Merge pull request #1149 from jet47:generalized-hough-refactoring

modules/gpuimgproc/doc/hough.rst

@@ -216,98 +216,19 @@ Creates implementation for :ocv:class:`gpu::HoughCirclesDetector` .
 
 
 
-gpu::GeneralizedHough
----------------------
-.. ocv:class:: gpu::GeneralizedHough : public Algorithm
-
-Base class for generalized hough transform. ::
-
-    class CV_EXPORTS GeneralizedHough : public Algorithm
-    {
-    public:
-        static Ptr<GeneralizedHough> create(int method);
-
-        virtual void setTemplate(InputArray templ, int cannyThreshold = 100, Point templCenter = Point(-1, -1)) = 0;
-        virtual void setTemplate(InputArray edges, InputArray dx, InputArray dy, Point templCenter = Point(-1, -1)) = 0;
-
-        virtual void detect(InputArray image, OutputArray positions, int cannyThreshold = 100) = 0;
-        virtual void detect(InputArray edges, InputArray dx, InputArray dy, OutputArray positions) = 0;
-
-        virtual void downloadResults(InputArray d_positions, OutputArray h_positions, OutputArray h_votes = noArray()) = 0;
-    };
-
-
-Finds arbitrary template in the grayscale image using Generalized Hough Transform.
-
-
-
-gpu::GeneralizedHough::create
------------------------------
-Creates implementation for :ocv:class:`gpu::GeneralizedHough` .
-
-.. ocv:function:: Ptr<GeneralizedHough> gpu::GeneralizedHough::create(int method)
-
-    :param method: Combination of flags ( ``cv::GeneralizedHough::GHT_POSITION`` , ``cv::GeneralizedHough::GHT_SCALE`` , ``cv::GeneralizedHough::GHT_ROTATION`` ) specifying transformation to find.
-
-For full affine transformations (move + scale + rotation) [Guil1999]_ algorithm is used, otherwise [Ballard1981]_ algorithm is used.
-
-
-
-gpu::GeneralizedHough::setTemplate
+gpu::createGeneralizedHoughBallard
 ----------------------------------
-Set template to search.
-
-.. ocv:function:: void gpu::GeneralizedHough::setTemplate(InputArray templ, int cannyThreshold = 100, Point templCenter = Point(-1, -1))
-
-.. ocv:function:: void gpu::GeneralizedHough::setTemplate(InputArray edges, InputArray dx, InputArray dy, Point templCenter = Point(-1, -1))
+Creates implementation for generalized hough transform from [Ballard1981]_ .
 
-    :param templ: Template image. Canny edge detector will be applied to extract template edges.
+.. ocv:function:: Ptr<GeneralizedHoughBallard> gpu::createGeneralizedHoughBallard()
 
-    :param cannyThreshold: Threshold value for Canny edge detector.
 
-    :param templCenter: Center for rotation. By default image center will be used.
 
-    :param edges: Edge map for template image.
-
-    :param dx: First derivative of template image in the vertical direction. Support only ``CV_32S`` type.
-
-    :param dy: First derivative of template image in the horizontal direction. Support only ``CV_32S`` type.
-
-
-
-gpu::GeneralizedHough::detect
------------------------------
-Finds template (set by :ocv:func:`gpu::GeneralizedHough::setTemplate` ) in the grayscale image.
-
-.. ocv:function:: void gpu::GeneralizedHough::detect(InputArray image, OutputArray positions, int cannyThreshold = 100)
-
-.. ocv:function:: void gpu::GeneralizedHough::detect(InputArray edges, InputArray dx, InputArray dy, OutputArray positions)
-
-    :param templ: Input image. Canny edge detector will be applied to extract template edges.
-
-    :param positions: Output vector of found objects. Each vector is encoded as a 4-element floating-point vector  :math:`(x, y, scale, angle)` .
-
-    :param cannyThreshold: Threshold value for Canny edge detector.
-
-    :param edges: Edge map for input image.
-
-    :param dx: First derivative of input image in the vertical direction. Support only ``CV_32S`` type.
-
-    :param dy: First derivative of input image in the horizontal direction. Support only ``CV_32S`` type.
-
-
-
-gpu::GeneralizedHough::downloadResults
---------------------------------------
-Downloads results from :ocv:func:`gpu::GeneralizedHough::detect` to host memory.
-
-.. ocv:function:: void gpu::GeneralizedHough::downloadResult(InputArray d_positions, OutputArray h_positions, OutputArray h_votes = noArray())
-
-    :param d_lines: Result of :ocv:func:`gpu::GeneralizedHough::detect` .
-
-    :param h_lines: Output host array.
+gpu::createGeneralizedHoughGuil
+-------------------------------
+Creates implementation for generalized hough transform from [Guil1999]_ .
 
