From f1e17853861a151ca3c0ab96be1e6e21af550b70 Mon Sep 17 00:00:00 2001 From: Vladislav Vinogradov Date: Thu, 15 Jan 2015 14:28:49 +0300 Subject: [PATCH] move vstab related CUDA routines to vstab module --- modules/cuda/include/opencv2/cuda.hpp | 14 --- modules/cuda/src/global_motion.cpp | 96 ------------------- modules/cuda/test/test_global_motion.cpp | 90 ----------------- modules/videostab/CMakeLists.txt | 7 +- .../src/cuda/global_motion.cu | 0 modules/videostab/src/global_motion.cpp | 33 ++++++- modules/videostab/src/wobble_suppression.cpp | 37 ++++++- 7 files changed, 67 insertions(+), 210 deletions(-) delete mode 100644 modules/cuda/src/global_motion.cpp delete mode 100644 modules/cuda/test/test_global_motion.cpp rename modules/{cuda => videostab}/src/cuda/global_motion.cu (100%) diff --git a/modules/cuda/include/opencv2/cuda.hpp b/modules/cuda/include/opencv2/cuda.hpp index b8f2ed7154..1a5d17d463 100644 --- a/modules/cuda/include/opencv2/cuda.hpp +++ b/modules/cuda/include/opencv2/cuda.hpp @@ -93,20 +93,6 @@ CV_EXPORTS void solvePnPRansac(const Mat& object, const Mat& image, const Mat& c //! @} -//////////////////////////// VStab //////////////////////////// - -//! @addtogroup cuda -//! @{ - -//! removes points (CV_32FC2, single row matrix) with zero mask value -CV_EXPORTS void compactPoints(GpuMat &points0, GpuMat &points1, const GpuMat &mask); - -CV_EXPORTS void calcWobbleSuppressionMaps( - int left, int idx, int right, Size size, const Mat &ml, const Mat &mr, - GpuMat &mapx, GpuMat &mapy); - -//! @} - }} // namespace cv { namespace cuda { #endif /* __OPENCV_CUDA_HPP__ */ diff --git a/modules/cuda/src/global_motion.cpp b/modules/cuda/src/global_motion.cpp deleted file mode 100644 index 4f847c9244..0000000000 --- a/modules/cuda/src/global_motion.cpp +++ /dev/null @@ -1,96 +0,0 @@ -/*M/////////////////////////////////////////////////////////////////////////////////////// -// -// 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*/ - -#include "precomp.hpp" - -using namespace cv; -using namespace cv::cuda; - -#if !defined HAVE_CUDA || defined(CUDA_DISABLER) - -void cv::cuda::compactPoints(GpuMat&, GpuMat&, const GpuMat&) { throw_no_cuda(); } -void cv::cuda::calcWobbleSuppressionMaps( - int, int, int, Size, const Mat&, const Mat&, GpuMat&, GpuMat&) { throw_no_cuda(); } - -#else - -namespace cv { namespace cuda { namespace device { namespace globmotion { - - int compactPoints(int N, float *points0, float *points1, const uchar *mask); - - void calcWobbleSuppressionMaps( - int left, int idx, int right, int width, int height, - const float *ml, const float *mr, PtrStepSzf mapx, PtrStepSzf mapy); - -}}}} - -void cv::cuda::compactPoints(GpuMat &points0, GpuMat &points1, const GpuMat &mask) -{ - CV_Assert(points0.rows == 1 && points1.rows == 1 && mask.rows == 1); - CV_Assert(points0.type() == CV_32FC2 && points1.type() == CV_32FC2 && mask.type() == CV_8U); - CV_Assert(points0.cols == mask.cols && points1.cols == mask.cols); - - int npoints = points0.cols; - int remaining = cv::cuda::device::globmotion::compactPoints( - npoints, (float*)points0.data, (float*)points1.data, mask.data); - - points0 = points0.colRange(0, remaining); - points1 = points1.colRange(0, remaining); -} - - -void