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PatternMatching.cpp
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PatternMatching.cpp
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#include "PatternMatching.h"
int PatternMatcher::SumCircleHost(cv::Mat& image, const ushort centerX, const ushort centerY, const ushort radius)
{
uchar* dot;
if (radius == 0)
{
dot = image.ptr<uchar>(centerY);
return dot[centerX];
}
int iX = 0, iY = radius;
int iD = 1 - radius;
int iDeltaE = 3;
int iDeltaSE = -2 * radius + 5;
int value = 0;
dot = image.ptr<uchar>(centerY + iY);
value += dot[centerX];
dot = image.ptr<uchar>(centerY - iY);
value += dot[centerX];
dot = image.ptr<uchar>(centerY);
value += dot[centerX + iY];
value += dot[centerX - iY];
if (radius == 1)
return value;
int accessedY = 0;
while (iY > iX)
{
if (iD < 0)
{
iD += iDeltaE;
iDeltaE += 2;
iDeltaSE += 2;
}
else
{
iD += iDeltaSE;
iDeltaE += 2;
iDeltaSE += 4;
iY--;
}
iX++;
dot = image.ptr<uchar>(centerY + iY);
value += dot[centerX + iX] + dot[centerX - iX];
accessedY = centerY + iY;
dot = image.ptr<uchar>(centerY - iY);
value += dot[centerX + iX] + dot[centerX - iX];
if (accessedY == centerY + iX)
break;
dot = image.ptr<uchar>(centerY + iX);
value += dot[centerX + iY] + dot[centerX - iY];
dot = image.ptr<uchar>(centerY - iX);
value += dot[centerX + iY] + dot[centerX - iY];
if (accessedY - 1 == centerY + iX)
break;
}
return value;
}
void PatternMatcher::SetObjectROI(const cv::Mat& originalObject, const cv::Mat& object, ushort& objectLen, ushort& originalObjectLen
, cv::Mat& objectROI)
{
using namespace cv;
if (object.rows > object.cols)
{
objectLen = object.cols;
originalObjectLen = originalObject.cols;
objectROI = object(Rect(0, (object.rows - objectLen) / 2, objectLen, objectLen));
}
else
{
objectLen = object.rows;
originalObjectLen = originalObject.rows;
objectROI = object(Rect((object.cols - objectLen) / 2, 0, objectLen, objectLen));
}
}
void PatternMatcher::SetSceneROI(const cv::Mat& scene, const ushort& objectLen, ushort& offset, cv::Rect& sceneROI, bool& isObjectLenEven)
{
using namespace cv;
offset = (objectLen - 1) / 2;
isObjectLenEven = objectLen % 2 == 0;
ushort sceneROIWidth = scene.cols - offset - isObjectLenEven;
ushort sceneROIHeight = scene.rows - offset - isObjectLenEven;
sceneROI = Rect(offset, offset, sceneROIWidth, sceneROIHeight);
}
void PatternMatcher::GetObjectMoment(const cv::Mat& objectROI, float* objectMoment)
{
objectMoment[0] = (float)mean(objectROI)[0];
for (int i = 2; i < STAT_COLS; i++)
{
cv::Mat objectTempMat;
objectROI.convertTo(objectTempMat, CV_64FC1);
objectTempMat -= objectMoment[0];
pow(objectTempMat, i, objectTempMat);
objectMoment[i - 1] = (float)mean(objectTempMat)[0];
if (objectMoment[i - 1] > 0)
objectMoment[i - 1] = (float)pow(objectMoment[i - 1], 1.0 / i);
else
objectMoment[i - 1] = -(float)pow(-objectMoment[i - 1], 1.0 / i);
}
}
void PatternMatcher::GpuFree(const GpuPtr& gpuPtr)
{
cudaFree(gpuPtr.devSceneData);
cudaFree(gpuPtr.devMoment1stData);
cudaFree(gpuPtr.devBinaryMapData);
cudaFree(gpuPtr.devObjectMoment);
cudaFree(gpuPtr.devOriginalSceneData);
