0;
    if(counter)
    {
        openCLFree(counter);
    }
    counter = clCreateBuffer( Context::getContext()->impl->clContext, CL_MEM_COPY_HOST_PTR, sizeof(float), counter_f, &err );
    openCLSafeCall(err);
}

void cv::ocl::CannyBuf::release()
{
    dx.release();
    dy.release();
    dx_buf.release();
    dy_buf.release();
    edgeBuf.release();
    trackBuf1.release();
    trackBuf2.release();
    openCLFree(counter);
}

namespace cv { namespace ocl {
    namespace canny
    {
        void calcSobelRowPass_gpu(const oclMat& src, oclMat& dx_buf, oclMat& dy_buf, int rows, int cols);

        void calcMagnitude_gpu(const oclMat& dx_buf, const oclMat& dy_buf, oclMat& dx, oclMat& dy, oclMat& mag, int rows, int cols, bool L2Grad);
        void calcMagnitude_gpu(const oclMat& dx, const oclMat& dy, oclMat& mag, int rows, int cols, bool L2Grad);

        void calcMap_gpu(oclMat& dx, oclMat& dy, oclMat& mag, oclMat& map, int rows, int cols, float low_thresh, float high_thresh);

        void edgesHysteresisLocal_gpu(oclMat& map, oclMat& st1, void * counter, int rows, int cols);

        void edgesHysteresisGlobal_gpu(oclMat& map, oclMat& st1, oclMat& st2, void * counter, int rows, int cols);

        void getEdges_gpu(oclMat& map, oclMat& dst, int rows, int cols);
    }
}}// cv::ocl

namespace
{
    void CannyCaller(CannyBuf& buf, oclMat& dst, float low_thresh, float high_thresh)
    {
        using namespace ::cv::ocl::canny;
        calcMap_gpu(buf.dx, buf.dy, buf.edgeBuf, buf.edgeBuf, dst.rows, dst.cols, low_thresh, high_thresh);

        edgesHysteresisLocal_gpu(buf.edgeBuf, buf.trackBuf1, buf.counter, dst.rows, dst.cols);

        edgesHysteresisGlobal_gpu(buf.edgeBuf, buf.trackBuf1, buf.trackBuf2, buf.counter, dst.rows, dst.cols);

        getEdges_gpu(buf.edgeBuf, dst, dst.rows, dst.cols);
    }
}

void cv::ocl::Canny(const oclMat& src, oclMat& dst, double low_thresh, double high_thresh, int apperture_size, bool L2gradient)
{
    CannyBuf buf(src.size(), apperture_size);
    Canny(src, buf, dst, low_thresh, high_thresh, apperture_size, L2gradient);
}

void cv::ocl::Canny(const oclMat& src, CannyBuf& buf, oclMat& dst, double low_thresh, double high_thresh, int apperture_size, bool L2gradient)
{
    using namespace ::cv::ocl::canny;

    CV_Assert(src.type() == CV_8UC1);

    if( low_thresh > high_thresh )
        std::swap( low_thresh, high_thresh );

    dst.create(src.size(), CV_8U);
    //dst.setTo(Scalar::all(0));

    buf.create(src.size(), apperture_size);
    //buf.edgeBuf.setTo(Scalar::all(0));

    if (apperture_size == 3)
    {
        calcSobelRowPass_gpu(src, buf.dx_buf, buf.dy_buf, src.rows, src.cols);

        calcMagnitude_gpu(buf.dx_buf, buf.dy_buf, buf.dx, buf.dy, buf.edgeBuf, src.rows, src.cols, L2gradient);
    }
    else
    {
        buf.filterDX->apply(src, buf.dx);
        buf.filterDY->apply(src, buf.dy);

        calcMagnitude_gpu(buf.dx, buf.dy, buf.edgeBuf, src.rows, src.cols, L2gradient);
    }
    CannyCaller(buf, dst, static_cast<float>(low_thresh), static_cast<float>(high_thresh));
}
void cv::ocl::Canny(const oclMat& dx, const oclMat& dy, oclMat& dst, double low_thresh, double high_thresh, bool L2gradient)
{
    CannyBuf buf(dx, dy);
    Canny(dx, dy, buf, dst, low_thresh, high_thresh, L2gradient);
}

void cv::ocl::Canny(const oclMat& dx, const oclMat& dy, CannyBuf& buf, oclMat& dst, double low_thresh, double high_thresh, bool L2gradient)
{
    using namespace ::cv::ocl::canny;

