hough_lines.cl 11.1 KB
Newer Older
wester committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.

// Copyright (C) 2014, Itseez, Inc., all rights reserved.
// Third party copyrights are property of their respective owners.

#define ACCUM(ptr) *((__global int*)(ptr))

#ifdef MAKE_POINTS_LIST

__kernel void make_point_list(__global const uchar * src_ptr, int src_step, int src_offset, int src_rows, int src_cols,
                              __global uchar * list_ptr, int list_step, int list_offset, __global int* global_offset)
{
    int x = get_local_id(0);
    int y = get_group_id(1);

    __local int l_index, l_offset;
    __local int l_points[LOCAL_SIZE];
    __global const uchar * src = src_ptr + mad24(y, src_step, src_offset);
    __global int * list = (__global int*)(list_ptr + list_offset);

    if (x == 0)
        l_index = 0;

    barrier(CLK_LOCAL_MEM_FENCE);

    if (y < src_rows)
    {
        y <<= 16;

        for (int i=x; i < src_cols; i+=GROUP_SIZE)
        {
            if (src[i])
            {
                int val = y | i;
                int index = atomic_inc(&l_index);
                l_points[index] = val;
            }
        }
    }

    barrier(CLK_LOCAL_MEM_FENCE);

    if (x == 0)
        l_offset = atomic_add(global_offset, l_index);

    barrier(CLK_LOCAL_MEM_FENCE);

    list += l_offset;
    for (int i=x; i < l_index; i+=GROUP_SIZE)
    {
        list[i] = l_points[i];
    }
}

#elif defined FILL_ACCUM_GLOBAL

__kernel void fill_accum_global(__global const uchar * list_ptr, int list_step, int list_offset,
                                __global uchar * accum_ptr, int accum_step, int accum_offset,
                                int total_points, float irho, float theta, int numrho, int numangle)
{
    int theta_idx = get_global_id(1);
    int count_idx = get_global_id(0);
    int glob_size = get_global_size(0);
    float cosVal;
    float sinVal = sincos(theta * ((float)theta_idx), &cosVal);
    sinVal *= irho;
    cosVal *= irho;

    __global const int * list = (__global const int*)(list_ptr + list_offset);
    __global int* accum = (__global int*)(accum_ptr + mad24(theta_idx + 1, accum_step, accum_offset));
    const int shift = (numrho - 1) / 2;

    if (theta_idx < numangle)
    {
        for (int i = count_idx; i < total_points; i += glob_size)
        {
            const int val = list[i];
            const int x = (val & 0xFFFF);
            const int y = (val >> 16) & 0xFFFF;

a  
Kai Westerkamp committed
83
            int r = convert_int_rte(mad(x, cosVal, y * sinVal)) + shift;
wester committed
84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119
            atomic_inc(accum + r + 1);
        }
    }
}

#elif defined FILL_ACCUM_LOCAL

__kernel void fill_accum_local(__global const uchar * list_ptr, int list_step, int list_offset,
                               __global uchar * accum_ptr, int accum_step, int accum_offset,
                               int total_points, float irho, float theta, int numrho, int numangle)
{
    int theta_idx = get_group_id(1);
    int count_idx = get_local_id(0);

    if (theta_idx > 0 && theta_idx < numangle + 1)
    {
        float cosVal;
        float sinVal = sincos(theta * (float) (theta_idx-1), &cosVal);
        sinVal *= irho;
        cosVal *= irho;

        __local int l_accum[BUFFER_SIZE];
        for (int i=count_idx; i<BUFFER_SIZE; i+=LOCAL_SIZE)
            l_accum[i] = 0;

        barrier(CLK_LOCAL_MEM_FENCE);

        __global const int * list = (__global const int*)(list_ptr + list_offset);
        const int shift = (numrho - 1) / 2;

        for (int i = count_idx; i < total_points; i += LOCAL_SIZE)
        {
            const int point = list[i];
            const int x = (point & 0xFFFF);
            const int y = point >> 16;

a  
Kai Westerkamp committed
120
            int r = convert_int_rte(mad(x, cosVal, y * sinVal)) + shift;
wester committed
121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188
            atomic_inc(l_accum + r + 1);
        }

        barrier(CLK_LOCAL_MEM_FENCE);

        __global int* accum = (__global int*)(accum_ptr + mad24(theta_idx, accum_step, accum_offset));
        for (int i=count_idx; i<BUFFER_SIZE; i+=LOCAL_SIZE)
            accum[i] = l_accum[i];
    }
    else if (theta_idx < numangle + 2)
    {
        __global int* accum = (__global int*)(accum_ptr + mad24(theta_idx, accum_step, accum_offset));
        for (int i=count_idx; i<BUFFER_SIZE; i+=LOCAL_SIZE)
            accum[i] = 0;
    }
}

#elif defined GET_LINES

__kernel void get_lines(__global uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols,
                         __global uchar * lines_ptr, int lines_step, int lines_offset, __global int* lines_index_ptr,
                         int linesMax, int threshold, float rho, float theta)
{
    int x0 = get_global_id(0);
    int y = get_global_id(1);
    int glob_size = get_global_size(0);

    if (y < accum_rows-2)
    {
        __global uchar* accum = accum_ptr + mad24(y+1, accum_step, mad24(x0+1, (int) sizeof(int), accum_offset));
        __global float2* lines = (__global float2*)(lines_ptr + lines_offset);
        __global int* lines_index = lines_index_ptr + 1;

        for (int x=x0; x<accum_cols-2; x+=glob_size)
        {
            int curVote = ACCUM(accum);

            if (curVote > threshold && curVote > ACCUM(accum - sizeof(int)) && curVote >= ACCUM(accum + sizeof(int)) &&
                curVote > ACCUM(accum - accum_step) && curVote >= ACCUM(accum + accum_step))
            {
                int index = atomic_inc(lines_index);

