refactor cudaoptflow public API:
* use opaque algorithm interfaces * add stream support
This commit is contained in:
Vladislav Vinogradov
@@ -47,37 +47,54 @@ using namespace cv::cuda;
|
||||
|
||||
#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
|
||||
|
||||
cv::cuda::PyrLKOpticalFlow::PyrLKOpticalFlow() { throw_no_cuda(); }
|
||||
void cv::cuda::PyrLKOpticalFlow::sparse(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_no_cuda(); }
|
||||
void cv::cuda::PyrLKOpticalFlow::dense(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_no_cuda(); }
|
||||
void cv::cuda::PyrLKOpticalFlow::releaseMemory() {}
|
||||
Ptr<SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<SparsePyrLKOpticalFlow>(); }
|
||||
|
||||
Ptr<DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<SparsePyrLKOpticalFlow>(); }
|
||||
|
||||
#else /* !defined (HAVE_CUDA) */
|
||||
|
||||
namespace pyrlk
|
||||
{
|
||||
void loadConstants(int2 winSize, int iters);
|
||||
void loadConstants(int2 winSize, int iters, cudaStream_t stream);
|
||||
|
||||
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);
|
||||
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);
|
||||
|
||||
void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV,
|
||||
PtrStepSzf err, int2 winSize, cudaStream_t stream = 0);
|
||||
}
|
||||
|
||||
cv::cuda::PyrLKOpticalFlow::PyrLKOpticalFlow()
|
||||
{
|
||||
winSize = Size(21, 21);
|
||||
maxLevel = 3;
|
||||
iters = 30;
|
||||
useInitialFlow = false;
|
||||
PtrStepSzf err, int2 winSize, cudaStream_t stream);
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
void calcPatchSize(cv::Size winSize, dim3& block, dim3& patch)
|
||||
class PyrLKOpticalFlowBase
|
||||
{
|
||||
public:
|
||||
PyrLKOpticalFlowBase(Size winSize, int maxLevel, int iters, bool useInitialFlow);
|
||||
|
||||
void sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
|
||||
GpuMat& status, GpuMat* err, Stream& stream);
|
||||
|
||||
void dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, Stream& stream);
|
||||
|
||||
protected:
|
||||
Size winSize_;
|
||||
int maxLevel_;
|
||||
int iters_;
|
||||
bool useInitialFlow_;
|
||||
|
||||
private:
|
||||
std::vector<GpuMat> prevPyr_;
|
||||
std::vector<GpuMat> nextPyr_;
|
||||
};
|
||||
|
||||
PyrLKOpticalFlowBase::PyrLKOpticalFlowBase(Size winSize, int maxLevel, int iters, bool useInitialFlow) :
|
||||
winSize_(winSize), maxLevel_(maxLevel), iters_(iters), useInitialFlow_(useInitialFlow)
|
||||
{
|
||||
}
|
||||
|
||||
void calcPatchSize(Size winSize, dim3& block, dim3& patch)
|
||||
{
|
||||
if (winSize.width > 32 && winSize.width > 2 * winSize.height)
|
||||
{
|
||||
@@ -95,156 +112,239 @@ namespace
|
||||
|
||||
block.z = patch.z = 1;
|
||||
}
|
||||
}
|
||||
|
||||
void cv::cuda::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err)
|
||||
{
|
||||
if (prevPts.empty())
|
||||
void PyrLKOpticalFlowBase::sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err, Stream& stream)
|
||||
{
|
||||
nextPts.release();
|
||||
status.release();
|
||||
if (err) err->release();
|
||||
return;
|
||||
}
|
||||
|
||||
dim3 block, patch;
|
||||
calcPatchSize(winSize, block, patch);
|
||||
|
||||
CV_Assert(prevImg.channels() == 1 || prevImg.channels() == 3 || prevImg.channels() == 4);
|
||||
CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
|
||||
CV_Assert(maxLevel >= 0);
|
||||
CV_Assert(winSize.width > 2 && winSize.height > 2);
|
||||
CV_Assert(patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6);
|
||||
CV_Assert(prevPts.rows == 1 && prevPts.type() == CV_32FC2);
|
||||
|
||||
if (useInitialFlow)
|
||||
CV_Assert(nextPts.size() == prevPts.size() && nextPts.type() == CV_32FC2);
|
||||
else
|
||||
ensureSizeIsEnough(1, prevPts.cols, prevPts.type(), nextPts);
|
||||
|
||||
GpuMat temp1 = (useInitialFlow ? nextPts : prevPts).reshape(1);
|
||||
GpuMat temp2 = nextPts.reshape(1);
|
||||
cuda::multiply(temp1, Scalar::all(1.0 / (1 << maxLevel) / 2.0), temp2);
|
||||
|
||||
ensureSizeIsEnough(1, prevPts.cols, CV_8UC1, status);
|
||||
status.setTo(Scalar::all(1));
|
||||
|
||||
if (err)
|
||||
ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err);
|
||||
|
||||
// build the image pyramids.