cudaFree(gpuPtr.devStatsData);
cudaFree(gpuPtr.devCircleSumVecHost);
cudaFree(gpuPtr.devRMat);
cudaFree(gpuPtr.devOutR);
cudaFree(gpuPtr.devOutX);
cudaFree(gpuPtr.devOutY);
}
void PatternMatcher::GpuMalloc(const GpuPtr& gpuPtr, const uint originalScenePixels, const uint scenePixels, const ushort radius
, const uint numCandidates)
{
cudaMalloc((void**)&gpuPtr.devSceneData, scenePixels * sizeof(uchar));
cudaMalloc((void**)&gpuPtr.devMoment1stData, scenePixels * sizeof(uchar));
cudaMalloc((void**)&gpuPtr.devBinaryMapData, scenePixels * sizeof(uchar));
cudaMalloc((void**)&gpuPtr.devObjectMoment, NUM_MOMOENTS * sizeof(float));
cudaMalloc((void**)&gpuPtr.devOriginalSceneData, originalScenePixels * sizeof(uchar));
cudaMalloc((void**)&gpuPtr.devStatsData, STAT_COLS * MAX_STATS_LEN * sizeof(int));
cudaMalloc((void**)&gpuPtr.devCircleSumVecHost, (radius + 1) * sizeof(uint));
cudaMalloc((void**)&gpuPtr.devRMat, originalScenePixels * sizeof(float));
cudaMalloc((void**)&gpuPtr.devOutR, numCandidates * sizeof(float));
cudaMalloc((void**)&gpuPtr.devOutX, numCandidates * sizeof(ushort));
cudaMalloc((void**)&gpuPtr.devOutY, numCandidates * sizeof(ushort));
}
void PatternMatcher::GpuUpload(const GpuPtr& gpuPtr, const cv::Mat& scene, const uint scenePixels, const cv::Mat& binaryMap
, const float* objectMoment, const cv::Mat& originalScene, const uint originalScenePixels, std::vector<uint>& circleSumVecHost, const ushort radius
, const std::vector<float>& outR, const std::vector<ushort>& outX, const std::vector<ushort>& outY, const uint numCandidates)
{
cudaMemcpy(gpuPtr.devSceneData, scene.data, scenePixels * sizeof(uchar), cudaMemcpyHostToDevice);
cudaMemset((void**)&gpuPtr.devMoment1stData, 0, scenePixels * sizeof(uchar));
cudaMemcpy(gpuPtr.devBinaryMapData, binaryMap.data, scenePixels * sizeof(uchar), cudaMemcpyHostToDevice);
cudaMemcpy(gpuPtr.devObjectMoment, objectMoment, NUM_MOMOENTS * sizeof(float), cudaMemcpyHostToDevice);
cudaMemcpy(gpuPtr.devOriginalSceneData, originalScene.data, originalScenePixels * sizeof(uchar), cudaMemcpyHostToDevice);
cudaMemcpy(gpuPtr.devCircleSumVecHost, circleSumVecHost.data(), (radius + 1) * sizeof(uint), cudaMemcpyHostToDevice);
cudaMemset(gpuPtr.devRMat, 0, originalScenePixels * sizeof(float));
cudaMemcpy(gpuPtr.devOutR, outR.data(), numCandidates * sizeof(float), cudaMemcpyHostToDevice);
cudaMemcpy(gpuPtr.devOutX, outX.data(), numCandidates * sizeof(ushort), cudaMemcpyHostToDevice);
cudaMemcpy(gpuPtr.devOutY, outY.data(), numCandidates * sizeof(ushort), cudaMemcpyHostToDevice);
}
void PatternMatcher::GetAdaptiveBinaryMap(const cv::Mat& scene, const ushort offset, const bool isObjectLenEven, const GpuPtr& gpuPtr
, const ushort objectLen, const cv::Mat& binaryMap)
{
dim3 dimGridFilter1(
(scene.cols + NUM_THREADS_PER_BLOCK_LINE - 1) / NUM_THREADS_PER_BLOCK_LINE,
(scene.rows + NUM_THREADS_PER_BLOCK_LINE - 1) / NUM_THREADS_PER_BLOCK_LINE
);
dim3 dimBlockFilter1(NUM_THREADS_PER_BLOCK_LINE, NUM_THREADS_PER_BLOCK_LINE);
uint sharedMemSizeFilter1 = (NUM_THREADS_PER_BLOCK_LINE + 2 * offset + isObjectLenEven) * (NUM_THREADS_PER_BLOCK_LINE + 2 * offset + isObjectLenEven) * sizeof(float);
