From 1a0282df21d9e393bfc7089d673361dd15b5ecea Mon Sep 17 00:00:00 2001
From: Oded Green <ogreen@gatech.edu>
Date: Fri, 29 Jan 2016 20:05:40 -0500
Subject: [PATCH] CUDA median filtering using histograms

---
 .../include/opencv2/cudafilters.hpp           |  12 +
 modules/cudafilters/perf/perf_filters.cpp     |  40 ++
 modules/cudafilters/src/cuda/median_filter.cu | 348 ++++++++++++++++++
 modules/cudafilters/src/filtering.cpp         |  72 ++++
 modules/cudafilters/test/test_filters.cpp     |  61 +++
 .../include/opencv2/cudaimgproc.hpp           |   1 +
 6 files changed, 534 insertions(+)
 create mode 100644 modules/cudafilters/src/cuda/median_filter.cu

diff --git a/modules/cudafilters/include/opencv2/cudafilters.hpp b/modules/cudafilters/include/opencv2/cudafilters.hpp
index 9e86cc3a71..2d52265613 100644
--- a/modules/cudafilters/include/opencv2/cudafilters.hpp
+++ b/modules/cudafilters/include/opencv2/cudafilters.hpp
@@ -314,6 +314,18 @@ CV_EXPORTS Ptr<Filter> createColumnSumFilter(int srcType, int dstType, int ksize
 
 //! @}
 
+///////////////////////////// Median Filtering //////////////////////////////
+
+/** @brief Performs median filtering for each point of the source image.
+
+@param srcType type of of source image. Only CV_8UC1 images are supported for now.
+@param windowSize Size of the kernerl used for the filtering. Uses a (windowSize x windowSize) filter.
+@param partition Specifies the parallel granularity of the workload. This parameter should be used GPU experts when optimizing performance.
+
+Outputs an image that has been filtered using median-filtering formulation.
+ */
+CV_EXPORTS Ptr<Filter> createMedianFilter(int srcType, int windowSize, int partition=128);
+
 }} // namespace cv { namespace cuda {
 