|
||||
|
||||
prevPyr_.resize(maxLevel + 1);
|
||||
nextPyr_.resize(maxLevel + 1);
|
||||
|
||||
int cn = prevImg.channels();
|
||||
|
||||
if (cn == 1 || cn == 4)
|
||||
{
|
||||
prevImg.convertTo(prevPyr_[0], CV_32F);
|
||||
nextImg.convertTo(nextPyr_[0], CV_32F);
|
||||
}
|
||||
else
|
||||
{
|
||||
cuda::cvtColor(prevImg, buf_, COLOR_BGR2BGRA);
|
||||
buf_.convertTo(prevPyr_[0], CV_32F);
|
||||
|
||||
cuda::cvtColor(nextImg, buf_, COLOR_BGR2BGRA);
|
||||
buf_.convertTo(nextPyr_[0], CV_32F);
|
||||
}
|
||||
|
||||
for (int level = 1; level <= maxLevel; ++level)
|
||||
{
|
||||
cuda::pyrDown(prevPyr_[level - 1], prevPyr_[level]);
|
||||
cuda::pyrDown(nextPyr_[level - 1], nextPyr_[level]);
|
||||
}
|
||||
|
||||
pyrlk::loadConstants(make_int2(winSize.width, winSize.height), iters);
|
||||
|
||||
for (int level = maxLevel; level >= 0; level--)
|
||||
{
|
||||
if (cn == 1)
|
||||
if (prevPts.empty())
|
||||
{
|
||||
pyrlk::sparse1(prevPyr_[level], nextPyr_[level],
|
||||
prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
|
||||
level, block, patch);
|
||||
nextPts.release();
|
||||
status.release();
|
||||
if (err) err->release();
|
||||
return;
|
||||
}
|
||||
|
||||
dim3 block, patch;
|
||||
calcPatchSize(winSize_, block, patch);
|
||||
|
||||
CV_Assert( prevImg.channels() == 1 || prevImg.channels() == 3 || prevImg.channels() == 4 );
|
||||
CV_Assert( prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type() );
|
||||
CV_Assert( maxLevel_ >= 0 );
|
||||
CV_Assert( winSize_.width > 2 && winSize_.height > 2 );
|
||||
CV_Assert( patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6 );
|
||||
CV_Assert( prevPts.rows == 1 && prevPts.type() == CV_32FC2 );
|
||||
|
||||
if (useInitialFlow_)
|
||||
CV_Assert( nextPts.size() == prevPts.size() && nextPts.type() == prevPts.type() );
|
||||
else
|
||||
ensureSizeIsEnough(1, prevPts.cols, prevPts.type(), nextPts);
|
||||
|
||||
GpuMat temp1 = (useInitialFlow_ ? nextPts : prevPts).reshape(1);
|
||||
GpuMat temp2 = nextPts.reshape(1);
|
||||
cuda::multiply(temp1, Scalar::all(1.0 / (1 << maxLevel_) / 2.0), temp2, 1, -1, stream);
|
||||
|
||||
ensureSizeIsEnough(1, prevPts.cols, CV_8UC1, status);
|
||||
status.setTo(Scalar::all(1), stream);
|
||||
|
||||
if (err)
|
||||
ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err);
|
||||
|
||||
// build the image pyramids.
