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#include "opencv2/opencv_modules.hpp"

#ifndef HAVE_OPENCV_CUDEV

#error "opencv_cudev is required"

#else

#include "opencv2/cudaarithm.hpp"
#include "opencv2/cudev.hpp"
#include "opencv2/core/private.cuda.hpp"

using namespace cv;
using namespace cv::cuda;
using namespace cv::cudev;

namespace
{
    template <typename ScalarDepth> struct TransformPolicy : DefaultTransformPolicy
    {
    };
    template <> struct TransformPolicy<double> : DefaultTransformPolicy
    {
        enum {
            shift = 1
        };
    };

    template <typename T>
    void thresholdImpl(const GpuMat& src, GpuMat& dst, double thresh, double maxVal, int type, Stream& stream)
    {
        const T thresh_ = static_cast<T>(thresh);
        const T maxVal_ = static_cast<T>(maxVal);

        switch (type)
        {
        case 0:
            gridTransformUnary_< TransformPolicy<T> >(globPtr<T>(src), globPtr<T>(dst), thresh_binary_func(thresh_, maxVal_), stream);
            break;
        case 1:
            gridTransformUnary_< TransformPolicy<T> >(globPtr<T>(src), globPtr<T>(dst), thresh_binary_inv_func(thresh_, maxVal_), stream);
            break;
        case 2:
            gridTransformUnary_< TransformPolicy<T> >(globPtr<T>(src), globPtr<T>(dst), thresh_trunc_func(thresh_), stream);
            break;
        case 3:
            gridTransformUnary_< TransformPolicy<T> >(globPtr<T>(src), globPtr<T>(dst), thresh_to_zero_func(thresh_), stream);
            break;
        case 4:
            gridTransformUnary_< TransformPolicy<T> >(globPtr<T>(src), globPtr<T>(dst), thresh_to_zero_inv_func(thresh_), stream);
            break;
        };
    }
}


__global__ void otsu_sums(uint *histogram, uint *threshold_sums, unsigned long long *sums)
{
    const uint n_bins = 256;

    __shared__ uint shared_memory_ts[n_bins];
    __shared__ unsigned long long shared_memory_s[n_bins];

    int bin_idx = threadIdx.x;
    int threshold = blockIdx.x;

    uint threshold_sum_above = 0;
    unsigned long long sum_above = 0;

    if (bin_idx > threshold)
    {
        uint value = histogram[bin_idx];
        threshold_sum_above = value;
        sum_above = value * bin_idx;
    }

    blockReduce<n_bins>(shared_memory_ts, threshold_sum_above, bin_idx, plus<uint>());
    blockReduce<n_bins>(shared_memory_s, sum_above, bin_idx, plus<unsigned long long>());

    if (bin_idx == 0)
    {
        threshold_sums[threshold] = threshold_sum_above;
        sums[threshold] = sum_above;
    }
}

__global__ void
otsu_variance(float2 *variance, uint *histogram, uint *threshold_sums, unsigned long long *sums, uint n_samples)
{
    const uint n_bins = 256;

    __shared__ signed long long shared_memory_a[n_bins];
    __shared__ signed long long shared_memory_b[n_bins];

    int bin_idx = threadIdx.x;
    int threshold = blockIdx.x;

    uint n_samples_above = threshold_sums[threshold];
    uint n_samples_below = n_samples - n_samples_above;

    unsigned long long total_sum = sums[0];
    unsigned long long sum_above = sums[threshold];
    unsigned long long sum_below = total_sum - sum_above;

    float threshold_variance_above_f32 = 0;
    float threshold_variance_below_f32 = 0;
    if (bin_idx > threshold)
    {
        if (n_samples_above > 0)
        {
            float mean = (float) sum_above / n_samples_above;
            float sigma = bin_idx - mean;
            threshold_variance_above_f32 = sigma * sigma;
        }
    }
    else
    {
        if (n_samples_below > 0)
        {
            float mean = (float) sum_below / n_samples_below;
            float sigma = bin_idx - mean;
            threshold_variance_below_f32 = sigma * sigma;
        }
    }

    uint bin_count = histogram[bin_idx];
    signed long long threshold_variance_above_i64 = (signed long long)(threshold_variance_above_f32 * bin_count);
    signed long long threshold_variance_below_i64 = (signed long long)(threshold_variance_below_f32 * bin_count);
    blockReduce<n_bins>(shared_memory_a, threshold_variance_above_i64, bin_idx, plus<signed long long>());
    blockReduce<n_bins>(shared_memory_b, threshold_variance_below_i64, bin_idx, plus<signed long long>());

