ported all demos and examples to the new api

modules/v4d/include/opencv2/v4d/v4d.hpp

@@ -71,7 +71,7 @@ class Plan {
 public:
 	virtual ~Plan() {};
 	virtual void setup(cv::Ptr<V4D> window) {};
-	virtual void infere(cv::Ptr<V4D> window) = 0;
+	virtual void infer(cv::Ptr<V4D> window) = 0;
 	virtual void teardown(cv::Ptr<V4D> window) {};
 };
 /*!
@@ -487,7 +487,7 @@ public:
     }
 
     void capture() {
-    	cv::UMat tmp;
+    	static thread_local cv::UMat tmp(fbSize(), CV_8UC3);
     	capture(tmp);
     }
 
@@ -507,10 +507,10 @@ public:
     }
 
     void write() {
-    	cv::UMat frame;
+    	static thread_local cv::UMat frame(fbSize(), CV_8UC3);
 
-        fb([](cv::UMat& frameBuffer, const cv::UMat& f) {
-            f.copyTo(frameBuffer);
+        fb([](const cv::UMat& frameBuffer, cv::UMat& f) {
+            frameBuffer.copyTo(f);
         }, frame);
 
     	write([](cv::UMat& outputFrame, const cv::UMat& f){
@@ -540,13 +540,6 @@ public:
         });
     }
 
-    /*!
-     * Execute function object fn inside a nanovg context.
-     * The context takes care of setting up opengl and nanovg states.
-     * A function object passed like that can use the functions in cv::viz::nvg.
-     * @param fn A function that is passed the size of the framebuffer
-     * and performs drawing using cv::v4d::nvg
-     */
     template <typename Tfn, typename ... Args>
     void nvg(Tfn fn, Args&&... args) {
         CV_Assert(detail::is_stateless<std::remove_cv_t<std::remove_reference_t<decltype(fn)>>>::value);
@@ -572,17 +565,15 @@ public:
     }
 
     template <typename Tfn, typename ... Args>
-     void parallel(Tfn fn, Args&&... args) {
-         CV_Assert(detail::is_stateless<std::remove_cv_t<std::remove_reference_t<decltype(fn)>>>::value);
-         const string id = make_id("parallel", fn);
-         TimeTracker::getInstance()->execute(id, [this, fn, id, &args...](){
-             (emit_access<std::true_type, std::remove_reference_t<Args>, Args...>(id, std::is_const_v<std::remove_reference_t<Args>>, &args),...);
-             std::function functor(fn);
-             typename detail::function_traits<decltype(fn)>::argument_types t = std::make_tuple(args...);
-             std::apply([=](auto &&... Targs) { add_transaction<decltype(functor)>(parallelCtx(), id, std::forward<decltype(functor)>(fn), std::forward<std::add_lvalue_reference_t<decltype(Targs)>>(Targs)...); }, t);
-         });
-     }
-
+    void parallel(Tfn fn, Args&&... args) {
+        CV_Assert(detail::is_stateless<std::remove_cv_t<std::remove_reference_t<decltype(fn)>>>::value);
+        const string id = make_id("parallel", fn);
+        TimeTracker::getInstance()->execute(id, [this, fn, id, &args...](){
+        	(emit_access<std::true_type, std::remove_reference_t<Args>, Args...>(id, std::is_const_v<std::remove_reference_t<Args>>, &args),...);
+        	std::function functor(fn);
+            add_transaction<decltype(functor)>(parallelCtx(), id, std::forward<decltype(functor)>(fn), std::forward<Args>(args)...);
+        });
+    }
     CV_EXPORTS void imgui(std::function<void(ImGuiContext* ctx)> fn);
 
     /*!
@@ -688,7 +679,7 @@ public:
 			this->runPlan();
 			this->display();
 			this->clearPlan();
-			plan->infere(self());
+			plan->infer(self());
 			this->makePlan();
 			do {
 				this->runPlan();

modules/v4d/samples/beauty-demo.cpp

@@ -215,7 +215,7 @@ class BeautyDemoPlan : public Plan {
 	bool faceFound_ = false;
 	FaceFeatures features_;
 public:
-	void infere(cv::Ptr<V4D> window) override {
+	void infer(cv::Ptr<V4D> window) override {
 		auto always = [](){ return true; };
 		auto isTrue = [](bool& ff){ return ff; };
 		auto isFalse = [](bool& ff){ return !ff; };