 #endif /* __OPENCV_CUDAFILTERS_HPP__ */
diff --git a/modules/cudafilters/perf/perf_filters.cpp b/modules/cudafilters/perf/perf_filters.cpp
index e6bb200bba..63abf6df74 100644
--- a/modules/cudafilters/perf/perf_filters.cpp
+++ b/modules/cudafilters/perf/perf_filters.cpp
@@ -375,3 +375,43 @@ PERF_TEST_P(Sz_Type_Op, MorphologyEx, Combine(CUDA_TYPICAL_MAT_SIZES, Values(CV_
         CPU_SANITY_CHECK(dst);
     }
 }
+//////////////////////////////////////////////////////////////////////
+// MedianFilter
+//////////////////////////////////////////////////////////////////////
+// Median
+
+DEF_PARAM_TEST(Sz_KernelSz, cv::Size, int);
+
+//PERF_TEST_P(Sz_Type_KernelSz, Median, Combine(CUDA_TYPICAL_MAT_SIZES, Values(CV_8UC1,CV_8UC1), Values(3, 5, 7, 9, 11, 13, 15)))
+PERF_TEST_P(Sz_KernelSz, Median, Combine(CUDA_TYPICAL_MAT_SIZES, Values(3, 5, 7, 9, 11, 13, 15)))
+{
+    declare.time(20.0);
+
+    const cv::Size size = GET_PARAM(0);
+    // const int type = GET_PARAM(1);
+    const int type = CV_8UC1;
+    const int kernel = GET_PARAM(1);
+
+    cv::Mat src(size, type);
+    declare.in(src, WARMUP_RNG);
+
+    if (PERF_RUN_CUDA())
+    {
+        const cv::cuda::GpuMat d_src(src);
+        cv::cuda::GpuMat dst;
+
+        cv::Ptr<cv::cuda::Filter> median = cv::cuda::createMedianFilter(d_src.type(), kernel);
+
+        TEST_CYCLE() median->apply(d_src, dst);
+
+        SANITY_CHECK_NOTHING();
+    }
+    else
+    {
+        cv::Mat dst;
+
+        TEST_CYCLE() cv::medianBlur(src,dst,kernel);
+
+        SANITY_CHECK_NOTHING();
+    }
+}
\ No newline at end of file
diff --git a/modules/cudafilters/src/cuda/median_filter.cu b/modules/cudafilters/src/cuda/median_filter.cu
new file mode 100644
index 0000000000..f66b429a32
--- /dev/null
+++ b/modules/cudafilters/src/cuda/median_filter.cu
@@ -0,0 +1,348 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#if !defined CUDA_DISABLER
+
+#include "precomp.hpp"
+
+using namespace cv;
+using namespace cv::cuda;
+
+#include "opencv2/core/cuda/common.hpp"
+#include "opencv2/core/cuda/vec_traits.hpp"
+#include "opencv2/core/cuda/vec_math.hpp"
+#include "opencv2/core/cuda/saturate_cast.hpp"
+#include "opencv2/core/cuda/border_interpolate.hpp"
+
+namespace cv { namespace cuda { namespace device
+{
+    // // namespace imgproc
+    // {
+
+        __device__ void histogramAddAndSub8(int* H, const int * hist_colAdd,const int * hist_colSub){
+            int tx = threadIdx.x;
+            if (tx<8){
+                H[tx]+=hist_colAdd[tx]-hist_colSub[tx];
+            }
+        }
+
+        __device__ void histogramMultipleAdd8(int* H, const int * hist_col,int histCount){
+            int tx = threadIdx.x;
+            if (tx<8){
+                int temp=H[tx];
+                for(int i=0; i<histCount; i++)
+                    temp+=hist_col[(i<<3)+tx];
+                H[tx]=temp;
+            }
+        }
+
+        __device__ void histogramClear8(int* H){
+            int tx = threadIdx.x;
+            if (tx<8){
+                H[tx]=0;
+            }
+        }
+
+        __device__ void histogramAdd8(int* H, const int * hist_col){
+            int tx = threadIdx.x;
+            if (tx<8){
+                H[tx]+=hist_col[tx];
+            }
+        }
+
+        __device__ void histogramSub8(int* H, const int * hist_col){
+            int tx = threadIdx.x;
+            if (tx<8){
+                H[tx]-=hist_col[tx];
+            }
+        }
+
+
+        __device__ void histogramAdd32(int* H, const int * hist_col){
+            int tx = threadIdx.x;
+            if (tx<32){
+                H[tx]+=hist_col[tx];
+            }
+        }
+
+        __device__ void histogramAddAndSub32(int* H, const int * hist_colAdd,const int * hist_colSub){
+            int tx = threadIdx.x;
+            if (tx<32){
+                H[tx]+=hist_colAdd[tx]-hist_colSub[tx];
+            }
+        }
+
+
+        __device__ void histogramClear32(int* H){
+            int tx = threadIdx.x;
+            if (tx<32){
+                H[tx]=0;
+            }
+        }
+
+        __device__ void lucClear8(int* luc){
+            int tx = threadIdx.x;
+            if (tx<8)
+                luc[tx]=0;
+        }
+
+        __device__ void histogramMedianPar8LookupOnly(int* H,int* Hscan, const int medPos,int* retval, int* countAtMed){
+            int tx=threadIdx.x;
+            *retval=*countAtMed=0;
+            if(tx<8){
