Revert "Merge pull request #836 from jet47:gpu-modules"
This reverts commitfba72cb60d, reversing changes made to02131ffb62.
This commit is contained in:
Andrey Kamaev
@@ -1,250 +0,0 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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using namespace cv;
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using namespace cv::gpu;
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#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
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cv::gpu::PyrLKOpticalFlow::PyrLKOpticalFlow() { throw_no_cuda(); }
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void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_no_cuda(); }
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void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_no_cuda(); }
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void cv::gpu::PyrLKOpticalFlow::releaseMemory() {}
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#else /* !defined (HAVE_CUDA) */
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namespace pyrlk
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{
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void loadConstants(int2 winSize, int iters);
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void sparse1(PtrStepSzf I, PtrStepSzf J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
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int level, dim3 block, dim3 patch, cudaStream_t stream = 0);
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void sparse4(PtrStepSz<float4> I, PtrStepSz<float4> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
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int level, dim3 block, dim3 patch, cudaStream_t stream = 0);
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void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV,
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PtrStepSzf err, int2 winSize, cudaStream_t stream = 0);
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}
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cv::gpu::PyrLKOpticalFlow::PyrLKOpticalFlow()
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{
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winSize = Size(21, 21);
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maxLevel = 3;
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iters = 30;
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useInitialFlow = false;
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}
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namespace
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{
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void calcPatchSize(cv::Size winSize, dim3& block, dim3& patch)
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{
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if (winSize.width > 32 && winSize.width > 2 * winSize.height)
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{
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block.x = deviceSupports(FEATURE_SET_COMPUTE_12) ? 32 : 16;
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block.y = 8;
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}
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else
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{
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block.x = 16;
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block.y = deviceSupports(FEATURE_SET_COMPUTE_12) ? 16 : 8;
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}
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patch.x = (winSize.width + block.x - 1) / block.x;
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patch.y = (winSize.height + block.y - 1) / block.y;
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block.z = patch.z = 1;
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}
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}
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void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err)
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{
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if (prevPts.empty())
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{
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nextPts.release();
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status.release();
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if (err) err->release();
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return;
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}
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dim3 block, patch;
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calcPatchSize(winSize, block, patch);
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CV_Assert(prevImg.channels() == 1 || prevImg.channels() == 3 || prevImg.channels() == 4);
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CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
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CV_Assert(maxLevel >= 0);
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CV_Assert(winSize.width > 2 && winSize.height > 2);
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CV_Assert(patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6);
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CV_Assert(prevPts.rows == 1 && prevPts.type() == CV_32FC2);
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if (useInitialFlow)
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CV_Assert(nextPts.size() == prevPts.size() && nextPts.type() == CV_32FC2);
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else
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ensureSizeIsEnough(1, prevPts.cols, prevPts.type(), nextPts);
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GpuMat temp1 = (useInitialFlow ? nextPts : prevPts).reshape(1);
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GpuMat temp2 = nextPts.reshape(1);
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gpu::multiply(temp1, Scalar::all(1.0 / (1 << maxLevel) / 2.0), temp2);
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ensureSizeIsEnough(1, prevPts.cols, CV_8UC1, status);
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status.setTo(Scalar::all(1));
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if (err)
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ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err);
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// build the image pyramids.
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prevPyr_.resize(maxLevel + 1);
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nextPyr_.resize(maxLevel + 1);
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int cn = prevImg.channels();
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if (cn == 1 || cn == 4)
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{
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prevImg.convertTo(prevPyr_[0], CV_32F);
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nextImg.convertTo(nextPyr_[0], CV_32F);
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}
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else
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{
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gpu::cvtColor(prevImg, buf_, COLOR_BGR2BGRA);
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buf_.convertTo(prevPyr_[0], CV_32F);
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gpu::cvtColor(nextImg, buf_, COLOR_BGR2BGRA);
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buf_.convertTo(nextPyr_[0], CV_32F);
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}
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for (int level = 1; level <= maxLevel; ++level)
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{
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gpu::pyrDown(prevPyr_[level - 1], prevPyr_[level]);
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gpu::pyrDown(nextPyr_[level - 1], nextPyr_[level]);
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}
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pyrlk::loadConstants(make_int2(winSize.width, winSize.height), iters);
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for (int level = maxLevel; level >= 0; level--)
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{
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if (cn == 1)
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{
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pyrlk::sparse1(prevPyr_[level], nextPyr_[level],
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prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
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level, block, patch);
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}
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else
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{
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pyrlk::sparse4(prevPyr_[level], nextPyr_[level],
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prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols,
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level, block, patch);
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}
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}
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}
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void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err)
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{
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CV_Assert(prevImg.type() == CV_8UC1);
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CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type());
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CV_Assert(maxLevel >= 0);
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CV_Assert(winSize.width > 2 && winSize.height > 2);
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if (err)
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err->create(prevImg.size(), CV_32FC1);
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// build the image pyramids.
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prevPyr_.resize(maxLevel + 1);
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nextPyr_.resize(maxLevel + 1);
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prevPyr_[0] = prevImg;
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nextImg.convertTo(nextPyr_[0], CV_32F);
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for (int level = 1; level <= maxLevel; ++level)
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{
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gpu::pyrDown(prevPyr_[level - 1], prevPyr_[level]);
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gpu::pyrDown(nextPyr_[level - 1], nextPyr_[level]);
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}
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ensureSizeIsEnough(prevImg.size(), CV_32FC1, uPyr_[0]);
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ensureSizeIsEnough(prevImg.size(), CV_32FC1, vPyr_[0]);
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ensureSizeIsEnough(prevImg.size(), CV_32FC1, uPyr_[1]);
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ensureSizeIsEnough(prevImg.size(), CV_32FC1, vPyr_[1]);
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uPyr_[0].setTo(Scalar::all(0));
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vPyr_[0].setTo(Scalar::all(0));
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uPyr_[1].setTo(Scalar::all(0));
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vPyr_[1].setTo(Scalar::all(0));
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int2 winSize2i = make_int2(winSize.width, winSize.height);
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pyrlk::loadConstants(winSize2i, iters);
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PtrStepSzf derr = err ? *err : PtrStepSzf();
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int idx = 0;
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for (int level = maxLevel; level >= 0; level--)
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{
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int idx2 = (idx + 1) & 1;
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pyrlk::dense(prevPyr_[level], nextPyr_[level], uPyr_[idx], vPyr_[idx], uPyr_[idx2], vPyr_[idx2],
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level == 0 ? derr : PtrStepSzf(), winSize2i);
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if (level > 0)
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idx = idx2;
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}
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uPyr_[idx].copyTo(u);
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vPyr_[idx].copyTo(v);
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}
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void cv::gpu::PyrLKOpticalFlow::releaseMemory()
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{
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prevPyr_.clear();
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nextPyr_.clear();
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buf_.release();
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uPyr_[0].release();
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vPyr_[0].release();
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uPyr_[1].release();
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vPyr_[1].release();
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}
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#endif /* !defined (HAVE_CUDA) */
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