|
||||
|
||||
BufferPool pool(stream);
|
||||
|
||||
prevPyr_.resize(maxLevel_ + 1);
|
||||
nextPyr_.resize(maxLevel_ + 1);
|
||||
|
||||
int cn = prevImg.channels();
|
||||
|
||||
if (cn == 1 || cn == 4)
|
||||
{
|
||||
prevImg.convertTo(prevPyr_[0], CV_32F, stream);
|
||||
nextImg.convertTo(nextPyr_[0], CV_32F, stream);
|
||||
}
|
||||
else
|
||||
{
|
||||
pyrlk::sparse4(prevPyr_[level], nextPyr_[level],
|
||||
prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
|
||||
level, block, patch);
|
||||
GpuMat buf = pool.getBuffer(prevImg.size(), CV_MAKE_TYPE(prevImg.depth(), 4));
|
||||
|
||||
cuda::cvtColor(prevImg, buf, COLOR_BGR2BGRA, 0, stream);
|
||||
buf.convertTo(prevPyr_[0], CV_32F, stream);
|
||||
|
||||
cuda::cvtColor(nextImg, buf, COLOR_BGR2BGRA, 0, stream);
|
||||
buf.convertTo(nextPyr_[0], CV_32F, stream);
|
||||
}
|
||||
|
||||
for (int level = 1; level <= maxLevel_; ++level)
|
||||
{
|
||||
cuda::pyrDown(prevPyr_[level - 1], prevPyr_[level], stream);
|
||||
cuda::pyrDown(nextPyr_[level - 1], nextPyr_[level], stream);
|
||||
}
|
||||
|
||||
pyrlk::loadConstants(make_int2(winSize_.width, winSize_.height), iters_, StreamAccessor::getStream(stream));
|
||||
|
||||
for (int level = maxLevel_; level >= 0; level--)
|
||||
{
|
||||
if (cn == 1)
|
||||
{
|
||||
pyrlk::sparse1(prevPyr_[level], nextPyr_[level],
|
||||
prevPts.ptr<float2>(), nextPts.ptr<float2>(),
|
||||
status.ptr(),
|
||||
level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
|
||||
level, block, patch,
|
||||
StreamAccessor::getStream(stream));
|
||||
}
|
||||
else
|
||||
{
|
||||
pyrlk::sparse4(prevPyr_[level], nextPyr_[level],
|
||||
prevPts.ptr<float2>(), nextPts.ptr<float2>(),
|
||||
status.ptr(),
|
||||
level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
|
||||
level, block, patch,
|
||||
StreamAccessor::getStream(stream));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void cv::cuda::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err)
|
||||
{
|
||||
CV_Assert(prevImg.type() == CV_8UC1);
|
||||
CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
|
||||
CV_Assert(maxLevel >= 0);
|
||||
CV_Assert(winSize.width > 2 && winSize.height > 2);
|
||||
|
||||
if (err)
|
||||
err->create(prevImg.size(), CV_32FC1);
|
||||
|
||||
// build the image pyramids.
|
||||
|
||||
prevPyr_.resize(maxLevel + 1);
|
||||
nextPyr_.resize(maxLevel + 1);
|
||||
|
||||
prevPyr_[0] = prevImg;
|
||||
nextImg.convertTo(nextPyr_[0], CV_32F);
|
||||
|
||||
for (int level = 1; level <= maxLevel; ++level)
|
||||
void PyrLKOpticalFlowBase::dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, Stream& stream)
|
||||
{
|
||||
cuda::pyrDown(prevPyr_[level - 1], prevPyr_[level]);
|
||||
cuda::pyrDown(nextPyr_[level - 1], nextPyr_[level]);
|
||||
CV_Assert( prevImg.type() == CV_8UC1 );
|
||||
CV_Assert( prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type() );
|
||||
CV_Assert( maxLevel_ >= 0 );
|
||||
CV_Assert( winSize_.width > 2 && winSize_.height > 2 );
|
||||
|
||||
// build the image pyramids.