+                Hscan[tx]=H[tx];
+            }
+            __syncthreads();
+            if(tx<8){
+                if(tx>=1 )
+                  Hscan[tx]+=Hscan[tx-1];
+                if(tx>=2)
+                  Hscan[tx]+=Hscan[tx-2];
+                if(tx>=4)
+                  Hscan[tx]+=Hscan[tx-4];
+            }
+            __syncthreads();
+
+            if(tx<7){
+                if(Hscan[tx+1] > medPos && Hscan[tx] < medPos){
+                    *retval=tx+1;
+                    *countAtMed=Hscan[tx];
+                }
+                else if(Hscan[tx]==medPos){
+                  if(Hscan[tx+1]>medPos){
+                     *retval=tx+1;
+                     *countAtMed=Hscan[tx];
+                  }
+                }
+            }
+        }
+
+        __device__ void histogramMedianPar32LookupOnly(int* H,int* Hscan, const int medPos,int* retval, int* countAtMed){
+            int tx=threadIdx.x;
+            *retval=*countAtMed=0;
+            if(tx<32){
+                Hscan[tx]=H[tx];
+            }
+            __syncthreads();
+            if(tx<32){
+                if(tx>=1)
+                  Hscan[tx]+=Hscan[tx-1];
+                if(tx>=2)
+                  Hscan[tx]+=Hscan[tx-2];
+                if(tx>=4)
+                  Hscan[tx]+=Hscan[tx-4];
+                if(tx>=8)
+                  Hscan[tx]+=Hscan[tx-8];
+                if(tx>=16)
+                  Hscan[tx]+=Hscan[tx-16];
+            }
+            __syncthreads();
+            if(tx<31){
+                if(Hscan[tx+1] > medPos && Hscan[tx] < medPos){
+                    *retval=tx+1;
+                    *countAtMed=Hscan[tx];
+                }
+                else if(Hscan[tx]==medPos){
+                  if(Hscan[tx+1]>medPos){
+                      *retval=tx+1;
+                      *countAtMed=Hscan[tx];
+                  }
+                }
+            }
+         }
+
+    __global__ void cuMedianFilterMultiBlock(PtrStepSzb src, PtrStepSzb  dest, PtrStepSzi histPar, PtrStepSzi coarseHistGrid,int r, int medPos_)
+    {
+        __shared__ int HCoarse[8];
+        __shared__ int HCoarseScan[32];
+        __shared__ int HFine[8][32];
+
+        __shared__ int luc[8];
+
+        __shared__ int firstBin,countAtMed, retval;
+
+        int rows = src.rows, cols=src.cols;
+
+        int extraRowThread=rows%gridDim.x;
+        int doExtraRow=blockIdx.x<extraRowThread;
+        int startRow=0, stopRow=0;
+        int rowsPerBlock= rows/gridDim.x+doExtraRow;
+
+
+        // The following code partitions the work to the blocks. Some blocks will do one row more
+        // than other blocks. This code is responsible for doing that balancing
+        if(doExtraRow){
+            startRow=rowsPerBlock*blockIdx.x;
+            stopRow=::min(rows, startRow+rowsPerBlock);
+        }
+        else{
+            startRow=(rowsPerBlock+1)*extraRowThread+(rowsPerBlock)*(blockIdx.x-extraRowThread);
+            stopRow=::min(rows, startRow+rowsPerBlock);
+        }
+
+        int* hist= histPar.data+cols*256*blockIdx.x;
+        int* histCoarse=coarseHistGrid.data +cols*8*blockIdx.x;
+
+        if (blockIdx.x==(gridDim.x-1))
+            stopRow=rows;
+        __syncthreads();
+        int initNeeded=0, initVal, initStartRow, initStopRow;
+
+        if(blockIdx.x==0){
+            initNeeded=1; initVal=r+2; initStartRow=1;  initStopRow=r;
+        }
+        else if (startRow<(r+2)){
+            initNeeded=1; initVal=r+2-startRow; initStartRow=1; initStopRow=r+startRow;
+        }
+        else{
+            initNeeded=0; initVal=0; initStartRow=startRow-(r+1);   initStopRow=r+startRow;
+        }
+       __syncthreads();
+
+
+        // In the original algorithm an initialization phase was required as part of the window was outside the
+        // image. In this parallel version, the initializtion is required for all thread blocks that part
+        // of the median filter is outside the window.
+        // For all threads in the block the same code will be executed.
+        if (initNeeded){
+            for (int j=threadIdx.x; j<(cols); j+=blockDim.x){
+                hist[j*256+src.ptr(0)[j]]=initVal;
+                histCoarse[j*8+(src.ptr(0)[j]>>5)]=initVal;
+            }
+        }
+        __syncthreads();
+
+        // Fot all remaining rows in the median filter, add the values to the the histogram
+        for (int j=threadIdx.x; j<cols; j+=blockDim.x){