                if (index < linesMax)
                {
                    float radius = (x - (accum_cols - 3) * 0.5f) * rho;
                    float angle = y * theta;

                    lines[index] = (float2)(radius, angle);
                }
            }

            accum += glob_size * (int) sizeof(int);
        }
    }
}

#elif GET_LINES_PROBABOLISTIC

__kernel void get_lines(__global const uchar * accum_ptr, int accum_step, int accum_offset, int accum_rows, int accum_cols,
                        __global const uchar * src_ptr, int src_step, int src_offset, int src_rows, int src_cols,
                        __global uchar * lines_ptr, int lines_step, int lines_offset, __global int* lines_index_ptr,
                        int linesMax, int threshold, int lineLength, int lineGap, float rho, float theta)
{
    int x = get_global_id(0);
    int y = get_global_id(1);

    if (y < accum_rows-2)
    {
a  
Kai Westerkamp committed
189
        __global uchar* accum = accum_ptr + mad24(y+1, accum_step, mad24(x+1, (int) sizeof(int), accum_offset));
wester committed
190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332
        __global int4* lines = (__global int4*)(lines_ptr + lines_offset);
        __global int* lines_index = lines_index_ptr + 1;

        int curVote = ACCUM(accum);

        if (curVote >= threshold &&
            curVote > ACCUM(accum - accum_step - sizeof(int)) &&
            curVote > ACCUM(accum - accum_step) &&
            curVote > ACCUM(accum - accum_step + sizeof(int)) &&
            curVote > ACCUM(accum - sizeof(int)) &&
            curVote > ACCUM(accum + sizeof(int)) &&
            curVote > ACCUM(accum + accum_step - sizeof(int)) &&
            curVote > ACCUM(accum + accum_step) &&
            curVote > ACCUM(accum + accum_step + sizeof(int)))
        {
            const float radius = (x - (accum_cols - 2 - 1) * 0.5f) * rho;
            const float angle = y * theta;

            float cosa;
            float sina = sincos(angle, &cosa);

            float2 p0 = (float2)(cosa * radius, sina * radius);
            float2 dir = (float2)(-sina, cosa);

            float2 pb[4] = { (float2)(-1, -1), (float2)(-1, -1), (float2)(-1, -1), (float2)(-1, -1) };
            float a;

            if (dir.x != 0)
            {
                a = -p0.x / dir.x;
                pb[0].x = 0;
                pb[0].y = p0.y + a * dir.y;

                a = (src_cols - 1 - p0.x) / dir.x;
                pb[1].x = src_cols - 1;
                pb[1].y = p0.y + a * dir.y;
            }

            if (dir.y != 0)
            {
                a = -p0.y / dir.y;
                pb[2].x = p0.x + a * dir.x;
                pb[2].y = 0;

                a = (src_rows - 1 - p0.y) / dir.y;
                pb[3].x = p0.x + a * dir.x;
                pb[3].y = src_rows - 1;
            }

            if (pb[0].x == 0 && (pb[0].y >= 0 && pb[0].y < src_rows))
            {
                p0 = pb[0];
                if (dir.x < 0)
                    dir = -dir;
            }
            else if (pb[1].x == src_cols - 1 && (pb[1].y >= 0 && pb[1].y < src_rows))
            {
                p0 = pb[1];
                if (dir.x > 0)
                    dir = -dir;
            }
            else if (pb[2].y == 0 && (pb[2].x >= 0 && pb[2].x < src_cols))
            {
                p0 = pb[2];
                if (dir.y < 0)
                    dir = -dir;
            }
            else if (pb[3].y == src_rows - 1 && (pb[3].x >= 0 && pb[3].x < src_cols))
            {
                p0 = pb[3];
                if (dir.y > 0)
                    dir = -dir;
            }

            dir /= max(fabs(dir.x), fabs(dir.y));

            float2 line_end[2];
            int gap;
            bool inLine = false;

            if (p0.x < 0 || p0.x >= src_cols || p0.y < 0 || p0.y >= src_rows)
                return;

            for (;;)
            {
                if (*(src_ptr + mad24(p0.y, src_step, p0.x + src_offset)))
                {
                    gap = 0;

                    if (!inLine)
                    {
                        line_end[0] = p0;
                        line_end[1] = p0;
                        inLine = true;
                    }
                    else
                    {
                        line_end[1] = p0;
                    }
                }
                else if (inLine)
                {
                    if (++gap > lineGap)
                    {
                        bool good_line = fabs(line_end[1].x - line_end[0].x) >= lineLength ||
                                         fabs(line_end[1].y - line_end[0].y) >= lineLength;

                        if (good_line)
                        {
                            int index = atomic_inc(lines_index);
                            if (index < linesMax)
                                lines[index] = (int4)(line_end[0].x, line_end[0].y, line_end[1].x, line_end[1].y);
                        }

                        gap = 0;
                        inLine = false;
                    }
                }

                p0 = p0 + dir;
                if (p0.x < 0 || p0.x >= src_cols || p0.y < 0 || p0.y >= src_rows)
                {
                    if (inLine)
                    {
                        bool good_line = fabs(line_end[1].x - line_end[0].x) >= lineLength ||
                                         fabs(line_end[1].y - line_end[0].y) >= lineLength;

                        if (good_line)
                        {
                            int index = atomic_inc(lines_index);
                            if (index < linesMax)
                                lines[index] = (int4)(line_end[0].x, line_end[0].y, line_end[1].x, line_end[1].y);
                        }

                    }
                    break;
                }
            }

        }
    }
}

a  
Kai Westerkamp committed
333
#endif