-    :param h_votes: Optional output array for votes. Each vector is encoded as a 3-element integer-point vector  :math:`(position_votes, scale_votes, angle_votes)` .
+.. ocv:function:: Ptr<GeneralizedHoughGuil> gpu::createGeneralizedHoughGuil()
 
 
 

modules/gpuimgproc/include/opencv2/gpuimgproc.hpp

@@ -283,24 +283,13 @@ CV_EXPORTS Ptr<HoughCirclesDetector> createHoughCirclesDetector(float dp, float
 //////////////////////////////////////
 // GeneralizedHough
 
-//! finds arbitrary template in the grayscale image using Generalized Hough Transform
 //! Ballard, D.H. (1981). Generalizing the Hough transform to detect arbitrary shapes. Pattern Recognition 13 (2): 111-122.
-//! Guil, N., González-Linares, J.M. and Zapata, E.L. (1999). Bidimensional shape detection using an invariant approach. Pattern Recognition 32 (6): 1025-1038.
-class CV_EXPORTS GeneralizedHough : public Algorithm
-{
-public:
-    static Ptr<GeneralizedHough> create(int method);
-
-    //! set template to search
-    virtual void setTemplate(InputArray templ, int cannyThreshold = 100, Point templCenter = Point(-1, -1)) = 0;
-    virtual void setTemplate(InputArray edges, InputArray dx, InputArray dy, Point templCenter = Point(-1, -1)) = 0;
+//! Detects position only without traslation and rotation
+CV_EXPORTS Ptr<GeneralizedHoughBallard> createGeneralizedHoughBallard();
 
-    //! find template on image
-    virtual void detect(InputArray image, OutputArray positions, int cannyThreshold = 100) = 0;
-    virtual void detect(InputArray edges, InputArray dx, InputArray dy, OutputArray positions) = 0;
-
-    virtual void downloadResults(InputArray d_positions, OutputArray h_positions, OutputArray h_votes = noArray()) = 0;
-};
+//! Guil, N., González-Linares, J.M. and Zapata, E.L. (1999). Bidimensional shape detection using an invariant approach. Pattern Recognition 32 (6): 1025-1038.
+//! Detects position, traslation and rotation
+CV_EXPORTS Ptr<GeneralizedHoughGuil> createGeneralizedHoughGuil();
 
 ////////////////////////// Corners Detection ///////////////////////////
 

modules/gpuimgproc/perf/perf_hough.cpp

@@ -227,23 +227,59 @@ PERF_TEST_P(Sz_Dp_MinDist, HoughCircles,
 //////////////////////////////////////////////////////////////////////
 // GeneralizedHough
 
-enum { GHT_POSITION = cv::GeneralizedHough::GHT_POSITION,
-       GHT_SCALE    = cv::GeneralizedHough::GHT_SCALE,
-       GHT_ROTATION = cv::GeneralizedHough::GHT_ROTATION
-     };
+PERF_TEST_P(Sz, GeneralizedHoughBallard, GPU_TYPICAL_MAT_SIZES)
+{
+    declare.time(10);
+
+    const cv::Size imageSize = GetParam();
+
+    const cv::Mat templ = readImage("cv/shared/templ.png", cv::IMREAD_GRAYSCALE);
+    ASSERT_FALSE(templ.empty());
+
+    cv::Mat image(imageSize, CV_8UC1, cv::Scalar::all(0));
+    templ.copyTo(image(cv::Rect(50, 50, templ.cols, templ.rows)));
 
