/*
* BSD 2-Clause License
*
* Copyright (c) 2020, Alessandro Capotondi
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file sobel.cu
* @author Alessandro Capotondi
* @date 12 May 2020
* @brief Sobel Filtering
*
* @see https://dolly.fim.unimore.it/2019/course/view.php?id=152
*/
#include <stdio.h>
#include <time.h>
#include <sys/time.h>
#include <opencv2/opencv.hpp>
#include <opencv2/imgcodecs/imgcodecs.hpp>
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace cv;
using namespace std;
#ifndef BLOCK_SIZE
#define BLOCK_SIZE 16
#endif
#ifndef NSTREAMS
#define NSTREAMS 12
#endif
#define gpuErrchk(ans) \
{ \
gpuAssert((ans), __FILE__, __LINE__); \
}
static inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort = true)
{
if (code != cudaSuccess)
{
fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line);
if (abort)
exit(code);
}
}
extern "C"
{
#include "utils.h"
}
int FILTER_HOST[3][3] = {{-1, 0, 1},
{-2, 0, 2},
{-1, 0, 1}};
void sobel_host(unsigned char *__restrict__ orig, unsigned char *__restrict__ out, int width, int height)
{
#pragma omp parallel for collapse(2)
for (int y = 1; y < height - 1; y++)
{
for (int x = 1; x < width - 1; x++)
{
int dx = 0, dy = 0;
for (int k = -1; k <= 1; k++)
{
for (int z = -1; z <= 1; z++)
{
dx += FILTER_HOST[k + 1][z + 1] * orig[(y + k) * width + x + z];
dy += FILTER_HOST[z + 1][k + 1] * orig[(y + k) * width + x + z];
}
}
out[y * width + x] = sqrt((float)((dx * dx) + (dy * dy)));
}
}
}
__constant__ int FILTER_GPU[3][3] = {{-1, 0, 1},
{-2, 0, 2},
{-1, 0, 1}};
__global__ void sobel_v1(unsigned char *__restrict__ orig, unsigned char *__restrict__ out, int width, int height)
{
int i = threadIdx.y + blockIdx.y * blockDim.y;
int j = threadIdx.x + blockIdx.x * blockDim.x;
if (j > 0 && i > 0 && j < width - 1 && i < height - 1)
{
int dx = 0, dy = 0;
for (int k = -1; k <= 1; k++)
{
for (int z = -1; z <= 1; z++)
{
dx += FILTER_GPU[k + 1][z + 1] * orig[(i + k) * width + j + z];
dy += FILTER_GPU[z + 1][k + 1] * orig[(i + k) * width + j + z];
}
}
out[i * width + j] = sqrt((float)((dx * dx) + (dy * dy)));
}
}
int main(int argc, char *argv[])
{
int iret = 0;
struct timespec rt[2];
string filename("data/sample.avi");
if (argc > 1)
filename = argv[1];
//Open Video Example
VideoCapture cap(filename);
// Check if camera opened successfully
if (!cap.isOpened())
{
cout << "Error opening video stream or file" << endl;
return -1;
}
int width = cap.get(CAP_PROP_FRAME_WIDTH);
int height = cap.get(CAP_PROP_FRAME_HEIGHT);
int nCh = 3;
// Frame Buffers
Mat frameRGB = Mat::zeros(height, width, CV_8UC3);
Mat frameIn = Mat::zeros(height, width, CV_8UC1);
Mat frameOut = Mat::zeros(height, width, CV_8UC1);
int nFrames = 0;
double time_cnt = 0.0;
while (1)
{
bool lastFrame = cap.read(frameRGB); // read a new frame from video
if (!lastFrame)
break;
cvtColor(frameRGB, frameIn, COLOR_BGR2GRAY);
// Compute CPU Version - Golden Model
clock_gettime(CLOCK_REALTIME, rt + 0);
sobel_host(frameIn.ptr(), frameOut.ptr(), width, height);
clock_gettime(CLOCK_REALTIME, rt + 1);
time_cnt+= (rt[1].tv_sec - rt[0].tv_sec) + 1.0e-9 * (rt[1].tv_nsec - rt[0].tv_nsec);
nFrames++;
#ifdef DISPLAY
// Show frames
imshow("frameIn", frameIn);
imshow("frameOut", frameOut);
waitKey(1);
#endif
}
printf("Sobel (Host) : %d frames, %9.6f s per-frame (%9.6f fps)\n", nFrames, time_cnt/nFrames, 1/(time_cnt/nFrames));
// CUDA VERSION --------------------------------------------------
//Open Video Example
cap = VideoCapture(filename);
// Check if camera opened successfully
if (!cap.isOpened())
{
cout << "Error opening video stream or file" << endl;
return -1;
}
unsigned char *d_image_in;
unsigned char *d_image_out;
gpuErrchk(cudaMalloc((void **)&d_image_in, sizeof(unsigned char) * width * height));
gpuErrchk(cudaMalloc((void **)&d_image_out, sizeof(unsigned char) * width * height));
gpuErrchk(cudaMemset(d_image_out, 0, sizeof(unsigned char) * width * height));
cudaStream_t stream[NSTREAMS];
for(int i = 0; i < NSTREAMS; i++)
cudaStreamCreate(&stream[i]);
nFrames = 0;
time_cnt = 0.0;
while (1)
{
bool lastFrame = cap.read(frameRGB); // read a new frame from video
if (!lastFrame)
break;
cvtColor(frameRGB, frameIn, COLOR_BGR2GRAY);
// Compute CPU Version - Golden Model
clock_gettime(CLOCK_REALTIME, rt + 0);
gpuErrchk(cudaMemcpyAsync(d_image_in, frameIn.ptr(), sizeof(unsigned char) * width * height, cudaMemcpyHostToDevice,stream[nFrames%NSTREAMS]));
dim3 dimBlock(BLOCK_SIZE, BLOCK_SIZE);
dim3 dimGrid((width + BLOCK_SIZE - 1) / BLOCK_SIZE, (height + BLOCK_SIZE - 1) / BLOCK_SIZE);
sobel_v1<<<dimGrid, dimBlock,0,stream[nFrames%NSTREAMS]>>>(d_image_in, d_image_out, width, height);
gpuErrchk(cudaPeekAtLastError());
gpuErrchk(cudaMemcpyAsync(frameOut.ptr(), d_image_out, sizeof(unsigned char) * width * height, cudaMemcpyDeviceToHost,stream[nFrames%NSTREAMS]));
clock_gettime(CLOCK_REALTIME, rt + 1);
time_cnt+= (rt[1].tv_sec - rt[0].tv_sec) + 1.0e-9 * (rt[1].tv_nsec - rt[0].tv_nsec);
nFrames++;
#ifdef DISPLAY
// Show frames
imshow("frameIn", frameIn);
imshow("frameOut", frameOut);
waitKey(1);
#endif
}
cudaDeviceSynchronize();
printf("Sobel (GPU) : %d frames, %9.6f s per-frame (%9.6f fps)\n", nFrames, time_cnt/nFrames, 1/(time_cnt/nFrames));
gpuErrchk(cudaFree(d_image_out));
gpuErrchk(cudaFree(d_image_in));
for (int i=0; i<NSTREAMS; ++i)
gpuErrchk(cudaStreamDestroy(stream[i]));
frameOut.release();
frameIn.release();
frameRGB.release();
cap.release();
return iret;
}