    if (bin_idx == 0)
    {
        variance[threshold] = make_float2(threshold_variance_above_i64, threshold_variance_below_i64);
    }
}

template <uint n_thresholds>
__device__ bool has_lowest_score(
    uint threshold, float original_score, float score, uint *shared_memory
) {
    // It may happen that multiple threads have the same minimum score. In that case, we want to find the thread with
    // the lowest threshold. This is done by calling '__syncthreads_count' to count how many threads have a score
    // that matches to the minimum score found. Since this is rare, we will optimize towards the common case where only
    // one thread has the minimum score. If multiple threads have the same minimum score, we will find the minimum
    // threshold that satifies the condition
    bool has_match = original_score == score;
    uint matches = __syncthreads_count(has_match);

    if(matches > 1) {
        // If this thread has a match, we use it; otherwise we give it a value that is larger than the maximum
        // threshold, so it will never get picked
        uint min_threshold = has_match ? threshold : n_thresholds;

        blockReduce<n_thresholds>(shared_memory, min_threshold, threshold, minimum<uint>());

        return min_threshold == threshold;
    } else {
        return has_match;
    }
}

__global__ void
otsu_score(uint *otsu_threshold, uint *threshold_sums, float2 *variance, uint n_samples)
{
    const uint n_thresholds = 256;

    __shared__ float shared_memory[n_thresholds];

    int threshold = threadIdx.x;

    uint n_samples_above = threshold_sums[threshold];
    uint n_samples_below = n_samples - n_samples_above;

    float threshold_mean_above = (float)n_samples_above / n_samples;
    float threshold_mean_below = (float)n_samples_below / n_samples;

    float2 variances = variance[threshold];
    float variance_above = n_samples_above > 0 ? variances.x / n_samples_above : 0.0f;
    float variance_below = n_samples_below > 0 ? variances.y / n_samples_below : 0.0f;

    float above = threshold_mean_above * variance_above;
    float below = threshold_mean_below * variance_below;
    float score = above + below;

    float original_score = score;

    blockReduce<n_thresholds>(shared_memory, score, threshold, minimum<float>());

    if (threshold == 0)
    {
        shared_memory[0] = score;
    }
    __syncthreads();

    score = shared_memory[0];

    // We found the minimum score, but in some cases multiple threads can have the same score, so we need to find the
    // lowest threshold
    if (has_lowest_score<n_thresholds>(threshold, original_score, score, (uint *) shared_memory))
    {
        *otsu_threshold = threshold;
    }
}

void compute_otsu(uint *histogram, uint *otsu_threshold, uint n_samples, Stream &stream)
{
    const uint n_bins = 256;
    const uint n_thresholds = 256;

    cudaStream_t cuda_stream = StreamAccessor::getStream(stream);

    dim3 block_all(n_bins);
    dim3 grid_all(n_thresholds);
    dim3 block_score(n_thresholds);
    dim3 grid_score(1);

    BufferPool pool(stream);
    GpuMat gpu_threshold_sums(1, n_bins, CV_32SC1, pool.getAllocator());
    GpuMat gpu_sums(1, n_bins, CV_64FC1, pool.getAllocator());
    GpuMat gpu_variances(1, n_bins, CV_32FC2, pool.getAllocator());

    otsu_sums<<<grid_all, block_all, 0, cuda_stream>>>(
        histogram, gpu_threshold_sums.ptr<uint>(), gpu_sums.ptr<unsigned long long>());
    otsu_variance<<<grid_all, block_all, 0, cuda_stream>>>(
        gpu_variances.ptr<float2>(), histogram, gpu_threshold_sums.ptr<uint>(), gpu_sums.ptr<unsigned long long>(), n_samples);
    otsu_score<<<grid_score, block_score, 0, cuda_stream>>>(
        otsu_threshold, gpu_threshold_sums.ptr<uint>(), gpu_variances.ptr<float2>(), n_samples);
}

// TODO: Replace this with cv::cuda::calcHist
template <uint n_bins>
__global__ void histogram_kernel(
    uint *histogram, const uint8_t *image, uint width,
    uint height, uint pitch)
{
    __shared__ uint local_histogram[n_bins];

    uint x = blockIdx.x * blockDim.x + threadIdx.x;
    uint y = blockIdx.y * blockDim.y + threadIdx.y;
    uint tid = threadIdx.y * blockDim.x + threadIdx.x;

    if (tid < n_bins)
    {
        local_histogram[tid] = 0;
    }

    __syncthreads();

    if (x < width && y < height)
    {
        uint8_t value = image[y * pitch + x];
        atomicInc(&local_histogram[value], 0xFFFFFFFF);
    }