-CV_FLAGS(GHMethod, GHT_POSITION, GHT_SCALE, GHT_ROTATION);
+    cv::Mat edges;
+    cv::Canny(image, edges, 50, 100);
+
+    cv::Mat dx, dy;
+    cv::Sobel(image, dx, CV_32F, 1, 0);
+    cv::Sobel(image, dy, CV_32F, 0, 1);
+
+    if (PERF_RUN_GPU())
+    {
+        cv::Ptr<cv::GeneralizedHoughBallard> alg = cv::gpu::createGeneralizedHoughBallard();
+
+        const cv::gpu::GpuMat d_edges(edges);
+        const cv::gpu::GpuMat d_dx(dx);
+        const cv::gpu::GpuMat d_dy(dy);
+        cv::gpu::GpuMat positions;
 
-DEF_PARAM_TEST(Method_Sz, GHMethod, cv::Size);
+        alg->setTemplate(cv::gpu::GpuMat(templ));
 
-PERF_TEST_P(Method_Sz, GeneralizedHough,
-            Combine(Values(GHMethod(GHT_POSITION), GHMethod(GHT_POSITION | GHT_SCALE), GHMethod(GHT_POSITION | GHT_ROTATION), GHMethod(GHT_POSITION | GHT_SCALE | GHT_ROTATION)),
-                    GPU_TYPICAL_MAT_SIZES))
+        TEST_CYCLE() alg->detect(d_edges, d_dx, d_dy, positions);
+
+        GPU_SANITY_CHECK(positions);
+    }
+    else
+    {
+        cv::Ptr<cv::GeneralizedHoughBallard> alg = cv::createGeneralizedHoughBallard();
+
+        cv::Mat positions;
+
+        alg->setTemplate(templ);
+
+        TEST_CYCLE() alg->detect(edges, dx, dy, positions);
+
+        CPU_SANITY_CHECK(positions);
+    }
+}
+
+PERF_TEST_P(Sz, GeneralizedHoughGuil, GPU_TYPICAL_MAT_SIZES)
 {
     declare.time(10);
 
-    const int method = GET_PARAM(0);
-    const cv::Size imageSize = GET_PARAM(1);
+    const cv::Size imageSize = GetParam();
 
     const cv::Mat templ = readImage("cv/shared/templ.png", cv::IMREAD_GRAYSCALE);
     ASSERT_FALSE(templ.empty());
@@ -281,39 +317,32 @@ PERF_TEST_P(Method_Sz, GeneralizedHough,
 
     if (PERF_RUN_GPU())
     {
+        cv::Ptr<cv::GeneralizedHoughGuil> alg = cv::gpu::createGeneralizedHoughGuil();
+        alg->setMaxAngle(90.0);
+        alg->setAngleStep(2.0);
+
         const cv::gpu::GpuMat d_edges(edges);
         const cv::gpu::GpuMat d_dx(dx);
         const cv::gpu::GpuMat d_dy(dy);
-        cv::gpu::GpuMat posAndVotes;
+        cv::gpu::GpuMat positions;
 
-        cv::Ptr<cv::gpu::GeneralizedHough> d_hough = cv::gpu::GeneralizedHough::create(method);
-        if (method & GHT_ROTATION)
-        {
-            d_hough->set("maxAngle", 90.0);
-            d_hough->set("angleStep", 2.0);
-        }
+        alg->setTemplate(cv::gpu::GpuMat(templ));
 
-        d_hough->setTemplate(cv::gpu::GpuMat(templ));
+        TEST_CYCLE() alg->detect(d_edges, d_dx, d_dy, positions);
 
-        TEST_CYCLE() d_hough->detect(d_edges, d_dx, d_dy, posAndVotes);
-
-        const cv::gpu::GpuMat positions(1, posAndVotes.cols, CV_32FC4, posAndVotes.data);
         GPU_SANITY_CHECK(positions);
     }
     else
     {
-        cv::Mat positions;
+        cv::Ptr<cv::GeneralizedHoughGuil> alg = cv::createGeneralizedHoughGuil();
+        alg->setMaxAngle(90.0);
+        alg->setAngleStep(2.0);
 
