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PyrLKOpticalFlow

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This commit is contained in:
Vladislav Vinogradov 2012-11-12 14:12:27 +04:00
parent 1b571bde10
commit 1f1e24be3c
2 changed files with 440 additions and 563 deletions
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968
modules/gpu/src/cuda/pyrlk.cu
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File diff suppressed because it is too large Load Diff

35
modules/gpu/src/pyrlk.cpp
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@ -55,21 +55,18 @@ void cv::gpu::PyrLKOpticalFlow::releaseMemory() {}
#else /* !defined (HAVE_CUDA) */ #else /* !defined (HAVE_CUDA) */
namespace cv { namespace gpu { namespace device namespace pyrlk
{ {
namespace pyrlk void loadConstants(int2 winSize, int iters);
{
void loadConstants(int2 winSize, int iters);
void lkSparse1_gpu(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, void sparse1(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
int level, dim3 block, dim3 patch, cudaStream_t stream = 0); int level, dim3 block, dim3 patch, cudaStream_t stream = 0);
void lkSparse4_gpu(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, void sparse4(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
int level, dim3 block, dim3 patch, cudaStream_t stream = 0); int level, dim3 block, dim3 patch, cudaStream_t stream = 0);
void lkDense_gpu(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV, void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV,
PtrStepSzf err, int2 winSize, cudaStream_t stream = 0); PtrStepSzf err, int2 winSize, cudaStream_t stream = 0);
} }
}}}
cv::gpu::PyrLKOpticalFlow::PyrLKOpticalFlow() cv::gpu::PyrLKOpticalFlow::PyrLKOpticalFlow()
{ {
@ -104,8 +101,6 @@ namespace
void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err) void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err)
{ {
using namespace cv::gpu::device::pyrlk;
if (prevPts.empty()) if (prevPts.empty())
{ {
nextPts.release(); nextPts.release();
@ -166,19 +161,19 @@ void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& next
pyrDown(nextPyr_[level - 1], nextPyr_[level]); pyrDown(nextPyr_[level - 1], nextPyr_[level]);
} }
loadConstants(make_int2(winSize.width, winSize.height), iters); pyrlk::loadConstants(make_int2(winSize.width, winSize.height), iters);
for (int level = maxLevel; level >= 0; level--) for (int level = maxLevel; level >= 0; level--)
{ {
if (cn == 1) if (cn == 1)
{ {
lkSparse1_gpu(prevPyr_[level], nextPyr_[level], pyrlk::sparse1(prevPyr_[level], nextPyr_[level],
prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols, prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
level, block, patch); level, block, patch);
} }
else else
{ {
lkSparse4_gpu(prevPyr_[level], nextPyr_[level], pyrlk::sparse4(prevPyr_[level], nextPyr_[level],
prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols, prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
level, block, patch); level, block, patch);
} }
@ -187,8 +182,6 @@ void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& next
void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err) void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err)
{ {
using namespace cv::gpu::device::pyrlk;
CV_Assert(prevImg.type() == CV_8UC1); CV_Assert(prevImg.type() == CV_8UC1);
CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type()); CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
CV_Assert(maxLevel >= 0); CV_Assert(maxLevel >= 0);
@ -219,7 +212,7 @@ void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextI
vPyr_[1].setTo(Scalar::all(0)); vPyr_[1].setTo(Scalar::all(0));
int2 winSize2i = make_int2(winSize.width, winSize.height); int2 winSize2i = make_int2(winSize.width, winSize.height);
loadConstants(winSize2i, iters); pyrlk::loadConstants(winSize2i, iters);
PtrStepSzf derr = err ? *err : PtrStepSzf(); PtrStepSzf derr = err ? *err : PtrStepSzf();
@ -229,7 +222,7 @@ void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextI
{ {
int idx2 = (idx + 1) & 1; int idx2 = (idx + 1) & 1;
lkDense_gpu(prevPyr_[level], nextPyr_[level], uPyr_[idx], vPyr_[idx], uPyr_[idx2], vPyr_[idx2], pyrlk::dense(prevPyr_[level], nextPyr_[level], uPyr_[idx], vPyr_[idx], uPyr_[idx2], vPyr_[idx2],
level == 0 ? derr : PtrStepSzf(), winSize2i); level == 0 ? derr : PtrStepSzf(), winSize2i);
if (level > 0) if (level > 0)