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GPU acceleration #5

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175 changes: 91 additions & 84 deletions jetson/grip/Pipeline.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,24 +11,24 @@ Pipeline::Pipeline() {
* Sources need to be set before calling this method.
*
*/
void Pipeline::Process(){
void Pipeline::Process(bool onGPU){
//Step Resize_Image0:
//input
Mat resizeImageInput = source0;
cv::cuda::GpuMat resizeImageInput = source0;
double resizeImageWidth = 320.0;
double resizeImageHeight = 240.0;
int resizeImageInterpolation = INTER_CUBIC;
resizeImage(resizeImageInput, resizeImageWidth, resizeImageHeight, resizeImageInterpolation, this->resizeImageOutput);
//Step HSV_Threshold0:
//input
Mat hsvThresholdInput = resizeImageOutput;
cv::cuda::GpuMat hsvThresholdInput = resizeImageOutput;
double hsvThresholdHue[] = {41.62385249309404, 92.23793941146276};
double hsvThresholdSaturation[] = {0.0, 255.0};
double hsvThresholdValue[] = {222.76464527030643, 255.0};
hsvThreshold(hsvThresholdInput, hsvThresholdHue, hsvThresholdSaturation, hsvThresholdValue, this->hsvThresholdOutput);
//Step Find_Contours0:
//input
Mat findContoursInput = hsvThresholdOutput;
cv::cuda::GpuMat findContoursInput = hsvThresholdOutput;
bool findContoursExternalOnly = false;
findContours(findContoursInput, findContoursExternalOnly, this->findContoursOutput);
//Step Filter_Contours0:
Expand All @@ -50,23 +50,23 @@ void Pipeline::Process(){

/**
* This method is a generated setter for source0.
* @param source the Mat to set
* @param source the cv::cuda::GpuMat to set
*/
void Pipeline::setsource0(Mat &source0){
void Pipeline::setsource0(cv::cuda::GpuMat &source0){
source0.copyTo(this->source0);
}
/**
* This method is a generated getter for the output of a Resize_Image.
* @return Mat output from Resize_Image.
* @return cv::cuda::GpuMat output from Resize_Image.
*/
Mat* Pipeline::getresizeImageOutput(){
cv::cuda::GpuMat* Pipeline::getresizeImageOutput(){
return &(this->resizeImageOutput);
}
/**
* This method is a generated getter for the output of a HSV_Threshold.
* @return Mat output from HSV_Threshold.
* @return cv::cuda::GpuMat output from HSV_Threshold.
*/
Mat* Pipeline::gethsvThresholdOutput(){
cv::cuda::GpuMat* Pipeline::gethsvThresholdOutput(){
return &(this->hsvThresholdOutput);
}
/**
Expand All @@ -83,79 +83,86 @@ vector<vector<Point> >* Pipeline::getfindContoursOutput(){
vector<vector<Point> >* Pipeline::getfilterContoursOutput(){
return &(this->filterContoursOutput);
}
/**
* Scales and image to an exact size.
*
* @param input The image on which to perform the Resize.
* @param width The width of the output in pixels.
* @param height The height of the output in pixels.
* @param interpolation The type of interpolation.
* @param output The image in which to store the output.
*/
void Pipeline::resizeImage(Mat &input, double width, double height, int interpolation, Mat &output) {
resize(input, output, Size(width, height), 0.0, 0.0, interpolation);
}
/**
* Segment an image based on hue, saturation, and value ranges.
*
* @param input The image on which to perform the HSL threshold.
* @param hue The min and max hue.
* @param sat The min and max saturation.
* @param val The min and max value.
* @param output The image in which to store the output.
*/
void Pipeline::hsvThreshold(Mat &input, double hue[], double sat[], double val[], Mat &out) {
cvtColor(input, out, COLOR_BGR2HSV);
inRange(out,Scalar(hue[0], sat[0], val[0]), Scalar(hue[1], sat[1], val[1]), out);
}
/**
* Finds contours in an image.
*
* @param input The image to find contours in.
* @param externalOnly if only external contours are to be found.
* @param contours vector of contours to put contours in.
*/
void Pipeline::findContours(Mat &input, bool externalOnly, vector<vector<Point> > &contours) {
vector<Vec4i> hierarchy;
contours.clear();
int mode = externalOnly ? RETR_EXTERNAL : RETR_LIST;
int method = CHAIN_APPROX_SIMPLE;
cv::findContours(input, contours, hierarchy, mode, method);
}
/**
* Scales and image to an exact size.
*
* @param input The image on which to perform the Resize.
* @param width The width of the output in pixels.
* @param height The height of the output in pixels.
* @param interpolation The type of interpolation.
* @param output The image in which to store the output.
*/
//void Pipeline::resizeImage(Mat &input, double width, double height, int interpolation, Mat &output) {
// resize(input, output, Size(width, height), 0.0, 0.0, interpolation);
//}
void Pipeline::resizeImage(const cv::cuda::GpuMat &input, double width, double height, int interpolation, cv::cuda::GpuMat &output) {
gpu::resize(input, output, Size(width, height), 0.0, 0.0, interpolation);
}