-        cv::Ptr<cv::GeneralizedHough> hough = cv::GeneralizedHough::create(method);
-        if (method & GHT_ROTATION)
-        {
-            hough->set("maxAngle", 90.0);
-            hough->set("angleStep", 2.0);
-        }
+        cv::Mat positions;
 
-        hough->setTemplate(templ);
+        alg->setTemplate(templ);
 
-        TEST_CYCLE() hough->detect(edges, dx, dy, positions);
+        TEST_CYCLE() alg->detect(edges, dx, dy, positions);
 
         CPU_SANITY_CHECK(positions);
     }

modules/gpuimgproc/test/test_hough.cpp

@@ -193,7 +193,7 @@ PARAM_TEST_CASE(GeneralizedHough, cv::gpu::DeviceInfo, UseRoi)
 {
 };
 
-GPU_TEST_P(GeneralizedHough, POSITION)
+GPU_TEST_P(GeneralizedHough, Ballard)
 {
     const cv::gpu::DeviceInfo devInfo = GET_PARAM(0);
     cv::gpu::setDevice(devInfo.deviceID());
@@ -218,16 +218,16 @@ GPU_TEST_P(GeneralizedHough, POSITION)
         templ.copyTo(imageROI);
     }
 
-    cv::Ptr<cv::gpu::GeneralizedHough> hough = cv::gpu::GeneralizedHough::create(cv::GeneralizedHough::GHT_POSITION);
-    hough->set("votesThreshold", 200);
+    cv::Ptr<cv::GeneralizedHoughBallard> alg = cv::gpu::createGeneralizedHoughBallard();
+    alg->setVotesThreshold(200);
 
-    hough->setTemplate(loadMat(templ, useRoi));
+    alg->setTemplate(loadMat(templ, useRoi));
 
     cv::gpu::GpuMat d_pos;
-    hough->detect(loadMat(image, useRoi), d_pos);
+    alg->detect(loadMat(image, useRoi), d_pos);
 
     std::vector<cv::Vec4f> pos;
-    hough->downloadResults(d_pos, pos);
+    d_pos.download(pos);
 
     ASSERT_EQ(gold_count, pos.size());
 

modules/imgproc/include/opencv2/imgproc.hpp

@@ -694,39 +694,104 @@ public:
 
 
 //! finds arbitrary template in the grayscale image using Generalized Hough Transform
+class CV_EXPORTS GeneralizedHough : public Algorithm
+{
+public:
+    //! set template to search
+    virtual void setTemplate(InputArray templ, Point templCenter = Point(-1, -1)) = 0;
+    virtual void setTemplate(InputArray edges, InputArray dx, InputArray dy, Point templCenter = Point(-1, -1)) = 0;
+
+    //! find template on image
+    virtual void detect(InputArray image, OutputArray positions, OutputArray votes = noArray()) = 0;
+    virtual void detect(InputArray edges, InputArray dx, InputArray dy, OutputArray positions, OutputArray votes = noArray()) = 0;
+
+    //! Canny low threshold.
+    virtual void setCannyLowThresh(int cannyLowThresh) = 0;
+    virtual int getCannyLowThresh() const = 0;
+
+    //! Canny high threshold.
+    virtual void setCannyHighThresh(int cannyHighThresh) = 0;
+    virtual int getCannyHighThresh() const = 0;
+
+    //! Minimum distance between the centers of the detected objects.
+    virtual void setMinDist(double minDist) = 0;
+    virtual double getMinDist() const = 0;
+
+    //! Inverse ratio of the accumulator resolution to the image resolution.
+    virtual void setDp(double dp) = 0;
+    virtual double getDp() const = 0;
+
+    //! Maximal size of inner buffers.
+    virtual void setMaxBufferSize(int maxBufferSize) = 0;
+    virtual int getMaxBufferSize() const = 0;
+};
+
 //! Ballard, D.H. (1981). Generalizing the Hough transform to detect arbitrary shapes. Pattern Recognition 13 (2): 111-122.
+//! Detects position only without traslation and rotation
+class CV_EXPORTS GeneralizedHoughBallard : public GeneralizedHough
+{
+public:
+    //! R-Table levels.
+    virtual void setLevels(int levels) = 0;
+    virtual int getLevels() const = 0;
+
+    //! The accumulator threshold for the template centers at the detection stage. The smaller it is, the more false positions may be detected.
+    virtual void setVotesThreshold(int votesThreshold) = 0;
+    virtual int getVotesThreshold() const = 0;
+};
+
 //! Guil, N., González-Linares, J.M. and Zapata, E.L. (1999). Bidimensional shape detection using an invariant approach. Pattern Recognition 32 (6): 1025-1038.
-class CV_EXPORTS GeneralizedHough : public Algorithm
+//! Detects position, traslation and rotation
+class CV_EXPORTS GeneralizedHoughGuil : public GeneralizedHough
 {
 public:
-    enum { GHT_POSITION = 0,
-           GHT_SCALE    = 1,
-           GHT_ROTATION = 2
-         };
+    //! Angle difference in degrees between two points in feature.
+    virtual void setXi(double xi) = 0;
+    virtual double getXi() const = 0;
 
