Vladislav Vinogradov
12 years ago
parent
f531dd839c
commit
3156e803be
19 changed files with 526 additions and 371 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
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//
|
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// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
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// For Open Source Computer Vision Library
|
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//
|
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
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// Third party copyrights are property of their respective owners.
|
||||
//
|
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// Redistribution and use in source and binary forms, with or without modification,
|
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// are permitted provided that the following conditions are met:
|
||||
//
|
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// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// 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 Intel Corporation or contributors be liable for any direct,
|
||||
// indirect, incidental, special, exemplary, or consequential damages
|
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
|
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// and on any theory of liability, whether in contract, strict liability,
|
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp" |
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using namespace cv; |
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using namespace cv::gpu; |
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#if !defined HAVE_CUDA || defined(CUDA_DISABLER) |
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void cv::gpu::FastOpticalFlowBM::operator ()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, int, int, Stream&) { throw_no_cuda(); } |
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#else // HAVE_CUDA
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namespace optflowbm_fast |
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{ |
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void get_buffer_size(int src_cols, int src_rows, int search_window, int block_window, int& buffer_cols, int& buffer_rows); |
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template <typename T> |
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void calc(PtrStepSzb I0, PtrStepSzb I1, PtrStepSzf velx, PtrStepSzf vely, PtrStepi buffer, int search_window, int block_window, cudaStream_t stream); |
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} |
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void cv::gpu::FastOpticalFlowBM::operator ()(const GpuMat& I0, const GpuMat& I1, GpuMat& flowx, GpuMat& flowy, int search_window, int block_window, Stream& stream) |
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{ |
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CV_Assert( I0.type() == CV_8UC1 ); |
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CV_Assert( I1.size() == I0.size() && I1.type() == I0.type() ); |
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int border_size = search_window / 2 + block_window / 2; |
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Size esize = I0.size() + Size(border_size, border_size) * 2; |
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ensureSizeIsEnough(esize, I0.type(), extended_I0); |
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ensureSizeIsEnough(esize, I0.type(), extended_I1); |
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gpu::copyMakeBorder(I0, extended_I0, border_size, border_size, border_size, border_size, cv::BORDER_DEFAULT, Scalar(), stream); |
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gpu::copyMakeBorder(I1, extended_I1, border_size, border_size, border_size, border_size, cv::BORDER_DEFAULT, Scalar(), stream); |
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GpuMat I0_hdr = extended_I0(Rect(Point2i(border_size, border_size), I0.size())); |
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GpuMat I1_hdr = extended_I1(Rect(Point2i(border_size, border_size), I0.size())); |
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int bcols, brows; |
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optflowbm_fast::get_buffer_size(I0.cols, I0.rows, search_window, block_window, bcols, brows); |
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ensureSizeIsEnough(brows, bcols, CV_32SC1, buffer); |
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flowx.create(I0.size(), CV_32FC1); |
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flowy.create(I0.size(), CV_32FC1); |
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optflowbm_fast::calc<uchar>(I0_hdr, I1_hdr, flowx, flowy, buffer, search_window, block_window, StreamAccessor::getStream(stream)); |
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} |
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#endif // HAVE_CUDA
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@ -0,0 +1,169 @@ |
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/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
||||
// If you do not agree to this license, do not download, install, |
||||
// copy or use the software. |
||||
// |
||||
// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
||||
// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
||||
// are permitted provided that the following conditions are met: |
||||
// |
||||
// * Redistribution's of source code must retain the above copyright notice, |
||||
// this list of conditions and the following disclaimer. |
||||
// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
||||
// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
||||
// derived from this software without specific prior written permission. |
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// |
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// 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 Intel Corporation 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 |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#if !defined CUDA_DISABLER |
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#include "opencv2/core/cuda/common.hpp" |
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#include "opencv2/core/cuda/limits.hpp" |
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#include "opencv2/core/cuda/functional.hpp" |
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#include "opencv2/core/cuda/reduce.hpp" |
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using namespace cv::gpu; |
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using namespace cv::gpu::cudev; |
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namespace optflowbm |
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{ |
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texture<uchar, cudaTextureType2D, cudaReadModeElementType> tex_prev(false, cudaFilterModePoint, cudaAddressModeClamp); |
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texture<uchar, cudaTextureType2D, cudaReadModeElementType> tex_curr(false, cudaFilterModePoint, cudaAddressModeClamp); |
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__device__ int cmpBlocks(int X1, int Y1, int X2, int Y2, int2 blockSize) |
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{ |
