canny.cpp

/*M///////////////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
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// @Authors
//    Peng Xiao, pengxiao@multicorewareinc.com
//
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#include "precomp.hpp"

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

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)
{
    ensureSizeIsEnough(image_size, CV_32SC1, dx);
    ensureSizeIsEnough(image_size, CV_32SC1, dy);

    if(apperture_size == 3)
    {
        ensureSizeIsEnough(image_size, CV_32SC1, dx_buf);
        ensureSizeIsEnough(image_size, CV_32SC1, dy_buf);
    }
    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);
        }
    }
    ensureSizeIsEnough(2 * (image_size.height + 2), image_size.width + 2, CV_32FC1, edgeBuf);

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

    int counter_i [1] = { 0 };
    int err = 0;
    if(counter)
    {
        openCLFree(counter);
    }
    counter = clCreateBuffer( *((cl_context*)getoclContext()), CL_MEM_COPY_HOST_PTR, sizeof(int), counter_i, &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;
        oclMat magBuf = buf.edgeBuf(Rect(0, 0, buf.edgeBuf.cols, buf.edgeBuf.rows / 2));
        oclMat mapBuf = buf.edgeBuf(Rect(0, buf.edgeBuf.rows / 2, buf.edgeBuf.cols, buf.edgeBuf.rows / 2));

        calcMap_gpu(buf.dx, buf.dy, magBuf, mapBuf, dst.rows, dst.cols, low_thresh, high_thresh);

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

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

        getEdges_gpu(mapBuf, 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));

    oclMat magBuf = buf.edgeBuf(Rect(0, 0, buf.edgeBuf.cols, buf.edgeBuf.rows / 2));

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

        calcMagnitude_gpu(buf.dx, buf.dy, magBuf, 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));

    oclMat magBuf = buf.edgeBuf(Rect(0, 0, buf.edgeBuf.cols, buf.edgeBuf.rows / 2));

    calcMagnitude_gpu(buf.dx, buf.dy, magBuf, 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};

    const char * build_options = L2Grad ? "-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};

    const char * build_options = L2Grad ? "-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(*(cl_command_queue*)getoclCommandQueue(), (cl_mem)counter, 1, 0, sizeof(float), &count, 0, NULL, NULL));
    Context *clCxt = map.clCxt;
    string kernelName = "edgesHysteresisGlobal";
    vector< pair<size_t, const void *> > args;
    size_t localThreads[3]  = {128, 1, 1};

    int count_i[1] = {0};
    while(count > 0)
    {
        openCLSafeCall(clEnqueueWriteBuffer(*(cl_command_queue*)getoclCommandQueue(), (cl_mem)counter, 1, 0, sizeof(int), &count_i, 0, NULL, NULL));

        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(*(cl_command_queue*)getoclCommandQueue(), (cl_mem)counter, 1, 0, sizeof(int), &count, 0, NULL, NULL));
        std::swap(st1, st2);
    }
}

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);
}