-    static Ptr<GeneralizedHough> create(int method);
+    //! Feature table levels.
+    virtual void setLevels(int levels) = 0;
+    virtual int getLevels() const = 0;
 
-    virtual ~GeneralizedHough();
+    //! Maximal difference between angles that treated as equal.
+    virtual void setAngleEpsilon(double angleEpsilon) = 0;
+    virtual double getAngleEpsilon() const = 0;
 
-    //! set template to search
-    void setTemplate(InputArray templ, int cannyThreshold = 100, Point templCenter = Point(-1, -1));
-    void setTemplate(InputArray edges, InputArray dx, InputArray dy, Point templCenter = Point(-1, -1));
+    //! Minimal rotation angle to detect in degrees.
+    virtual void setMinAngle(double minAngle) = 0;
+    virtual double getMinAngle() const = 0;
 
-    //! find template on image
-    void detect(InputArray image, OutputArray positions, OutputArray votes = cv::noArray(), int cannyThreshold = 100);
-    void detect(InputArray edges, InputArray dx, InputArray dy, OutputArray positions, OutputArray votes = cv::noArray());
+    //! Maximal rotation angle to detect in degrees.
+    virtual void setMaxAngle(double maxAngle) = 0;
+    virtual double getMaxAngle() const = 0;
 
-    void release();
+    //! Angle step in degrees.
+    virtual void setAngleStep(double angleStep) = 0;
+    virtual double getAngleStep() const = 0;
 
-protected:
-    virtual void setTemplateImpl(const Mat& edges, const Mat& dx, const Mat& dy, Point templCenter) = 0;
-    virtual void detectImpl(const Mat& edges, const Mat& dx, const Mat& dy, OutputArray positions, OutputArray votes) = 0;
-    virtual void releaseImpl() = 0;
-
-private:
-    Mat edges_;
-    Mat dx_;
-    Mat dy_;
+    //! Angle votes threshold.
+    virtual void setAngleThresh(int angleThresh) = 0;
+    virtual int getAngleThresh() const = 0;
+
+    //! Minimal scale to detect.
+    virtual void setMinScale(double minScale) = 0;
+    virtual double getMinScale() const = 0;
+
+    //! Maximal scale to detect.
+    virtual void setMaxScale(double maxScale) = 0;
+    virtual double getMaxScale() const = 0;
+
+    //! Scale step.
+    virtual void setScaleStep(double scaleStep) = 0;
+    virtual double getScaleStep() const = 0;
+
+    //! Scale votes threshold.
+    virtual void setScaleThresh(int scaleThresh) = 0;
+    virtual int getScaleThresh() const = 0;
+
+    //! Position votes threshold.
+    virtual void setPosThresh(int posThresh) = 0;
+    virtual int getPosThresh() const = 0;
 };
 