|
||||
|
||||
prevPyr_.resize(maxLevel_ + 1);
|
||||
nextPyr_.resize(maxLevel_ + 1);
|
||||
|
||||
prevPyr_[0] = prevImg;
|
||||
nextImg.convertTo(nextPyr_[0], CV_32F, stream);
|
||||
|
||||
for (int level = 1; level <= maxLevel_; ++level)
|
||||
{
|
||||
cuda::pyrDown(prevPyr_[level - 1], prevPyr_[level], stream);
|
||||
cuda::pyrDown(nextPyr_[level - 1], nextPyr_[level], stream);
|
||||
}
|
||||
|
||||
BufferPool pool(stream);
|
||||
|
||||
GpuMat uPyr[] = {
|
||||
pool.getBuffer(prevImg.size(), CV_32FC1),
|
||||
pool.getBuffer(prevImg.size(), CV_32FC1),
|
||||
};
|
||||
GpuMat vPyr[] = {
|
||||
pool.getBuffer(prevImg.size(), CV_32FC1),
|
||||
pool.getBuffer(prevImg.size(), CV_32FC1),
|
||||
};
|
||||
|
||||
uPyr[0].setTo(Scalar::all(0), stream);
|
||||
vPyr[0].setTo(Scalar::all(0), stream);
|
||||
uPyr[1].setTo(Scalar::all(0), stream);
|
||||
vPyr[1].setTo(Scalar::all(0), stream);
|
||||
|
||||
int2 winSize2i = make_int2(winSize_.width, winSize_.height);
|
||||
pyrlk::loadConstants(winSize2i, iters_, StreamAccessor::getStream(stream));
|
||||
|
||||
int idx = 0;
|
||||
|
||||
for (int level = maxLevel_; level >= 0; level--)
|
||||
{
|
||||
int idx2 = (idx + 1) & 1;
|
||||
|
||||
pyrlk::dense(prevPyr_[level], nextPyr_[level],
|
||||
uPyr[idx], vPyr[idx], uPyr[idx2], vPyr[idx2],
|
||||
PtrStepSzf(), winSize2i,
|
||||
StreamAccessor::getStream(stream));
|
||||
|
||||
if (level > 0)
|
||||
idx = idx2;
|
||||
}
|
||||
|
||||
uPyr[idx].copyTo(u, stream);
|
||||
vPyr[idx].copyTo(v, stream);
|
||||
}
|
||||
|
||||
ensureSizeIsEnough(prevImg.size(), CV_32FC1, uPyr_[0]);
|
||||
ensureSizeIsEnough(prevImg.size(), CV_32FC1, vPyr_[0]);
|
||||
ensureSizeIsEnough(prevImg.size(), CV_32FC1, uPyr_[1]);
|
||||
ensureSizeIsEnough(prevImg.size(), CV_32FC1, vPyr_[1]);
|
||||
uPyr_[0].setTo(Scalar::all(0));
|
||||
vPyr_[0].setTo(Scalar::all(0));
|
||||
uPyr_[1].setTo(Scalar::all(0));
|
||||
vPyr_[1].setTo(Scalar::all(0));
|
||||
|
||||
int2 winSize2i = make_int2(winSize.width, winSize.height);
|
||||
pyrlk::loadConstants(winSize2i, iters);
|
||||
|
||||
PtrStepSzf derr = err ? *err : PtrStepSzf();
|
||||
|
||||
int idx = 0;
|
||||
|
||||
for (int level = maxLevel; level >= 0; level--)
|
||||
class SparsePyrLKOpticalFlowImpl : public SparsePyrLKOpticalFlow, private PyrLKOpticalFlowBase
|
||||
{
|
||||
int idx2 = (idx + 1) & 1;
|
||||
public:
|
||||
SparsePyrLKOpticalFlowImpl(Size winSize, int maxLevel, int iters, bool useInitialFlow) :
|
||||
PyrLKOpticalFlowBase(winSize, maxLevel, iters, useInitialFlow)
|
||||
{
|
||||
}
|
||||
|
||||
pyrlk::dense(prevPyr_[level], nextPyr_[level], uPyr_[idx], vPyr_[idx], uPyr_[idx2], vPyr_[idx2],
|
||||
level == 0 ? derr : PtrStepSzf(), winSize2i);
|
||||
virtual Size getWinSize() const { return winSize_; }
|
||||
virtual void setWinSize(Size winSize) { winSize_ = winSize; }
|
||||
|
||||
if (level > 0)
|
||||
idx = idx2;
|
||||
}
|
||||
virtual int getMaxLevel() const { return maxLevel_; }
|
||||
virtual void setMaxLevel(int maxLevel) { maxLevel_ = maxLevel; }
|
||||
|
||||
uPyr_[idx].copyTo(u);
|
||||
vPyr_[idx].copyTo(v);