cudaSupporter::LaunchGet1stMoment(dimGridFilter1, dimBlockFilter1, sharedMemSizeFilter1, gpuPtr.devSceneData, gpuPtr.devMoment1stData, scene.cols
, scene.rows, objectLen);
cudaSupporter::LaunchGetBinaryMap(dimGridFilter1, dimBlockFilter1, sharedMemSizeFilter1, gpuPtr.devSceneData, gpuPtr.devMoment1stData, gpuPtr.devBinaryMapData
, scene.cols, scene.rows, objectLen, gpuPtr.devObjectMoment);
cudaSupporter::LaunchGet1stMoment(dimGridFilter1, dimBlockFilter1, sharedMemSizeFilter1, gpuPtr.devBinaryMapData, gpuPtr.devMoment1stData, scene.cols
, scene.rows, objectLen);
cudaSupporter::LaunchGetAdaptiveBinaryMap(dimGridFilter1, dimBlockFilter1, gpuPtr.devBinaryMapData, gpuPtr.devMoment1stData, scene.cols, scene.rows, objectLen);
cudaMemcpy(binaryMap.data, gpuPtr.devBinaryMapData, (binaryMap.cols) * (binaryMap.rows) * sizeof(uchar), cudaMemcpyDeviceToHost);
}
void PatternMatcher::GpuUploadStats(const cv::Mat& binaryMap, const ushort objectLen, const GpuPtr& gpuPtr, uint& statsLen
, uint& sizeFilter1Passed)
{
cv::Mat labels, stats, centroids;
statsLen = connectedComponentsWithStats(binaryMap, labels, stats, centroids);
int numFilter1Passed = 0;
for (uint i = 1; i < statsLen; i++)
{
int* p = stats.ptr<int>(i);
if (p[2] >= 2 * objectLen || p[3] >= 2 * objectLen)
continue;
numFilter1Passed++;
sizeFilter1Passed += uint(p[2] / ZOOM_BINARYMAP) * uint(p[3] / ZOOM_BINARYMAP);
}
if (numFilter1Passed > MAX_STATS_LEN)
{
std::cout << "stats len too long : " << numFilter1Passed << std::endl;
cudaFree(gpuPtr.devStatsData);
cudaMalloc((void**)&gpuPtr.devStatsData, 5 * statsLen * sizeof(int));
}
cudaMemcpy(gpuPtr.devStatsData, stats.data, 5 * statsLen * sizeof(int), cudaMemcpyHostToDevice);
}
void PatternMatcher::GetRMap(const uint sizeFilter1Passed, const ushort radius, const GpuPtr& gpuPtr, const cv::Mat& originalScene
, const uint statsLen, const ushort objectLen, const cv::Mat& scene)
{
dim3 dimGridFilter2(sizeFilter1Passed);
dim3 dimBlockFilter2(radius / 2 + 1);
uint sharedMemSizeFilter2 = 5 * (radius + 1) * sizeof(float);
cudaSupporter::LaunchGetRMat(dimGridFilter2, dimBlockFilter2, sharedMemSizeFilter2, gpuPtr.devOriginalSceneData, originalScene.cols, gpuPtr.devStatsData
, statsLen, objectLen, radius, gpuPtr.devCircleSumVecHost, gpuPtr.devBinaryMapData, scene.cols, gpuPtr.devRMat);
}
void PatternMatcher::SortRXY(const cv::Mat& originalScene, const GpuPtr& gpuPtr, std::vector<float>& outR, std::vector<ushort>& outX
, std::vector<ushort>& outY, const uint numCandidates, uint& maxRIdx)
{
dim3 dimGridFilter3(
(originalScene.cols + LEN_BLOCKS_SORT_RXY - 1) / LEN_BLOCKS_SORT_RXY,
(originalScene.rows + LEN_BLOCKS_SORT_RXY - 1) / LEN_BLOCKS_SORT_RXY
);
dim3 dimBlockFilter3(NUM_THREADS_PER_BLOCK_SORT_RXY);
cudaSupporter::LaunchSortRXY(dimGridFilter3, dimBlockFilter3, gpuPtr.devRMat, originalScene.cols, originalScene.rows, gpuPtr.devOutR, gpuPtr.devOutX, gpuPtr.devOutY);
cudaMemcpy(outR.data(), gpuPtr.devOutR, numCandidates * sizeof(float), cudaMemcpyDeviceToHost);
cudaMemcpy(outX.data(), gpuPtr.devOutX, numCandidates * sizeof(ushort), cudaMemcpyDeviceToHost);