 
@@ -1416,6 +1481,14 @@ CV_EXPORTS_W double pointPolygonTest( InputArray contour, Point2f pt, bool measu
 
 CV_EXPORTS Ptr<CLAHE> createCLAHE(double clipLimit = 40.0, Size tileGridSize = Size(8, 8));
 
+//! Ballard, D.H. (1981). Generalizing the Hough transform to detect arbitrary shapes. Pattern Recognition 13 (2): 111-122.
+//! Detects position only without traslation and rotation
+CV_EXPORTS Ptr<GeneralizedHoughBallard> createGeneralizedHoughBallard();
+
+//! Guil, N., González-Linares, J.M. and Zapata, E.L. (1999). Bidimensional shape detection using an invariant approach. Pattern Recognition 32 (6): 1025-1038.
+//! Detects position, traslation and rotation
+CV_EXPORTS Ptr<GeneralizedHoughGuil> createGeneralizedHoughGuil();
+
 } // cv
 
 #endif

samples/gpu/generalized_hough.cpp

@@ -5,13 +5,12 @@
 #include "opencv2/core.hpp"
 #include "opencv2/core/utility.hpp"
 #include "opencv2/imgproc.hpp"
-#include "opencv2/gpu.hpp"
+#include "opencv2/gpuimgproc.hpp"
 #include "opencv2/highgui.hpp"
 #include "opencv2/contrib.hpp"
 
 using namespace std;
 using namespace cv;
-using cv::gpu::GpuMat;
 
 static Mat loadImage(const string& name)
 {
@@ -29,8 +28,7 @@ int main(int argc, const char* argv[])
     CommandLineParser cmd(argc, argv,
         "{ image i        | pic1.png  | input image }"
         "{ template t     | templ.png | template image }"
-        "{ scale s        |           | estimate scale }"
-        "{ rotation r     |           | estimate rotation }"
+        "{ full           |           | estimate scale and rotation }"
         "{ gpu            |           | use gpu version }"
         "{ minDist        | 100       | minimum distance between the centers of the detected objects }"
         "{ levels         | 360       | R-Table levels }"
@@ -45,7 +43,7 @@ int main(int argc, const char* argv[])
         "{ minAngle       | 0         | minimal rotation angle to detect in degrees }"
         "{ maxAngle       | 360       | maximal rotation angle to detect in degrees }"
         "{ angleStep      | 1         | angle step in degrees }"
-        "{ maxSize        | 1000      | maximal size of inner buffers }"
+        "{ maxBufSize     | 1000      | maximal size of inner buffers }"
         "{ help h ?       |           | print help message }"
     );
 
@@ -59,8 +57,7 @@ int main(int argc, const char* argv[])
 
     const string templName = cmd.get<string>("template");
     const string imageName = cmd.get<string>("image");
-    const bool estimateScale = cmd.has("scale");
-    const bool estimateRotation = cmd.has("rotation");
+    const bool full = cmd.has("full");
     const bool useGpu = cmd.has("gpu");
     const double minDist = cmd.get<double>("minDist");
     const int levels = cmd.get<int>("levels");
@@ -75,7 +72,7 @@ int main(int argc, const char* argv[])
     const double minAngle = cmd.get<double>("minAngle");
     const double maxAngle = cmd.get<double>("maxAngle");
     const double angleStep = cmd.get<double>("angleStep");
-    const int maxSize = cmd.get<int>("maxSize");
+    const int maxBufSize = cmd.get<int>("maxBufSize");
 
     if (!cmd.check())
     {
@@ -86,93 +83,69 @@ int main(int argc, const char* argv[])
     Mat templ = loadImage(templName);
     Mat image = loadImage(imageName);
 
-    int method = cv::GeneralizedHough::GHT_POSITION;
-    if (estimateScale)
-        method += cv::GeneralizedHough::GHT_SCALE;
-    if (estimateRotation)
-        method += cv::GeneralizedHough::GHT_ROTATION;
+    Ptr<GeneralizedHough> alg;
 