|
||||
virtual int getNumIters() const { return iters_; }
|
||||
virtual void setNumIters(int iters) { iters_ = iters; }
|
||||
|
||||
virtual bool getUseInitialFlow() const { return useInitialFlow_; }
|
||||
virtual void setUseInitialFlow(bool useInitialFlow) { useInitialFlow_ = useInitialFlow; }
|
||||
|
||||
virtual void calc(InputArray _prevImg, InputArray _nextImg,
|
||||
InputArray _prevPts, InputOutputArray _nextPts,
|
||||
OutputArray _status,
|
||||
OutputArray _err,
|
||||
Stream& stream)
|
||||
{
|
||||
const GpuMat prevImg = _prevImg.getGpuMat();
|
||||
const GpuMat nextImg = _nextImg.getGpuMat();
|
||||
const GpuMat prevPts = _prevPts.getGpuMat();
|
||||
GpuMat& nextPts = _nextPts.getGpuMatRef();
|
||||
GpuMat& status = _status.getGpuMatRef();
|
||||
GpuMat* err = _err.needed() ? &(_err.getGpuMatRef()) : NULL;
|
||||
|
||||
sparse(prevImg, nextImg, prevPts, nextPts, status, err, stream);
|
||||
}
|
||||
};
|
||||
|
||||
class DensePyrLKOpticalFlowImpl : public DensePyrLKOpticalFlow, private PyrLKOpticalFlowBase
|
||||
{
|
||||
public:
|
||||
DensePyrLKOpticalFlowImpl(Size winSize, int maxLevel, int iters, bool useInitialFlow) :
|
||||
PyrLKOpticalFlowBase(winSize, maxLevel, iters, useInitialFlow)
|
||||
{
|
||||
}
|
||||
|
||||
virtual Size getWinSize() const { return winSize_; }
|
||||
virtual void setWinSize(Size winSize) { winSize_ = winSize; }
|
||||
|
||||
virtual int getMaxLevel() const { return maxLevel_; }
|
||||
virtual void setMaxLevel(int maxLevel) { maxLevel_ = maxLevel; }
|
||||
|
||||
virtual int getNumIters() const { return iters_; }
|
||||
virtual void setNumIters(int iters) { iters_ = iters; }
|
||||
|
||||
virtual bool getUseInitialFlow() const { return useInitialFlow_; }
|
||||
virtual void setUseInitialFlow(bool useInitialFlow) { useInitialFlow_ = useInitialFlow; }
|
||||
|
||||
virtual void calc(InputArray _prevImg, InputArray _nextImg, InputOutputArray _flow, Stream& stream)
|
||||
{
|
||||
const GpuMat prevImg = _prevImg.getGpuMat();
|
||||
const GpuMat nextImg = _nextImg.getGpuMat();
|
||||
|
||||
BufferPool pool(stream);
|
||||
GpuMat u = pool.getBuffer(prevImg.size(), CV_32FC1);
|
||||
GpuMat v = pool.getBuffer(prevImg.size(), CV_32FC1);
|
||||
|
||||
dense(prevImg, nextImg, u, v, stream);
|
||||
|
||||
GpuMat flows[] = {u, v};
|
||||
cuda::merge(flows, 2, _flow, stream);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
void cv::cuda::PyrLKOpticalFlow::releaseMemory()
|
||||
Ptr<SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
|
||||
{
|
||||
prevPyr_.clear();
|
||||
nextPyr_.clear();
|
||||
return makePtr<SparsePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow);
|
||||
}
|
||||
|
||||
buf_.release();
|
||||
|
||||
uPyr_[0].release();
|
||||
vPyr_[0].release();
|
||||
|
||||
uPyr_[1].release();
|
||||
vPyr_[1].release();
|
||||
Ptr<DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
|
||||
{
|
||||
return makePtr<DensePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow);
|
||||
}
|
||||
|
||||
#endif /* !defined (HAVE_CUDA) */
|
||||
|
||||
Reference in New Issue
Block a user