+            for(int i=initStartRow; i<initStopRow; i++){
+                    int pos=::min(i,rows-1);
+                    hist[j*256+src.ptr(pos)[j]]++;
+                    histCoarse[j*8+(src.ptr(pos)[j]>>5)]++;
+                }
+        }
+        __syncthreads();
+         // Going through all the rows that the block is responsible for.
+         int inc=blockDim.x*256;
+         int incCoarse=blockDim.x*8;
+         for(int i=startRow; i< stopRow; i++){
+             // For every new row that is started the global histogram for the entire window is restarted.
+
+             histogramClear8(HCoarse);
+             lucClear8(luc);
+             // Computing some necessary indices
+             int possub=::max(0,i-r-1),posadd=::min(rows-1,i+r);
+             int histPos=threadIdx.x*256;
+             int histCoarsePos=threadIdx.x*8;
+             // Going through all the elements of a specific row. Foeach histogram, a value is taken out and
+             // one value is added.
+             for (int j=threadIdx.x; j<cols; j+=blockDim.x){
+                hist[histPos+ src.ptr(possub)[j] ]--;
+                hist[histPos+ src.ptr(posadd)[j] ]++;
+                histCoarse[histCoarsePos+ (src.ptr(possub)[j]>>5) ]--;
+                histCoarse[histCoarsePos+ (src.ptr(posadd)[j]>>5) ]++;
+
+                histPos+=inc;
+                histCoarsePos+=incCoarse;
+             }
+            __syncthreads();
+
+            histogramMultipleAdd8(HCoarse,histCoarse, 2*r+1);
+//            __syncthreads();
+            int cols_m_1=cols-1;
+
+             for(int j=r;j<cols-r;j++){
+                int possub=::max(j-r,0);
+                int posadd=::min(j+1+r,cols_m_1);
+                int medPos=medPos_;
+                __syncthreads();
+
+                histogramMedianPar8LookupOnly(HCoarse,HCoarseScan,medPos, &firstBin,&countAtMed);
+                __syncthreads();
+
+                if ( luc[firstBin] <= (j-r))
+                {
+                    histogramClear32(HFine[firstBin]);
+                    for ( luc[firstBin] = j-r; luc[firstBin] < ::min(j+r+1,cols); luc[firstBin]++ ){
+                        histogramAdd32(HFine[firstBin], hist+(luc[firstBin]*256+(firstBin<<5) ) );
+                    }
+                }
+                else{
+                    for ( ; luc[firstBin] < (j+r+1);luc[firstBin]++ ) {
+                        histogramAddAndSub32(HFine[firstBin],
+                        hist+(::min(luc[firstBin],cols_m_1)*256+(firstBin<<5) ),
+                        hist+(::max(luc[firstBin]-2*r-1,0)*256+(firstBin<<5) ) );
+                        __syncthreads();
+
+                    }
+                }
+                __syncthreads();
+
+                int leftOver=medPos-countAtMed;
+                if(leftOver>=0){
+                    histogramMedianPar32LookupOnly(HFine[firstBin],HCoarseScan,leftOver,&retval,&countAtMed);
+                }
+                else retval=0;
+                __syncthreads();
+
+                if (threadIdx.x==0){
+                    dest.ptr(i)[j]=(firstBin<<5) + retval;
+                }
+                histogramAddAndSub8(HCoarse, histCoarse+(int)(posadd<<3),histCoarse+(int)(possub<<3));
+
+                __syncthreads();
+            }
+             __syncthreads();
+        }
+    }
+
+    void medianFiltering_gpu(const PtrStepSzb src, PtrStepSzb dst, PtrStepSzi devHist, PtrStepSzi devCoarseHist,int kernel, int partitions,cudaStream_t stream){
+        int medPos=2*kernel*kernel+2*kernel;
+        dim3 gridDim; gridDim.x=partitions;
+        dim3 blockDim; blockDim.x=32;
+        cuMedianFilterMultiBlock<<<gridDim,blockDim,0, stream>>>(src, dst, devHist,devCoarseHist, kernel, medPos);
+        if (!stream)
+            cudaSafeCall( cudaDeviceSynchronize() );
+    }
+
+}}}
+
+#endif
diff --git a/modules/cudafilters/src/filtering.cpp b/modules/cudafilters/src/filtering.cpp
index ed72a3ab5c..b90a8c1932 100644
--- a/modules/cudafilters/src/filtering.cpp
+++ b/modules/cudafilters/src/filtering.cpp
@@ -69,6 +69,8 @@ Ptr<Filter> cv::cuda::createBoxMinFilter(int, Size, Point, int, Scalar) { throw_
 Ptr<Filter> cv::cuda::createRowSumFilter(int, int, int, int, int, Scalar) { throw_no_cuda(); return Ptr<Filter>(); }
 Ptr<Filter> cv::cuda::createColumnSumFilter(int, int, int, int, int, Scalar) { throw_no_cuda(); return Ptr<Filter>(); }
 
