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added cuda support for chambolle parameter

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This commit is contained in:
Ernest Galbrun
2014-07-02 17:06:52 +02:00
parent afb9b9540c
commit b66a13183e
2 changed files with 64 additions and 34 deletions
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38
modules/cudaoptflow/src/tvl1flow.cpp
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@@ -64,6 +64,7 @@ cv::cuda::OpticalFlowDual_TVL1_CUDA::OpticalFlowDual_TVL1_CUDA()
epsilon = 0.01;
iterations = 300;
scaleStep = 0.8;
gamma = 0.0;
useInitialFlow = false;
}
@@ -80,6 +81,7 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::operator ()(const GpuMat& I0, const Gp
I1s.resize(nscales);
u1s.resize(nscales);
u2s.resize(nscales);
u3s.resize(nscales);
I0.convertTo(I0s[0], CV_32F, I0.depth() == CV_8U ? 1.0 : 255.0);
I1.convertTo(I1s[0], CV_32F, I1.depth() == CV_8U ? 1.0 : 255.0);
@@ -92,6 +94,7 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::operator ()(const GpuMat& I0, const Gp
u1s[0] = flowx;
u2s[0] = flowy;
u3s[0].create(I0.size(), CV_32FC1);
I1x_buf.create(I0.size(), CV_32FC1);
I1y_buf.create(I0.size(), CV_32FC1);
@@ -106,7 +109,9 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::operator ()(const GpuMat& I0, const Gp
p11_buf.create(I0.size(), CV_32FC1);
p12_buf.create(I0.size(), CV_32FC1);
p21_buf.create(I0.size(), CV_32FC1);
p22_buf.create(I0.size(), CV_32FC1);
p22_buf.create(I0.size(), CV_32FC1);
p31_buf.create(I0.size(), CV_32FC1);
p32_buf.create(I0.size(), CV_32FC1);
diff_buf.create(I0.size(), CV_32FC1);
@@ -134,7 +139,8 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::operator ()(const GpuMat& I0, const Gp
{
u1s[s].create(I0s[s].size(), CV_32FC1);
u2s[s].create(I0s[s].size(), CV_32FC1);
}
}
u3s[s].create(I0s[s].size(), CV_32FC1);
}
if (!useInitialFlow)
@@ -142,12 +148,13 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::operator ()(const GpuMat& I0, const Gp
u1s[nscales-1].setTo(Scalar::all(0));
u2s[nscales-1].setTo(Scalar::all(0));
}
u3s[nscales - 1].setTo(Scalar::all(0));
// pyramidal structure for computing the optical flow
for (int s = nscales - 1; s >= 0; --s)
{
// compute the optical flow at the current scale
procOneScale(I0s[s], I1s[s], u1s[s], u2s[s]);
procOneScale(I0s[s], I1s[s], u1s[s], u2s[s], u3s[s]);
// if this was the last scale, finish now
if (s == 0)
@@ -157,7 +164,8 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::operator ()(const GpuMat& I0, const Gp
// zoom the optical flow for the next finer scale
cuda::resize(u1s[s], u1s[s - 1], I0s[s - 1].size());
cuda::resize(u2s[s], u2s[s - 1], I0s[s - 1].size());
cuda::resize(u2s[s], u2s[s - 1], I0s[s - 1].size());
cuda::resize(u3s[s], u3s[s - 1], I0s[s - 1].size());
// scale the optical flow with the appropriate zoom factor
cuda::multiply(u1s[s - 1], Scalar::all(1/scaleStep), u1s[s - 1]);
@@ -171,13 +179,13 @@ namespace tvl1flow
void warpBackward(PtrStepSzf I0, PtrStepSzf I1, PtrStepSzf I1x, PtrStepSzf I1y, PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf I1w, PtrStepSzf I1wx, PtrStepSzf I1wy, PtrStepSzf grad, PtrStepSzf rho);
void estimateU(PtrStepSzf I1wx, PtrStepSzf I1wy,
PtrStepSzf grad, PtrStepSzf rho_c,
PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22,
PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf error,
float l_t, float theta, bool calcError);
void estimateDualVariables(PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22, float taut);
PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22, PtrStepSzf p31, PtrStepSzf p32,
PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf u3, PtrStepSzf error,
float l_t, float theta, float gamma, bool calcError);
void estimateDualVariables(PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf u3, PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22, PtrStepSzf p31, PtrStepSzf p32, float taut);
}
void cv::cuda::OpticalFlowDual_TVL1_CUDA::procOneScale(const GpuMat& I0, const GpuMat& I1, GpuMat& u1, GpuMat& u2)
void cv::cuda::OpticalFlowDual_TVL1_CUDA::procOneScale(const GpuMat& I0, const GpuMat& I1, GpuMat& u1, GpuMat& u2, GpuMat& u3)
{
using namespace tvl1flow;
@@ -202,11 +210,15 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::procOneScale(const GpuMat& I0, const G
GpuMat p11 = p11_buf(Rect(0, 0, I0.cols, I0.rows));
GpuMat p12 = p12_buf(Rect(0, 0, I0.cols, I0.rows));
GpuMat p21 = p21_buf(Rect(0, 0, I0.cols, I0.rows));
GpuMat p22 = p22_buf(Rect(0, 0, I0.cols, I0.rows));
GpuMat p22 = p22_buf(Rect(0, 0, I0.cols, I0.rows));
GpuMat p31 = p31_buf(Rect(0, 0, I0.cols, I0.rows));
GpuMat p32 = p32_buf(Rect(0, 0, I0.cols, I0.rows));
p11.setTo(Scalar::all(0));
p12.setTo(Scalar::all(0));
p21.setTo(Scalar::all(0));
p22.setTo(Scalar::all(0));
p22.setTo(Scalar::all(0));
p31.setTo(Scalar::all(0));
p32.setTo(Scalar::all(0));
GpuMat diff = diff_buf(Rect(0, 0, I0.cols, I0.rows));
@@ -224,7 +236,7 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::procOneScale(const GpuMat& I0, const G
// some tweaks to make sum operation less frequently
bool calcError = (epsilon > 0) && (n & 0x1) && (prevError < scaledEpsilon);
estimateU(I1wx, I1wy, grad, rho_c, p11, p12, p21, p22, u1, u2, diff, l_t, static_cast<float>(theta), calcError);
estimateU(I1wx, I1wy, grad, rho_c, p11, p12, p21, p22, p31, p32, u1, u2, u3, diff, l_t, gamma, static_cast<float>(theta), calcError);
if (calcError)
{
@@ -237,7 +249,7 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::procOneScale(const GpuMat& I0, const G
prevError -= scaledEpsilon;
}
estimateDualVariables(u1, u2, p11, p12, p21, p22, taut);
estimateDualVariables(u1, u2, u3, p11, p12, p21, p22, p31, p32, taut);
}
}
}