cv::cuda::calcWobbleSuppressionMaps( - int left, int idx, int right, Size size, const Mat &ml, const Mat &mr, - GpuMat &mapx, GpuMat &mapy) -{ - CV_Assert(ml.size() == Size(3, 3) && ml.type() == CV_32F && ml.isContinuous()); - CV_Assert(mr.size() == Size(3, 3) && mr.type() == CV_32F && mr.isContinuous()); - - mapx.create(size, CV_32F); - mapy.create(size, CV_32F); - - cv::cuda::device::globmotion::calcWobbleSuppressionMaps( - left, idx, right, size.width, size.height, - ml.ptr(), mr.ptr(), mapx, mapy); -} - -#endif diff --git a/modules/cuda/test/test_global_motion.cpp b/modules/cuda/test/test_global_motion.cpp deleted file mode 100644 index 633fe647c3..0000000000 --- a/modules/cuda/test/test_global_motion.cpp +++ /dev/null @@ -1,90 +0,0 @@ -/*M/////////////////////////////////////////////////////////////////////////////////////// -// -// 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*/ - -#include "test_precomp.hpp" - -#ifdef HAVE_CUDA - -using namespace std; -using namespace cv; - -struct CompactPoints : testing::TestWithParam -{ - virtual void SetUp() { cuda::setDevice(GetParam().deviceID()); } -}; - -CUDA_TEST_P(CompactPoints, CanCompactizeSmallInput) -{ - Mat src0(1, 3, CV_32FC2); - src0.at(0,0) = Point2f(0,0); - src0.at(0,1) = Point2f(0,1); - src0.at(0,2) = Point2f(0,2); - - Mat src1(1, 3, CV_32FC2); - src1.at(0,0) = Point2f(1,0); - src1.at(0,1) = Point2f(1,1); - src1.at(0,2) = Point2f(1,2); - - Mat mask(1, 3, CV_8U); - mask.at(0,0) = 1; - mask.at(0,1) = 0; - mask.at(0,2) = 1; - - cuda::GpuMat dsrc0(src0), dsrc1(src1), dmask(mask); - cuda::compactPoints(dsrc0, dsrc1, dmask); - - dsrc0.download(src0); - dsrc1.download(src1); - - ASSERT_EQ(2, src0.cols); - ASSERT_EQ(2, src1.cols); - - ASSERT_TRUE(src0.at(0,0) == Point2f(0,0)); - ASSERT_TRUE(src0.at(0,1) == Point2f(0,2)); - - ASSERT_TRUE(src1.at(0,0) == Point2f(1,0)); - ASSERT_TRUE(src1.at(0,1) == Point2f(1,2)); -} - -INSTANTIATE_TEST_CASE_P(CUDA_GlobalMotion, CompactPoints, ALL_DEVICES); - -#endif // HAVE_CUDA diff --git a/modules/videostab/CMakeLists.txt b/modules/videostab/CMakeLists.txt index e252bdbf53..f57a5d2151 100644 --- a/modules/videostab/CMakeLists.txt +++ b/modules/videostab/CMakeLists.txt @@ -1,3 +1,8 @@ set(the_description "Video stabilization") + +if(HAVE_CUDA) + ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wmissing-declarations -Wshadow -Wunused-parameter) +endif() + ocv_define_module(videostab opencv_imgproc opencv_features2d opencv_video opencv_photo opencv_calib3d - OPTIONAL opencv_cuda opencv_cudawarping opencv_cudaoptflow opencv_videoio) + OPTIONAL opencv_cudawarping opencv_cudaoptflow opencv_videoio) diff --git a/modules/cuda/src/cuda/global_motion.cu b/modules/videostab/src/cuda/global_motion.cu similarity index 100% rename from modules/cuda/src/cuda/global_motion.cu rename to modules/videostab/src/cuda/global_motion.cu diff --git a/modules/videostab/src/global_motion.cpp b/modules/videostab/src/global_motion.cpp index 4875bef23d..27e2bc3f43 100644 --- a/modules/videostab/src/global_motion.cpp +++ b/modules/videostab/src/global_motion.cpp @@ -47,8 +47,34 @@ #include "opencv2/opencv_modules.hpp" #include "clp.hpp" -#ifdef HAVE_OPENCV_CUDA -# include "opencv2/cuda.hpp" +#if !defined HAVE_CUDA || defined(CUDA_DISABLER) + +namespace