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Added GPU version of PyrLK based global motion estimator (videostab)

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This commit is contained in:
Alexey Spizhevoy
2012-04-18 13:23:41 +00:00
parent 1351f4c8ef
commit 1569c1ed52
13 changed files with 600 additions and 95 deletions
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37
modules/videostab/include/opencv2/videostab/global_motion.hpp
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@@ -50,6 +50,10 @@
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/videostab/optical_flow.hpp"
#if HAVE_OPENCV_GPU
#include "opencv2/gpu/gpu.hpp"
#endif
namespace cv
{
namespace videostab
@@ -161,14 +165,43 @@ private:
Ptr<FeatureDetector> detector_;
Ptr<ISparseOptFlowEstimator> optFlowEstimator_;
RansacParams ransacParams_;
float minInlierRatio_;
Size gridSize_;
std::vector<uchar> status_;
std::vector<KeyPoint> keypointsPrev_;
std::vector<Point2f> pointsPrev_, points_;
std::vector<Point2f> pointsPrevGood_, pointsGood_;
float minInlierRatio_;
Size gridSize_;
};
#if HAVE_OPENCV_GPU
class CV_EXPORTS PyrLkRobustMotionEstimatorGpu : public GlobalMotionEstimatorBase
{
public:
PyrLkRobustMotionEstimatorGpu(MotionModel model = MM_AFFINE);
void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
RansacParams ransacParams() const { return ransacParams_; }
void setMinInlierRatio(float val) { minInlierRatio_ = val; }
float minInlierRatio() const { return minInlierRatio_; }
virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
Mat estimate(const gpu::GpuMat &frame0, const gpu::GpuMat &frame1, bool *ok = 0);
private:
gpu::GoodFeaturesToTrackDetector_GPU detector_;
SparsePyrLkOptFlowEstimatorGpu optFlowEstimator_;
RansacParams ransacParams_;
float minInlierRatio_;
gpu::GpuMat frame0_, grayFrame0_, frame1_;
gpu::GpuMat pointsPrev_, points_;
Mat hostPointsPrev_, hostPoints_;
gpu::GpuMat status_;
};
#endif
CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions);
} // namespace videostab

24
modules/videostab/include/opencv2/videostab/optical_flow.hpp
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@@ -47,7 +47,7 @@
#include "opencv2/opencv_modules.hpp"
#if HAVE_OPENCV_GPU
#include "opencv2/gpu/gpu.hpp"
#include "opencv2/gpu/gpu.hpp"
#endif
namespace cv
@@ -99,6 +99,27 @@ public:
};
#if HAVE_OPENCV_GPU
class CV_EXPORTS SparsePyrLkOptFlowEstimatorGpu
: public PyrLkOptFlowEstimatorBase, public ISparseOptFlowEstimator
{
public:
SparsePyrLkOptFlowEstimatorGpu();
virtual void run(
InputArray frame0, InputArray frame1, InputArray points0, InputOutputArray points1,
OutputArray status, OutputArray errors);
void run(const gpu::GpuMat &frame0, const gpu::GpuMat &frame1, const gpu::GpuMat &points0, gpu::GpuMat &points1,
gpu::GpuMat &status, gpu::GpuMat &errors);
void run(const gpu::GpuMat &frame0, const gpu::GpuMat &frame1, const gpu::GpuMat &points0, gpu::GpuMat &points1,
gpu::GpuMat &status);
private:
gpu::PyrLKOpticalFlow optFlowEstimator_;
gpu::GpuMat frame0_, frame1_, points0_, points1_, status_, errors_;
};
class CV_EXPORTS DensePyrLkOptFlowEstimatorGpu
: public PyrLkOptFlowEstimatorBase, public IDenseOptFlowEstimator
{
@@ -108,6 +129,7 @@ public:
virtual void run(
InputArray frame0, InputArray frame1, InputOutputArray flowX, InputOutputArray flowY,
OutputArray errors);
private:
gpu::PyrLKOpticalFlow optFlowEstimator_;
gpu::GpuMat frame0_, frame1_, flowX_, flowY_, errors_;