    CV_Assert(dx.type() == CV_32SC1 && dy.type() == CV_32SC1 && dx.size() == dy.size());

    if( low_thresh > high_thresh )
        std::swap( low_thresh, high_thresh);

    dst.create(dx.size(), CV_8U);
    //dst.setTo(Scalar::all(0));

    buf.dx = dx; buf.dy = dy;
    buf.create(dx.size(), -1);
    //buf.edgeBuf.setTo(Scalar::all(0));
    calcMagnitude_gpu(buf.dx, buf.dy, buf.edgeBuf, dx.rows, dx.cols, L2gradient);

    CannyCaller(buf, dst, static_cast<float>(low_thresh), static_cast<float>(high_thresh));
}

void canny::calcSobelRowPass_gpu(const oclMat& src, oclMat& dx_buf, oclMat& dy_buf, int rows, int cols)
{
    Context *clCxt = src.clCxt;
    string kernelName = "calcSobelRowPass";
    vector< pair<size_t, const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&src.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dx_buf.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dy_buf.data));
    args.push_back( make_pair( sizeof(cl_int), (void *)&rows));
    args.push_back( make_pair( sizeof(cl_int), (void *)&cols));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&src.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx_buf.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx_buf.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy_buf.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy_buf.offset));

    size_t globalThreads[3] = {cols, rows, 1};
    size_t localThreads[3]  = {16, 16, 1};
    openCLExecuteKernel(clCxt, &imgproc_canny, kernelName, globalThreads, localThreads, args, -1, -1);
}

void canny::calcMagnitude_gpu(const oclMat& dx_buf, const oclMat& dy_buf, oclMat& dx, oclMat& dy, oclMat& mag, int rows, int cols, bool L2Grad)
{
    Context *clCxt = dx_buf.clCxt;
    string kernelName = "calcMagnitude_buf";
    vector< pair<size_t, const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&dx_buf.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dy_buf.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dx.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dy.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&mag.data));
    args.push_back( make_pair( sizeof(cl_int), (void *)&rows));
    args.push_back( make_pair( sizeof(cl_int), (void *)&cols));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx_buf.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx_buf.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy_buf.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy_buf.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&mag.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&mag.offset));

    size_t globalThreads[3] = {cols, rows, 1};
    size_t localThreads[3]  = {16, 16, 1};

    char build_options [15] = "";
    if(L2Grad)
    {
        strcat(build_options, "-D L2GRAD");
    }
    openCLExecuteKernel(clCxt, &imgproc_canny, kernelName, globalThreads, localThreads, args, -1, -1, build_options);
}
void canny::calcMagnitude_gpu(const oclMat& dx, const oclMat& dy, oclMat& mag, int rows, int cols, bool L2Grad)
{
    Context *clCxt = dx.clCxt;
    string kernelName = "calcMagnitude";
    vector< pair<size_t, const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&dx.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dy.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&mag.data));
    args.push_back( make_pair( sizeof(cl_int), (void *)&rows));
    args.push_back( make_pair( sizeof(cl_int), (void *)&cols));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&mag.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&mag.offset));

    size_t globalThreads[3] = {cols, rows, 1};
    size_t localThreads[3]  = {16, 16, 1};

    char build_options [15] = "";
    if(L2Grad)
    {
        strcat(build_options, "-D L2GRAD");
    }
    openCLExecuteKernel(clCxt, &imgproc_canny, kernelName, globalThreads, localThreads, args, -1, -1, build_options);
}

void canny::calcMap_gpu(oclMat& dx, oclMat& dy, oclMat& mag, oclMat& map, int rows, int cols, float low_thresh, float high_thresh)
{
    Context *clCxt = dx.clCxt;

    vector< pair<size_t, const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&dx.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dy.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&mag.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&map.data));
    args.push_back( make_pair( sizeof(cl_int), (void *)&rows));
    args.push_back( make_pair( sizeof(cl_int), (void *)&cols));
    args.push_back( make_pair( sizeof(cl_float), (void *)&low_thresh));
    args.push_back( make_pair( sizeof(cl_float), (void *)&high_thresh));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dx.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dy.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&mag.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&mag.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&map.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&map.offset));