modules/v4d/samples/cube-demo.cpp

@@ -219,7 +219,7 @@ public:
 			init_scene(sz, v, sp, ut);
 		}, window->fbSize(), vao, shaderProgram, uniformTransform);
 	}
-	void infere(cv::Ptr<V4D> window) {
+	void infer(cv::Ptr<V4D> window) {
 		window->gl([](){
 			//Clear the background
 			glClearColor(0.2, 0.24, 0.4, 1);

modules/v4d/samples/custom_source_and_sink.cpp

@@ -41,7 +41,7 @@ int main() {
 	class CustomSourceAndSinkPlan : public Plan {
 	    string hr_ = "Hello Rainbow!";
 
-		void infere(cv::Ptr<V4D> win) override {
+		void infer(cv::Ptr<V4D> win) override {
 			win->capture();
 
 			//Render "Hello Rainbow!" over the video

modules/v4d/samples/display_image.cpp

@@ -21,7 +21,7 @@ int main() {
 #endif
     	}
 		//Display the framebuffer in the native window in an endless loop.
-		void infere(Ptr<V4D> win) override {
+		void infer(Ptr<V4D> win) override {
 			//Feeds the image to the video pipeline
 			win->feed(image_);
 		}

modules/v4d/samples/display_image_fb.cpp

@@ -27,7 +27,7 @@ int main() {
 			}, image_, resized_, converted_, win->fbSize());
 		}
 
-		void infere(Ptr<V4D> win) override {
+		void infer(Ptr<V4D> win) override {
 			//Create a fb context and copy the prepared image to the framebuffer. The fb context
 			//takes care of retrieving and storing the data on the graphics card (using CL-GL
 			//interop if available), ready for other contexts to use

modules/v4d/samples/display_image_nvg.cpp

@@ -40,7 +40,7 @@ public:
 			}, image_);
         }
 
-        void infere(Ptr<V4D> win) override{
+        void infer(Ptr<V4D> win) override{
 			//Creates a NanoVG context to draw the loaded image_ over again to the screen.
 			win->nvg([](const Image_t& img, const cv::Size& sz) {
 				using namespace cv::v4d::nvg;

modules/v4d/samples/font-demo.cpp

@@ -95,7 +95,7 @@ class FontDemoPlan : public Plan {
 
     int32_t translateY_;
 public:
-    void infere(cv::Ptr<V4D> window) override {
+    void infer(cv::Ptr<V4D> window) override {
     	auto always = []() { return true; };
     	auto isTrue = [](const bool& b) { return b; };
 

modules/v4d/samples/font_rendering.cpp

@@ -10,7 +10,7 @@ int main() {
 		//The text to render
 		string hw_ = "Hello World";
 	public:
-		void infere(Ptr<V4D> win) override {
+		void infer(Ptr<V4D> win) override {
 			//Render the text at the center of the screen. Note that you can load you own fonts.
 			win->nvg([](const Size &sz, const string &str) {
 				using namespace cv::v4d::nvg;

modules/v4d/samples/font_with_gui.cpp

@@ -25,7 +25,7 @@ int main() {
 		//The text
 		string hw_ = "hello world";
 	public:
-		void infere(Ptr<V4D> win) override {
+		void infer(Ptr<V4D> win) override {
 			//Render the text at the center of the screen using parameters from the GUI.
 			win->nvg([](const Size& sz, const string& str, const float& s, const std::vector<float>& c) {
 				using namespace cv::v4d::nvg;

modules/v4d/samples/many_cubes-demo.cpp

@@ -232,7 +232,7 @@ public:
 				}, window->fbSize(), vao[i], shaderProgram[i], uniformTransform[i]);
 		}
 	}
-	void infere(cv::Ptr<V4D> window) {
+	void infer(cv::Ptr<V4D> window) {
 		window->gl([](){
 			//Clear the background
 			glClearColor(0.2, 0.24, 0.4, 1);

modules/v4d/samples/nanovg-demo.cpp

@@ -133,7 +133,7 @@ class NanoVGDemoPlan : public Plan {
 	cv::UMat hueChannel_;
 	double hue_;
 public:
-	void infere(cv::Ptr<V4D> window) override {
+	void infer(cv::Ptr<V4D> window) override {
 