-    vector<Vec4f> position;
-    cv::TickMeter tm;
-
-    if (useGpu)
-    {
-        GpuMat d_templ(templ);
-        GpuMat d_image(image);
-        GpuMat d_position;
-
-        Ptr<gpu::GeneralizedHough> d_hough = gpu::GeneralizedHough::create(method);
-        d_hough->set("minDist", minDist);
-        d_hough->set("levels", levels);
-        d_hough->set("dp", dp);
-        d_hough->set("maxSize", maxSize);
-        if (estimateScale && estimateRotation)
+    if (!full)
     {
-            d_hough->set("angleThresh", angleThresh);
-            d_hough->set("scaleThresh", scaleThresh);
-            d_hough->set("posThresh", posThresh);
+        Ptr<GeneralizedHoughBallard> ballard = useGpu ? gpu::createGeneralizedHoughBallard() : createGeneralizedHoughBallard();
+
+        ballard->setMinDist(minDist);
+        ballard->setLevels(levels);
+        ballard->setDp(dp);
+        ballard->setMaxBufferSize(maxBufSize);
+        ballard->setVotesThreshold(votesThreshold);
+
+        alg = ballard;
     }
     else
     {
-            d_hough->set("votesThreshold", votesThreshold);
-        }
-        if (estimateScale)
-        {
-            d_hough->set("minScale", minScale);
-            d_hough->set("maxScale", maxScale);
-            d_hough->set("scaleStep", scaleStep);
+        Ptr<GeneralizedHoughGuil> guil = useGpu ? gpu::createGeneralizedHoughGuil() : createGeneralizedHoughGuil();
+
+        guil->setMinDist(minDist);
+        guil->setLevels(levels);
+        guil->setDp(dp);
+        guil->setMaxBufferSize(maxBufSize);
+
+        guil->setMinAngle(minAngle);
+        guil->setMaxAngle(maxAngle);
+        guil->setAngleStep(angleStep);
+        guil->setAngleThresh(angleThresh);
+
+        guil->setMinScale(minScale);
+        guil->setMaxScale(maxScale);
+        guil->setScaleStep(scaleStep);
+        guil->setScaleThresh(scaleThresh);
+
+        guil->setPosThresh(posThresh);
+
+        alg = guil;
     }
-        if (estimateRotation)
+
+    vector<Vec4f> position;
+    TickMeter tm;
+
+    if (useGpu)
     {
-            d_hough->set("minAngle", minAngle);
-            d_hough->set("maxAngle", maxAngle);
-            d_hough->set("angleStep", angleStep);
-        }
+        gpu::GpuMat d_templ(templ);
+        gpu::GpuMat d_image(image);
+        gpu::GpuMat d_position;
 
-        d_hough->setTemplate(d_templ);
+        alg->setTemplate(d_templ);
 
         tm.start();
 
-        d_hough->detect(d_image, d_position);
-        d_hough->downloadResults(d_position, position);
+        alg->detect(d_image, d_position);
+        d_position.download(position);
 
         tm.stop();
     }
     else
     {
-        Ptr<GeneralizedHough> hough = GeneralizedHough::create(method);
-        hough->set("minDist", minDist);
-        hough->set("levels", levels);
-        hough->set("dp", dp);
-        if (estimateScale && estimateRotation)
-        {
-            hough->set("angleThresh", angleThresh);
-            hough->set("scaleThresh", scaleThresh);
-            hough->set("posThresh", posThresh);
-            hough->set("maxSize", maxSize);
-        }
-        else
-        {
-            hough->set("votesThreshold", votesThreshold);
-        }
-        if (estimateScale)
-        {
-            hough->set("minScale", minScale);
-            hough->set("maxScale", maxScale);
-            hough->set("scaleStep", scaleStep);
-        }
-        if (estimateRotation)
-        {
-            hough->set("minAngle", minAngle);
-            hough->set("maxAngle", maxAngle);
-            hough->set("angleStep", angleStep);
-        }
-
-        hough->setTemplate(templ);
+        alg->setTemplate(templ);
 
         tm.start();
 
-        hough->detect(image, position);
+        alg->detect(image, position);
 
         tm.stop();
     }