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int s = 0; |
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for (int y = 0; y < blockSize.y; ++y) |
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{ |
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for (int x = 0; x < blockSize.x; ++x) |
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s += ::abs(tex2D(tex_prev, X1 + x, Y1 + y) - tex2D(tex_curr, X2 + x, Y2 + y)); |
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} |
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return s; |
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} |
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__global__ void calcOptFlowBM(PtrStepSzf velx, PtrStepf vely, const int2 blockSize, const int2 shiftSize, const bool usePrevious, |
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const int maxX, const int maxY, const int acceptLevel, const int escapeLevel, |
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const short2* ss, const int ssCount) |
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{ |
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const int j = blockIdx.x * blockDim.x + threadIdx.x; |
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const int i = blockIdx.y * blockDim.y + threadIdx.y; |
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if (i >= velx.rows || j >= velx.cols) |
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return; |
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const int X1 = j * shiftSize.x; |
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const int Y1 = i * shiftSize.y; |
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const int offX = usePrevious ? __float2int_rn(velx(i, j)) : 0; |
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const int offY = usePrevious ? __float2int_rn(vely(i, j)) : 0; |
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int X2 = X1 + offX; |
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int Y2 = Y1 + offY; |
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int dist = numeric_limits<int>::max(); |
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if (0 <= X2 && X2 <= maxX && 0 <= Y2 && Y2 <= maxY) |
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dist = cmpBlocks(X1, Y1, X2, Y2, blockSize); |
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int countMin = 1; |
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int sumx = offX; |
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int sumy = offY; |
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if (dist > acceptLevel) |
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{ |
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// do brute-force search |
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for (int k = 0; k < ssCount; ++k) |
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{ |
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const short2 ssVal = ss[k]; |
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const int dx = offX + ssVal.x; |
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const int dy = offY + ssVal.y; |
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X2 = X1 + dx; |
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Y2 = Y1 + dy; |
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if (0 <= X2 && X2 <= maxX && 0 <= Y2 && Y2 <= maxY) |
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{ |
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const int tmpDist = cmpBlocks(X1, Y1, X2, Y2, blockSize); |
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if (tmpDist < acceptLevel) |
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{ |
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sumx = dx; |
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sumy = dy; |
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countMin = 1; |
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break; |
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} |
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if (tmpDist < dist) |
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{ |
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dist = tmpDist; |
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sumx = dx; |
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sumy = dy; |
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countMin = 1; |
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} |
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else if (tmpDist == dist) |
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{ |
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sumx += dx; |
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sumy += dy; |
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countMin++; |
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} |
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} |
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} |
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if (dist > escapeLevel) |
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{ |
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sumx = offX; |
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sumy = offY; |
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countMin = 1; |
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} |
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} |
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velx(i, j) = static_cast<float>(sumx) / countMin; |
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vely(i, j) = static_cast<float>(sumy) / countMin; |
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} |
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void calc(PtrStepSzb prev, PtrStepSzb curr, PtrStepSzf velx, PtrStepSzf vely, int2 blockSize, int2 shiftSize, bool usePrevious, |
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int maxX, int maxY, int acceptLevel, int escapeLevel, const short2* ss, int ssCount, cudaStream_t stream) |
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{ |
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bindTexture(&tex_prev, prev); |
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bindTexture(&tex_curr, curr); |
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const dim3 block(32, 8); |
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const dim3 grid(divUp(velx.cols, block.x), divUp(vely.rows, block.y)); |
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calcOptFlowBM<<<grid, block, 0, stream>>>(velx, vely, blockSize, shiftSize, usePrevious, |
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maxX, maxY, acceptLevel, escapeLevel, ss, ssCount); |
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cudaSafeCall( cudaGetLastError() ); |
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if (stream == 0) |
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cudaSafeCall( cudaDeviceSynchronize() ); |
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} |
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} |
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#endif // !defined CUDA_DISABLER |
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@ -0,0 +1,113 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
|
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
|
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// and/or other materials provided with the distribution.