 		window->parallel([](const uint64_t& frameCount, double& hue){
 			//we use frame count to calculate the current hue

modules/v4d/samples/optflow-demo.cpp

@@ -403,7 +403,7 @@ class OptflowPlan : public Plan {
 	vector<cv::Point2f> detectedPoints;
 public:
 	virtual ~OptflowPlan() override {};
-	virtual void infere(cv::Ptr<V4D> window) override {
+	virtual void infer(cv::Ptr<V4D> window) override {
 		window->capture([](const cv::UMat& videoFrame, cv::UMat& d, cv::UMat& b) {
 			//resize to foreground scale
 			cv::resize(videoFrame, d, cv::Size(videoFrame.size().width * fg_scale, videoFrame.size().height * fg_scale));

modules/v4d/samples/pedestrian-demo.cpp

@@ -33,8 +33,6 @@ constexpr const char* OUTPUT_FILENAME = "pedestrian-demo.mkv";
 #endif
 const int BLUR_KERNEL_SIZE = std::max(int(DIAG / 200 % 2 == 0 ? DIAG / 200 + 1 : DIAG / 200), 1);
 
-//Descriptor used for pedestrian detection
-static thread_local cv::HOGDescriptor hog;
 
 //adapted from cv::dnn_objdetect::InferBbox
 static inline bool pair_comparator(std::pair<double, size_t> l1, std::pair<double, size_t> l2) {
@@ -138,16 +136,20 @@ class PedestrianDemoPlan : public Plan {
     bool trackerInitialized_ = false;
     //If tracking fails re-detect
     bool redetect_ = true;
+    //Descriptor used for pedestrian detection
+    cv::HOGDescriptor hog_;
 public:
 	void setup(cv::Ptr<V4D> window) override {
-	    params_.desc_pca = cv::TrackerKCF::GRAY;
-	    params_.compress_feature = false;
-	    params_.compressed_size = 1;
-	    tracker_ = cv::TrackerKCF::create(params_);
-		hog.setSVMDetector(cv::HOGDescriptor::getDefaultPeopleDetector());
+		window->parallel([](cv::TrackerKCF::Params& params, cv::Ptr<cv::Tracker>& tracker, cv::HOGDescriptor& hog){
+			params.desc_pca = cv::TrackerKCF::GRAY;
+			params.compress_feature = false;
+			params.compressed_size = 1;
+			tracker = cv::TrackerKCF::create(params);
+			hog.setSVMDetector(cv::HOGDescriptor::getDefaultPeopleDetector());
+		}, params_, tracker_, hog_);
 	}
 
-	void infere(cv::Ptr<V4D> window) override {
+	void infer(cv::Ptr<V4D> window) override {
 		static auto always = [](){ return true; };
 		static auto doRedect = [](const bool& trackerInit, const bool& redetect){ return !trackerInit || redetect; };
 		static auto dontRedect = [](const bool& trackerInit, const bool& redetect){ return trackerInit && !redetect; };
@@ -156,11 +158,11 @@ public:
 		{
 			window->capture();
 
-			window->fb([&](const cv::UMat& frameBuffer){
+			window->fb([](const cv::UMat& frameBuffer, cv::UMat& videoFrame){
 				//copy video frame
-				cvtColor(frameBuffer,videoFrame_,cv::COLOR_BGRA2RGB);
-				//downsample video frame for hog detection
-			});
+				cvtColor(frameBuffer,videoFrame,cv::COLOR_BGRA2RGB);
+				//downsample video frame for hog_ detection
+			}, videoFrame_);
 