+Ptr<Filter> cv::cuda::createMedianFilter(int srcType, int _windowSize, int _partitions){ throw_no_cuda(); return Ptr<Filter>();}
+
 #else
 
 namespace
@@ -995,4 +997,74 @@ Ptr<Filter> cv::cuda::createColumnSumFilter(int srcType, int dstType, int ksize,
     return makePtr<NppColumnSumFilter>(srcType, dstType, ksize, anchor, borderMode, borderVal);
 }
 
+////////////////////////////////////////////////////////////////////////////////////////////////////
+// Median Filter
+
+
+
+namespace cv { namespace cuda { namespace device
+{
+    void medianFiltering_gpu(const PtrStepSzb src, PtrStepSzb dst, PtrStepSzi devHist,
+        PtrStepSzi devCoarseHist,int kernel, int partitions, cudaStream_t stream);
+}}}
+
+namespace
+{
+    class MedianFilter : public Filter
+    {
+    public:
+        MedianFilter(int srcType, int _windowSize, int _partitions=128);
+
+        void apply(InputArray src, OutputArray dst, Stream& stream = Stream::Null());
+
+    private:
+        int windowSize;
+        int partitions;
+    };
+
+    MedianFilter::MedianFilter(int srcType, int _windowSize, int _partitions) :
+        windowSize(_windowSize),partitions(_partitions)
+    {
+        CV_Assert( srcType == CV_8UC1 );
+        CV_Assert(windowSize>=3);
+        CV_Assert(_partitions>=1);
+
+    }
+
+    void MedianFilter::apply(InputArray _src, OutputArray _dst, Stream& _stream)
+    {
+        using namespace cv::cuda::device;
+
+        GpuMat src = _src.getGpuMat();
+         _dst.create(src.rows, src.cols, src.type());
+        GpuMat dst = _dst.getGpuMat();
+
+        if (partitions>src.rows)
+            partitions=src.rows/2;
+
+        // Kernel needs to be half window size
+        int kernel=windowSize/2;
+
+        CV_Assert(kernel < src.rows);
+        CV_Assert(kernel < src.cols);
+
+        // Note - these are hardcoded in the actual GPU kernel. Do not change these values.
+        int histSize=256, histCoarseSize=8;
+
+        BufferPool pool(_stream);
+        GpuMat devHist = pool.getBuffer(1, src.cols*histSize*partitions,CV_32SC1);
+        GpuMat devCoarseHist = pool.getBuffer(1,src.cols*histCoarseSize*partitions,CV_32SC1);
+
+        devHist.setTo(0, _stream);
+        devCoarseHist.setTo(0, _stream);
+
+        medianFiltering_gpu(src,dst,devHist, devCoarseHist,kernel,partitions,StreamAccessor::getStream(_stream));
+    }
+}
+
+Ptr<Filter> cv::cuda::createMedianFilter(int srcType, int _windowSize, int _partitions)
+{
+    return makePtr<MedianFilter>(srcType, _windowSize,_partitions);
+}
+
 #endif
diff --git a/modules/cudafilters/test/test_filters.cpp b/modules/cudafilters/test/test_filters.cpp
index 97661b0caf..bac81c30b7 100644
--- a/modules/cudafilters/test/test_filters.cpp
+++ b/modules/cudafilters/test/test_filters.cpp
@@ -53,6 +53,7 @@ namespace
     IMPLEMENT_PARAM_CLASS(Deriv_X, int)
     IMPLEMENT_PARAM_CLASS(Deriv_Y, int)
     IMPLEMENT_PARAM_CLASS(Iterations, int)
+    IMPLEMENT_PARAM_CLASS(KernelSize, int)
 