    size_t globalThreads[3] = {cols, rows, 1};
    string kernelName = "calcMap";
    size_t localThreads[3]  = {16, 16, 1};

    openCLExecuteKernel(clCxt, &imgproc_canny, kernelName, globalThreads, localThreads, args, -1, -1);
}

void canny::edgesHysteresisLocal_gpu(oclMat& map, oclMat& st1, void * counter, int rows, int cols)
{
    Context *clCxt = map.clCxt;
    string kernelName = "edgesHysteresisLocal";
    vector< pair<size_t, const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&map.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&st1.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&counter));
    args.push_back( make_pair( sizeof(cl_int), (void *)&rows));
    args.push_back( make_pair( sizeof(cl_int), (void *)&cols));
    args.push_back( make_pair( sizeof(cl_int), (void *)&map.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&map.offset));

    size_t globalThreads[3] = {cols, rows, 1};
    size_t localThreads[3]  = {16, 16, 1};

    openCLExecuteKernel(clCxt, &imgproc_canny, kernelName, globalThreads, localThreads, args, -1, -1);
}

void canny::edgesHysteresisGlobal_gpu(oclMat& map, oclMat& st1, oclMat& st2, void * counter, int rows, int cols)
{
    unsigned int count;
    openCLSafeCall(clEnqueueReadBuffer(Context::getContext()->impl->clCmdQueue, (cl_mem)counter, 1, 0, sizeof(float), &count, NULL, NULL, NULL));
    Context *clCxt = map.clCxt;
    string kernelName = "edgesHysteresisGlobal";
    vector< pair<size_t, const void *> > args;
    size_t localThreads[3]  = {128, 1, 1};

#define DIVUP(a, b) ((a)+(b)-1)/(b)

    while(count > 0)
    {
        //counter.setTo(0);
        args.clear();
        size_t globalThreads[3] = {std::min(count, 65535u) * 128, DIVUP(count, 65535), 1};
        args.push_back( make_pair( sizeof(cl_mem), (void *)&map.data));
        args.push_back( make_pair( sizeof(cl_mem), (void *)&st1.data));
        args.push_back( make_pair( sizeof(cl_mem), (void *)&st2.data));
        args.push_back( make_pair( sizeof(cl_mem), (void *)&counter));
        args.push_back( make_pair( sizeof(cl_int), (void *)&rows));
        args.push_back( make_pair( sizeof(cl_int), (void *)&cols));
        args.push_back( make_pair( sizeof(cl_int), (void *)&count));
        args.push_back( make_pair( sizeof(cl_int), (void *)&map.step));
        args.push_back( make_pair( sizeof(cl_int), (void *)&map.offset));

        openCLExecuteKernel(clCxt, &imgproc_canny, kernelName, globalThreads, localThreads, args, -1, -1);
        openCLSafeCall(clEnqueueReadBuffer(Context::getContext()->impl->clCmdQueue, (cl_mem)counter, 1, 0, sizeof(float), &count, NULL, NULL, NULL));
        std::swap(st1, st2);
    }
#undef DIVUP
}

void canny::getEdges_gpu(oclMat& map, oclMat& dst, int rows, int cols)
{
    Context *clCxt = map.clCxt;
    string kernelName = "getEdges";
    vector< pair<size_t, const void *> > args;

    args.push_back( make_pair( sizeof(cl_mem), (void *)&map.data));
    args.push_back( make_pair( sizeof(cl_mem), (void *)&dst.data));
    args.push_back( make_pair( sizeof(cl_int), (void *)&rows));
    args.push_back( make_pair( sizeof(cl_int), (void *)&cols));
    args.push_back( make_pair( sizeof(cl_int), (void *)&map.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&map.offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dst.step));
    args.push_back( make_pair( sizeof(cl_int), (void *)&dst.offset));

    size_t globalThreads[3] = {cols, rows, 1};
    size_t localThreads[3]  = {16, 16, 1};

    openCLExecuteKernel(clCxt, &imgproc_canny, kernelName, globalThreads, localThreads, args, -1, -1);
}

#endif // HAVE_OPENCL