 			window->parallel([](const cv::UMat& videoFrame, cv::UMat& videoFrameDown, cv::UMat& videoFrameDownGrey, cv::UMat& background){
 				cv::resize(videoFrame, videoFrameDown, cv::Size(DOWNSIZE_WIDTH, DOWNSIZE_HEIGHT));
@@ -173,7 +175,7 @@ public:
 		//Try to track the pedestrian (if we currently are tracking one), else re-detect using HOG descriptor
 		window->graph(doRedect, trackerInitialized_, redetect_);
 		{
-			window->parallel([](bool& redetect, cv::UMat& videoFrameDownGrey, std::vector<cv::Rect>& locations, vector<vector<double>>& boxes, vector<double>& probs, cv::Ptr<cv::TrackerKCF>& tracker, cv::Rect& tracked, bool& trackerInitialized){
+			window->parallel([](cv::HOGDescriptor& hog, bool& redetect, cv::UMat& videoFrameDownGrey, std::vector<cv::Rect>& locations, vector<vector<double>>& boxes, vector<double>& probs, cv::Ptr<cv::Tracker>& tracker, cv::Rect& tracked, bool& trackerInitialized){
 				redetect = false;
 				//Detect pedestrians
 				hog.detectMultiScale(videoFrameDownGrey, locations, 0, cv::Size(), cv::Size(), 1.15, 2.0, false);
@@ -203,12 +205,12 @@ public:
 						trackerInitialized = true;
 					}
 				}
-			}, redetect_, videoFrameDownGrey_, locations_, boxes_, probs_, tracker_, tracked_, trackerInitialized_);
+			}, hog_, redetect_, videoFrameDownGrey_, locations_, boxes_, probs_, tracker_, tracked_, trackerInitialized_);
 		}
 		window->endgraph(doRedect, trackerInitialized_, redetect_);
 		window->graph(dontRedect, trackerInitialized_, redetect_);
 		{
-			window->parallel([](bool& redetect, const cv::UMat& videoFrameDownGrey, cv::Ptr<cv::TrackerKCF>& tracker, cv::Rect& tracked){
+			window->parallel([](bool& redetect, cv::UMat& videoFrameDownGrey, cv::Ptr<cv::Tracker>& tracker, cv::Rect& tracked){
 				if(!tracker->update(videoFrameDownGrey, tracked)) {
 					//detection failed - re-detect
 					redetect = true;
@@ -269,7 +271,7 @@ int main(int argc, char **argv) {
     window->setSource(src);
 #endif
 
-    window->run<PedestrianDemoPlan>(0);
+    window->run<PedestrianDemoPlan>(2);
 
     return 0;
 }

modules/v4d/samples/render_opengl.cpp

@@ -15,7 +15,7 @@ int main() {
 				glClearColor(0.0f, 0.0f, 1.0f, 1.0f);
 			});
     	}
-    	void infere(Ptr<V4D> win) override {
+    	void infer(Ptr<V4D> win) override {
 			win->gl([]() {
 				//Clears the screen. The clear color and other GL-states are preserved between context-calls.
 				glClear(GL_COLOR_BUFFER_BIT);

modules/v4d/samples/shader-demo.cpp

@@ -276,7 +276,7 @@ void setup(cv::Ptr<V4D> window) override {
 	}, window->fbSize());
 }
 
-void infere(cv::Ptr<V4D> window) override {
+void infer(cv::Ptr<V4D> window) override {
 	window->capture(frame_);
 
 	window->gl([](const cv::Size &sz) {

modules/v4d/samples/vector_graphics.cpp

@@ -5,7 +5,7 @@ using namespace cv::v4d;
 
 	class VectorGraphicsPlan: public Plan {
 	public:
-		void infere(Ptr<V4D> win) override {
+		void infer(Ptr<V4D> win) override {
 			//Creates a NanoVG context and draws googly eyes that occasionally blink.
 			win->nvg([](const Size &sz) {
 				//Calls from this namespace may only be used inside a nvg context.

modules/v4d/samples/vector_graphics_and_fb.cpp

@@ -9,7 +9,7 @@ int main() {
 
     class VectorGraphicsAndFBPlan : public Plan {
     public:
-		void infere(Ptr<V4D> win) override {
+		void infer(Ptr<V4D> win) override {
 			//Again creates a NanoVG context and draws googly eyes
 			win->nvg([](const Size& sz) {
 				//Calls from this namespace may only be used inside a nvg context

modules/v4d/samples/video-demo.cpp

@@ -197,7 +197,7 @@ public:
 			init_scene();
 		});
 	}
-	void infere(cv::Ptr<V4D> window) override {
+	void infer(cv::Ptr<V4D> window) override {
 		window->capture(frame_);
 
 		window->gl([]() {

modules/v4d/samples/video_editing.cpp

@@ -14,7 +14,7 @@ int main(int argc, char** argv) {
     	cv::UMat frame_;
         const string hv_ = "Hello Video!";
     public:
-    	void infere(Ptr<V4D> win) override {
+    	void infer(Ptr<V4D> win) override {
     	    //Capture video from the source
     		win->capture();