    __syncthreads();

    if (tid < n_bins)
    {
        cv::cudev::atomicAdd(&histogram[tid], local_histogram[tid]);
    }
}

// TODO: Replace this with cv::cuda::calcHist
void calcHist(
    const GpuMat src, GpuMat histogram, Stream stream)
{
    const uint n_bins = 256;

    cudaStream_t cuda_stream = StreamAccessor::getStream(stream);

    dim3 block(128, 4, 1);
    dim3 grid = dim3(divUp(src.cols, block.x), divUp(src.rows, block.y), 1);
    CV_CUDEV_SAFE_CALL(cudaMemsetAsync(histogram.ptr<uint>(), 0, n_bins * sizeof(uint), cuda_stream));
    histogram_kernel<n_bins>
        <<<grid, block, 0, cuda_stream>>>(
            histogram.ptr<uint>(), src.ptr<uint8_t>(), (uint) src.cols, (uint) src.rows, (uint) src.step);
}

double cv::cuda::threshold(InputArray _src, OutputArray _dst, double thresh, double maxVal, int type, Stream &stream)
{
    GpuMat src = getInputMat(_src, stream);

    const int depth = src.depth();

    const int THRESH_OTSU = 8;
    if ((type & THRESH_OTSU) == THRESH_OTSU)
    {
        CV_Assert(depth == CV_8U);
        CV_Assert(src.channels() == 1);

        BufferPool pool(stream);

        // Find the threshold using Otsu and then run the normal thresholding algorithm
        GpuMat gpu_histogram(256, 1, CV_32SC1, pool.getAllocator());
        calcHist(src, gpu_histogram, stream);

        GpuMat gpu_otsu_threshold(1, 1, CV_32SC1, pool.getAllocator());
        compute_otsu(gpu_histogram.ptr<uint>(), gpu_otsu_threshold.ptr<uint>(), src.rows * src.cols, stream);

        cv::Mat mat_otsu_threshold;
        gpu_otsu_threshold.download(mat_otsu_threshold, stream);
        stream.waitForCompletion();

        // Overwrite the threshold value with the Otsu value and remove the Otsu flag from the type
        type = type & ~THRESH_OTSU;
        thresh = (double) mat_otsu_threshold.at<int>(0);
    }

    CV_Assert( depth <= CV_64F );
    CV_Assert( type <= 4 /*THRESH_TOZERO_INV*/ );

    GpuMat dst = getOutputMat(_dst, src.size(), src.type(), stream);
    src = src.reshape(1);
    dst = dst.reshape(1);

    if (depth == CV_32F && type == 2 /*THRESH_TRUNC*/)
    {
        NppStreamHandler h(StreamAccessor::getStream(stream));

        NppiSize sz;
        sz.width  = src.cols;
        sz.height = src.rows;

#if USE_NPP_STREAM_CTX
        nppSafeCall(nppiThreshold_32f_C1R_Ctx(src.ptr<Npp32f>(), static_cast<int>(src.step),
            dst.ptr<Npp32f>(), static_cast<int>(dst.step), sz, static_cast<Npp32f>(thresh), NPP_CMP_GREATER, h));
#else
        nppSafeCall( nppiThreshold_32f_C1R(src.ptr<Npp32f>(), static_cast<int>(src.step),
            dst.ptr<Npp32f>(), static_cast<int>(dst.step), sz, static_cast<Npp32f>(thresh), NPP_CMP_GREATER) );
#endif

        if (!stream)
            CV_CUDEV_SAFE_CALL( cudaDeviceSynchronize() );
    }
    else
    {
        typedef void (*func_t)(const GpuMat& src, GpuMat& dst, double thresh, double maxVal, int type, Stream& stream);
        static const func_t funcs[] =
        {
            thresholdImpl<uchar>,
            thresholdImpl<schar>,
            thresholdImpl<ushort>,
            thresholdImpl<short>,
            thresholdImpl<int>,
            thresholdImpl<float>,
            thresholdImpl<double>
        };

        if (depth != CV_32F && depth != CV_64F)
        {
            thresh = cvFloor(thresh);
            maxVal = cvRound(maxVal);
        }

        funcs[depth](src, dst, thresh, maxVal, type, stream);
    }

    syncOutput(dst, _dst, stream);

    return thresh;
}

#endif