|
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//
|
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// * The name of the copyright holders may not be used to endorse or promote products
|
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// derived from this software without specific prior written permission.
|
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//
|
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// This software is provided by the copyright holders and contributors "as is" and
|
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// 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 Intel Corporation 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,
|
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// or tort (including negligence or otherwise) arising in any way out of
|
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp" |
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using namespace cv; |
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using namespace cv::gpu; |
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#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_GPULEGACY) || defined (CUDA_DISABLER) |
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void cv::gpu::interpolateFrames(const GpuMat&, const GpuMat&, const GpuMat&, const GpuMat&, const GpuMat&, const GpuMat&, float, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); } |
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#else |
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void cv::gpu::interpolateFrames(const GpuMat& frame0, const GpuMat& frame1, const GpuMat& fu, const GpuMat& fv, const GpuMat& bu, const GpuMat& bv, |
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float pos, GpuMat& newFrame, GpuMat& buf, Stream& s) |
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{ |
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CV_Assert(frame0.type() == CV_32FC1); |
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CV_Assert(frame1.size() == frame0.size() && frame1.type() == frame0.type()); |
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CV_Assert(fu.size() == frame0.size() && fu.type() == frame0.type()); |
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CV_Assert(fv.size() == frame0.size() && fv.type() == frame0.type()); |
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CV_Assert(bu.size() == frame0.size() && bu.type() == frame0.type()); |
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CV_Assert(bv.size() == frame0.size() && bv.type() == frame0.type()); |
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newFrame.create(frame0.size(), frame0.type()); |
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buf.create(6 * frame0.rows, frame0.cols, CV_32FC1); |
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buf.setTo(Scalar::all(0)); |
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// occlusion masks
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GpuMat occ0 = buf.rowRange(0 * frame0.rows, 1 * frame0.rows); |
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GpuMat occ1 = buf.rowRange(1 * frame0.rows, 2 * frame0.rows); |
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// interpolated forward flow
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GpuMat fui = buf.rowRange(2 * frame0.rows, 3 * frame0.rows); |
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GpuMat fvi = buf.rowRange(3 * frame0.rows, 4 * frame0.rows); |
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// interpolated backward flow
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GpuMat bui = buf.rowRange(4 * frame0.rows, 5 * frame0.rows); |
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GpuMat bvi = buf.rowRange(5 * frame0.rows, 6 * frame0.rows); |
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size_t step = frame0.step; |
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CV_Assert(frame1.step == step && fu.step == step && fv.step == step && bu.step == step && bv.step == step && newFrame.step == step && buf.step == step); |
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cudaStream_t stream = StreamAccessor::getStream(s); |
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NppStStreamHandler h(stream); |
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NppStInterpolationState state; |
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state.size = NcvSize32u(frame0.cols, frame0.rows); |
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state.nStep = static_cast<Ncv32u>(step); |
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state.pSrcFrame0 = const_cast<Ncv32f*>(frame0.ptr<Ncv32f>()); |
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state.pSrcFrame1 = const_cast<Ncv32f*>(frame1.ptr<Ncv32f>()); |
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state.pFU = const_cast<Ncv32f*>(fu.ptr<Ncv32f>()); |
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state.pFV = const_cast<Ncv32f*>(fv.ptr<Ncv32f>()); |
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state.pBU = const_cast<Ncv32f*>(bu.ptr<Ncv32f>()); |
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state.pBV = const_cast<Ncv32f*>(bv.ptr<Ncv32f>()); |
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state.pos = pos; |
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state.pNewFrame = newFrame.ptr<Ncv32f>(); |
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state.ppBuffers[0] = occ0.ptr<Ncv32f>(); |
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state.ppBuffers[1] = occ1.ptr<Ncv32f>(); |
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state.ppBuffers[2] = fui.ptr<Ncv32f>(); |
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state.ppBuffers[3] = fvi.ptr<Ncv32f>(); |
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state.ppBuffers[4] = bui.ptr<Ncv32f>(); |
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state.ppBuffers[5] = bvi.ptr<Ncv32f>(); |
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ncvSafeCall( nppiStInterpolateFrames(&state) ); |
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if (stream == 0) |
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cudaSafeCall( cudaDeviceSynchronize() ); |
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} |
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#endif /* HAVE_CUDA */ |
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@ -0,0 +1,100 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
|
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//
|
||||
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||
//
|
||||
// By downloading, copying, installing or using the software you agree to this license.