     cv::Mat getInnerROI(cv::InputArray m_, cv::Size ksize)
     {
@@ -647,4 +648,64 @@ INSTANTIATE_TEST_CASE_P(CUDA_Filters, MorphEx, testing::Combine(
     testing::Values(Iterations(1), Iterations(2), Iterations(3)),
     WHOLE_SUBMAT));
 
+/////////////////////////////////////////////////////////////////////////////////////////////////
+// Median
+
+
+PARAM_TEST_CASE(Median, cv::cuda::DeviceInfo, cv::Size, MatDepth,  KernelSize, UseRoi)
+{
+    cv::cuda::DeviceInfo devInfo;
+    cv::Size size;
+    int type;
+    int kernel;
+    bool useRoi;
+
+    virtual void SetUp()
+    {
+        devInfo = GET_PARAM(0);
+        size = GET_PARAM(1);
+        type = GET_PARAM(2);
+        kernel = GET_PARAM(3);
+        useRoi = GET_PARAM(4);
+
+        cv::cuda::setDevice(devInfo.deviceID());
+    }
+};
+
+
+
+CUDA_TEST_P(Median, Accuracy)
+{
+    cv::Mat src = randomMat(size, type);
+
+    cv::Ptr<cv::cuda::Filter> median = cv::cuda::createMedianFilter(src.type(), kernel);
+
+    cv::cuda::GpuMat dst = createMat(size, type, useRoi);
+    median->apply(loadMat(src, useRoi), dst);
+
+    cv::Mat dst_gold;
+    cv::medianBlur(src,dst_gold,kernel);
+
+    cv::Rect rect(kernel+1,0,src.cols-(2*kernel+1),src.rows);
+    cv::Mat dst_gold_no_border = dst_gold(rect);
+    cv::cuda::GpuMat dst_no_border = cv::cuda::GpuMat(dst, rect);
+
+    EXPECT_MAT_NEAR(dst_gold_no_border, dst_no_border, 1);
+
+}
+
+INSTANTIATE_TEST_CASE_P(CUDA_Filters, Median, testing::Combine(
+    ALL_DEVICES,
+    DIFFERENT_SIZES,
+    testing::Values(MatDepth(CV_8U)),
+    testing::Values(KernelSize(3),
+                    KernelSize(5),
+                    KernelSize(7),
+                    KernelSize(9),
+                    KernelSize(11),
+                    KernelSize(13),
+                    KernelSize(15)),
+    WHOLE_SUBMAT)
+    );
+
 #endif // HAVE_CUDA
diff --git a/modules/cudaimgproc/include/opencv2/cudaimgproc.hpp b/modules/cudaimgproc/include/opencv2/cudaimgproc.hpp
index d84ae24534..b4a05eecd8 100644
--- a/modules/cudaimgproc/include/opencv2/cudaimgproc.hpp
+++ b/modules/cudaimgproc/include/opencv2/cudaimgproc.hpp
@@ -588,6 +588,7 @@ CV_EXPORTS Ptr<CornersDetector> createGoodFeaturesToTrackDetector(int srcType, i
 
 //! @} cudaimgproc_feature
 
+
 ///////////////////////////// Mean Shift //////////////////////////////
 
 /** @brief Performs mean-shift filtering for each point of the source image.