cv { namespace cuda { + static void compactPoints(GpuMat&, GpuMat&, const GpuMat&) { throw_no_cuda(); } +}} + +#else + +namespace cv { namespace cuda { namespace device { namespace globmotion { + int compactPoints(int N, float *points0, float *points1, const uchar *mask); +}}}} + +namespace cv { namespace cuda { + static void compactPoints(GpuMat &points0, GpuMat &points1, const GpuMat &mask) + { + CV_Assert(points0.rows == 1 && points1.rows == 1 && mask.rows == 1); + CV_Assert(points0.type() == CV_32FC2 && points1.type() == CV_32FC2 && mask.type() == CV_8U); + CV_Assert(points0.cols == mask.cols && points1.cols == mask.cols); + + int npoints = points0.cols; + int remaining = cv::cuda::device::globmotion::compactPoints( + npoints, (float*)points0.data, (float*)points1.data, mask.data); + + points0 = points0.colRange(0, remaining); + points1 = points1.colRange(0, remaining); + } +}} + #endif namespace cv @@ -736,8 +762,7 @@ Mat KeypointBasedMotionEstimator::estimate(const Mat &frame0, const Mat &frame1, return motionEstimator_->estimate(pointsPrevGood_, pointsGood_, ok); } - -#if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDA) && defined(HAVE_OPENCV_CUDAOPTFLOW) +#if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW) KeypointBasedMotionEstimatorGpu::KeypointBasedMotionEstimatorGpu(Ptr estimator) : ImageMotionEstimatorBase(estimator->motionModel()), motionEstimator_(estimator) diff --git a/modules/videostab/src/wobble_suppression.cpp b/modules/videostab/src/wobble_suppression.cpp index e2635d5e08..d05fd05cce 100644 --- a/modules/videostab/src/wobble_suppression.cpp +++ b/modules/videostab/src/wobble_suppression.cpp @@ -48,10 +48,38 @@ # include "opencv2/cudawarping.hpp" #endif -#ifdef HAVE_OPENCV_CUDA -# include "opencv2/cuda.hpp" -#endif +#if !defined HAVE_CUDA || defined(CUDA_DISABLER) + +namespace cv { namespace cuda { + static void calcWobbleSuppressionMaps(int, int, int, Size, const Mat&, const Mat&, GpuMat&, GpuMat&) { throw_no_cuda(); } +}} + +#else + +namespace cv { namespace cuda { namespace device { namespace globmotion { + void calcWobbleSuppressionMaps( + int left, int idx, int right, int width, int height, + const float *ml, const float *mr, PtrStepSzf mapx, PtrStepSzf mapy); +}}}} + +namespace cv { namespace cuda { + static void calcWobbleSuppressionMaps( + int left, int idx, int right, Size size, const Mat &ml, const Mat &mr, + GpuMat &mapx, GpuMat &mapy) + { + CV_Assert(ml.size() == Size(3, 3) && ml.type() == CV_32F && ml.isContinuous()); + CV_Assert(mr.size() == Size(3, 3) && mr.type() == CV_32F && mr.isContinuous()); + mapx.create(size, CV_32F); + mapy.create(size, CV_32F); + + cv::cuda::device::globmotion::calcWobbleSuppressionMaps( + left, idx, right, size.width, size.height, + ml.ptr(), mr.ptr(), mapx, mapy); + } +}} + +#endif namespace cv { @@ -121,8 +149,7 @@ void MoreAccurateMotionWobbleSuppressor::suppress(int idx, const Mat &frame, Mat remap(frame, result, mapx_, mapy_, INTER_LINEAR, BORDER_REPLICATE); } - -#if defined(HAVE_OPENCV_CUDA) && defined(HAVE_OPENCV_CUDAWARPING) +#if defined(HAVE_OPENCV_CUDAWARPING) void MoreAccurateMotionWobbleSuppressorGpu::suppress(int idx, const cuda::GpuMat &frame, cuda::GpuMat &result) { CV_Assert(motions_ && stabilizationMotions_);