|
||||
// If you do not agree to this license, do not download, install,
|
||||
// copy or use the software.
|
||||
//
|
||||
//
|
||||
// License Agreement
|
||||
// For Open Source Computer Vision Library
|
||||
//
|
||||
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
|
||||
// Third party copyrights are property of their respective owners.
|
||||
//
|
||||
// Redistribution and use in source and binary forms, with or without modification,
|
||||
// are permitted provided that the following conditions are met:
|
||||
//
|
||||
// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
|
||||
//
|
||||
// * Redistribution's 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.
|
||||
//
|
||||
// * The name of the copyright holders may not be used to endorse or promote products
|
||||
// derived from this software without specific prior written permission.
|
||||
//
|
||||
// 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 Intel Corporation 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.
|
||||
//
|
||||
//M*/
|
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|
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#include "precomp.hpp" |
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using namespace cv; |
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using namespace cv::gpu; |
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#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) |
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void cv::gpu::createOpticalFlowNeedleMap(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&) { throw_no_cuda(); } |
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#else |
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namespace cv { namespace gpu { namespace cudev |
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{ |
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namespace optical_flow |
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{ |
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void NeedleMapAverage_gpu(PtrStepSzf u, PtrStepSzf v, PtrStepSzf u_avg, PtrStepSzf v_avg); |
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void CreateOpticalFlowNeedleMap_gpu(PtrStepSzf u_avg, PtrStepSzf v_avg, float* vertex_buffer, float* color_data, float max_flow, float xscale, float yscale); |
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} |
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}}} |
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void cv::gpu::createOpticalFlowNeedleMap(const GpuMat& u, const GpuMat& v, GpuMat& vertex, GpuMat& colors) |
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{ |
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using namespace cv::gpu::cudev::optical_flow; |
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CV_Assert(u.type() == CV_32FC1); |
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CV_Assert(v.type() == u.type() && v.size() == u.size()); |
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|
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const int NEEDLE_MAP_SCALE = 16; |
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|
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const int x_needles = u.cols / NEEDLE_MAP_SCALE; |
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const int y_needles = u.rows / NEEDLE_MAP_SCALE; |
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|
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GpuMat u_avg(y_needles, x_needles, CV_32FC1); |
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GpuMat v_avg(y_needles, x_needles, CV_32FC1); |
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|
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NeedleMapAverage_gpu(u, v, u_avg, v_avg); |
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|
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const int NUM_VERTS_PER_ARROW = 6; |
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|
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const int num_arrows = x_needles * y_needles * NUM_VERTS_PER_ARROW; |
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|
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vertex.create(1, num_arrows, CV_32FC3); |
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colors.create(1, num_arrows, CV_32FC3); |
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|
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colors.setTo(Scalar::all(1.0)); |
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|
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double uMax, vMax; |
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gpu::minMax(u_avg, 0, &uMax); |
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gpu::minMax(v_avg, 0, &vMax); |
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|
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float max_flow = static_cast<float>(std::sqrt(uMax * uMax + vMax * vMax)); |
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|
||||
CreateOpticalFlowNeedleMap_gpu(u_avg, v_avg, vertex.ptr<float>(), colors.ptr<float>(), max_flow, 1.0f / u.cols, 1.0f / u.rows); |
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|
||||
cvtColor(colors, colors, COLOR_HSV2RGB); |
||||
} |
||||
|
||||
#endif /* HAVE_CUDA */ |
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Reference in new issue