cudaMemcpy(outY.data(), gpuPtr.devOutY, numCandidates * sizeof(ushort), cudaMemcpyDeviceToHost);
maxRIdx = 0;
for (uint i = 0; i < numCandidates; i++)
if (outR[maxRIdx] < outR[i])
maxRIdx = i;
}
void PatternMatcher::SetObjectInfo()
{
//Set object ROI and length of short axit
ushort originalObjectLen;
cv::Mat objectROI;
SetObjectROI(this->originalObject, this->object, this->objectInfo.objectLen, originalObjectLen, objectROI);
//Calc object Moment
GetObjectMoment(objectROI, objectInfo.objectMoment);
//Calc object circlesum
this->objectInfo.radius = (originalObjectLen - 1) / 2;
this->objectInfo.circleSumVecHost.resize(this->objectInfo.radius + 1);
for (int i = 0; i <= objectInfo.radius; i++)
this->objectInfo.circleSumVecHost[i] = SumCircleHost(this->originalObject, this->originalObject.cols / 2, this->originalObject.rows / 2, i);
//set values
this->objectInfo.offset = (objectInfo.objectLen - 1) / 2;
this->objectInfo.isObjectLenEven = this->objectInfo.objectLen % 2 == 0;
}
cv::Point PatternMatcher::FindRXY(const cv::Rect& sceneROI)
{
this->originalScene = this->originalScene(sceneROI).clone();
cv::resize(this->originalScene, this->scene, cv::Size(), ZOOM_BINARYMAP, ZOOM_BINARYMAP, cv::INTER_AREA);
//set params to upload
cv::Mat binaryMap = cv::Mat::zeros(scene.size(), CV_8UC1);
const uint numCandidates = ((this->originalScene.cols + LEN_BLOCKS_SORT_RXY - 1) / LEN_BLOCKS_SORT_RXY)
* ((this->originalScene.rows + LEN_BLOCKS_SORT_RXY - 1) / LEN_BLOCKS_SORT_RXY);
std::vector<float> outR(numCandidates);
std::vector<ushort> outX(numCandidates);
std::vector<ushort> outY(numCandidates);
//if too big, remalloc
uint scenePixels = (scene.cols) * (scene.rows);
uint originalScenePixels = (this->originalScene.rows) * (this->originalScene.cols);
if (scenePixels > NUM_MALLOCED_SCENE_PIXELS || originalScenePixels > NUM_STANDARD_ORIGINAL_SCENE_PIXELS
|| this->objectInfo.radius > LEN_MALLOCED_RADIUS || NUM_MALLOCED_CANDIDATES > numCandidates)
{
GpuFree(this->gpuPtr);
GpuMalloc(this->gpuPtr, originalScenePixels, scenePixels, this->objectInfo.radius, numCandidates);
}
//gpuUpload
GpuUpload(this->gpuPtr, scene, scenePixels, binaryMap, this->objectInfo.objectMoment, this->originalScene, originalScenePixels
, this->objectInfo.circleSumVecHost, this->objectInfo.radius, outR, outX, outY, numCandidates);
//Filter1, getBinaryMap
GetAdaptiveBinaryMap(scene, this->objectInfo.offset, this->objectInfo.isObjectLenEven, this->gpuPtr, this->objectInfo.objectLen, binaryMap);
//get & upload stats
uint sizeFilter1Passed = 0;
uint statsLen = 0;
GpuUploadStats(binaryMap, this->objectInfo.objectLen, this->gpuPtr, statsLen, sizeFilter1Passed);
//Filter2, getRMap
GetRMap(sizeFilter1Passed, this->objectInfo.radius, this->gpuPtr, this->originalScene, statsLen, this->objectInfo.objectLen, scene);
//Filter3, sort RXY
uint maxRIdx = 0;
SortRXY(this->originalScene, this->gpuPtr, outR, outX, outY, numCandidates, maxRIdx);
std::printf("%f\n", outR[maxRIdx]);
return cv::Point(outX[maxRIdx], outY[maxRIdx]);
}
PatternMatcher::PatternMatcher()
{
GpuMalloc(this->gpuPtr);
}
PatternMatcher::~PatternMatcher()
{
GpuFree(this->gpuPtr);
}