/**
* Filters through contours.
* @param inputContours is the input vector of contours.
* @param minArea is the minimum area of a contour that will be kept.
* @param minPerimeter is the minimum perimeter of a contour that will be kept.
* @param minWidth minimum width of a contour.
* @param maxWidth maximum width.
* @param minHeight minimum height.
* @param maxHeight maximimum height.
* @param solidity the minimum and maximum solidity of a contour.
* @param minVertexCount minimum vertex Count of the contours.
* @param maxVertexCount maximum vertex Count.
* @param minRatio minimum ratio of width to height.
* @param maxRatio maximum ratio of width to height.
* @param output vector of filtered contours.
*/
void Pipeline::filterContours(vector<vector<Point> > &inputContours, double minArea, double minPerimeter, double minWidth, double maxWidth, double minHeight, double maxHeight, double solidity[], double maxVertexCount, double minVertexCount, double minRatio, double maxRatio, vector<vector<Point> > &output) {
vector<Point> hull;
output.clear();
for (vector<Point> contour: inputContours) {
Rect bb = boundingRect(contour);
if (bb.width < minWidth || bb.width > maxWidth) continue;
if (bb.height < minHeight || bb.height > maxHeight) continue;
double area = contourArea(contour);
if (area < minArea) continue;
if (arcLength(contour, true) < minPerimeter) continue;
convexHull(Mat(contour, true), hull);
double solid = 100 * area / contourArea(hull);
if (solid < solidity[0] || solid > solidity[1]) continue;
if (contour.size() < minVertexCount || contour.size() > maxVertexCount) continue;
double ratio = bb.width / bb.height;
if (ratio < minRatio || ratio > maxRatio) continue;
output.push_back(contour);
}
}
/**
* Segment an image based on hue, saturation, and value ranges.
*
* @param input The image on which to perform the HSL threshold.
* @param hue The min and max hue.
* @param sat The min and max saturation.
* @param val The min and max value.
* @param output The image in which to store the output.
*/
//void Pipeline::hsvThreshold(Mat &input, double hue[], double sat[], double val[], Mat &out) {
// cvtColor(input, out, COLOR_BGR2HSV);
// inRange(out,Scalar(hue[0], sat[0], val[0]), Scalar(hue[1], sat[1], val[1]), out);
//}
void Pipeline::hsvThreshold(const cv::cuda::GMat &input, double hue[], double sat[], double val[], cv::cuda::Mat &output) {
gpu::cvtColor(input, output, COLOR_BGR2HSV);
inRange(output, Scalar(hue[0], sat[0], val[0]), Scalar(hue[1], sat[1], val[1]), output);
}
/**
* Finds contours in an image.
*
* @param input The image to find contours in.
* @param externalOnly if only external contours are to be found.
* @param contours vector of contours to put contours in.
*/
void Pipeline::findContours(cv::cuda::GpuMat &input, bool externalOnly, vector<vector<Point> > &contours) {
vector<Vec4i> hierarchy;
contours.clear();
int mode = externalOnly ? RETR_EXTERNAL : RETR_LIST;
int method = CHAIN_APPROX_SIMPLE;
cv::findContours(input, contours, hierarchy, mode, method);
}
/**
* Filters through contours.
* @param inputContours is the input vector of contours.
* @param minArea is the minimum area of a contour that will be kept.
* @param minPerimeter is the minimum perimeter of a contour that will be kept.
* @param minWidth minimum width of a contour.
* @param maxWidth maximum width.
* @param minHeight minimum height.
* @param maxHeight maximimum height.
* @param solidity the minimum and maximum solidity of a contour.
* @param minVertexCount minimum vertex Count of the contours.
* @param maxVertexCount maximum vertex Count.
* @param minRatio minimum ratio of width to height.
* @param maxRatio maximum ratio of width to height.
* @param output vector of filtered contours.
*/
void Pipeline::filterContours(vector<vector<Point> > &inputContours, double minArea, double minPerimeter, double minWidth, double maxWidth, double minHeight, double maxHeight, double solidity[], double maxVertexCount, double minVertexCount, double minRatio, double maxRatio, vector<vector<Point> > &output) {
vector<Point> hull;
output.clear();
for (vector<Point> contour: inputContours) {
Rect bb = boundingRect(contour);
if (bb.width < minWidth || bb.width > maxWidth) continue;
if (bb.height < minHeight || bb.height > maxHeight) continue;
double area = contourArea(contour);
if (area < minArea) continue;
if (arcLength(contour, true) < minPerimeter) continue;
convexHull(cv::cuda::GpuMat(contour, true), hull);
double solid = 100 * area / contourArea(hull);
if (solid < solidity[0] || solid > solidity[1]) continue;
if (contour.size() < minVertexCount || contour.size() > maxVertexCount) continue;
double ratio = bb.width / bb.height;
if (ratio < minRatio || ratio > maxRatio) continue;
output.push_back(contour);
}
}

40 changes: 22 additions & 18 deletions jetson/grip/Pipeline.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,13 @@
#include <opencv2/core/core.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/core/mat.hpp>
#include <opencv2/gpu/gpu.hpp>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <map>
#include <math.h>

using namespace cv;
using namespace std;

Expand All @@ -21,24 +23,26 @@ using namespace std;
* Make sure to set sources before running process()
*/
class Pipeline {
private:
Mat source0;
Mat resizeImageOutput;
Mat hsvThresholdOutput;
vector<vector<Point> > findContoursOutput;
void resizeImage(Mat &, double , double , int , Mat &);
void hsvThreshold(Mat &, double [], double [], double [], Mat &);
void findContours(Mat &, bool , vector<vector<Point> > &);
void filterContours(vector<vector<Point> > &, double , double , double , double , double , double , double [], double , double , double , double , vector<vector<Point> > &);
private:
cv::cuda::GpuMat source0;
cv::cuda::GpuMat resizeImageOutput;
cv::cuda::GpuMat hsvThresholdOutput;
vector<vector<Point> > findContoursOutput;
// void resizeImage(Mat &, double , double , int , Mat &);
void resizeImage(const cv::cuda::GpuMat &, double, double, int, cv::cuda::GpuMat &);
// void hsvThreshold(Mat &, double [], double [], double [], Mat &);
void hsvThreshold(const cv::cuda::GpuMat &, double [], double [], double [], cv::cuda::GpuMat &);
void findContours(cv::cuda::GpuMat &, bool , vector<vector<Point> > &);
void filterContours(vector<vector<Point> > &, double , double , double , double , double , double , double [], double , double , double , double , vector<vector<Point> > &);

public:
vector<vector<Point> > filterContoursOutput;
Pipeline();
void Process();
void setsource0(Mat &source0);
Mat* getresizeImageOutput();
Mat* gethsvThresholdOutput();
vector<vector<Point> >* getfindContoursOutput();
vector<vector<Point> >* getfilterContoursOutput();
public:
vector<vector<Point> > filterContoursOutput;
Pipeline();
void Process(bool);
void setsource0(cv::cuda::GpuMat &source0);
cv::cuda::GpuMat* getresizeImageOutput();
cv::cuda::GpuMat* gethsvThresholdOutput();
vector<vector<Point> >* getfindContoursOutput();
vector<vector<Point> >* getfilterContoursOutput();
};