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#include "precomp.hpp"

using namespace cv;
using namespace cv::cuda;

#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_CUDALEGACY) || defined (CUDA_DISABLER)

void cv::cuda::BroxOpticalFlow::operator ()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }

#else

namespace
{
    size_t getBufSize(const NCVBroxOpticalFlowDescriptor& desc, const NCVMatrix<Ncv32f>& frame0, const NCVMatrix<Ncv32f>& frame1,
                      NCVMatrix<Ncv32f>& u, NCVMatrix<Ncv32f>& v, const cudaDeviceProp& devProp)
    {
        NCVMemStackAllocator gpuCounter(static_cast<Ncv32u>(devProp.textureAlignment));

        ncvSafeCall( NCVBroxOpticalFlow(desc, gpuCounter, frame0, frame1, u, v, 0) );

        return gpuCounter.maxSize();
    }
}

namespace
{
    static void outputHandler(const String &msg) { CV_Error(cv::Error::GpuApiCallError, msg.c_str()); }
}

void cv::cuda::BroxOpticalFlow::operator ()(const GpuMat& frame0, const GpuMat& frame1, GpuMat& u, GpuMat& v, Stream& s)
{
    ncvSetDebugOutputHandler(outputHandler);

    CV_Assert(frame0.type() == CV_32FC1);
    CV_Assert(frame1.size() == frame0.size() && frame1.type() == frame0.type());

    u.create(frame0.size(), CV_32FC1);
    v.create(frame0.size(), CV_32FC1);

    cudaDeviceProp devProp;
    cudaSafeCall( cudaGetDeviceProperties(&devProp, getDevice()) );

    NCVBroxOpticalFlowDescriptor desc;

    desc.alpha = alpha;
    desc.gamma = gamma;
    desc.scale_factor = scale_factor;
    desc.number_of_inner_iterations = inner_iterations;
    desc.number_of_outer_iterations = outer_iterations;
    desc.number_of_solver_iterations = solver_iterations;

    NCVMemSegment frame0MemSeg;
    frame0MemSeg.begin.memtype = NCVMemoryTypeDevice;
    frame0MemSeg.begin.ptr = const_cast<uchar*>(frame0.data);
    frame0MemSeg.size = frame0.step * frame0.rows;

    NCVMemSegment frame1MemSeg;
    frame1MemSeg.begin.memtype = NCVMemoryTypeDevice;
    frame1MemSeg.begin.ptr = const_cast<uchar*>(frame1.data);
    frame1MemSeg.size = frame1.step * frame1.rows;

    NCVMemSegment uMemSeg;
    uMemSeg.begin.memtype = NCVMemoryTypeDevice;
    uMemSeg.begin.ptr = u.ptr();
    uMemSeg.size = u.step * u.rows;

    NCVMemSegment vMemSeg;
    vMemSeg.begin.memtype = NCVMemoryTypeDevice;
    vMemSeg.begin.ptr = v.ptr();
    vMemSeg.size = v.step * v.rows;

    NCVMatrixReuse<Ncv32f> frame0Mat(frame0MemSeg, static_cast<Ncv32u>(devProp.textureAlignment), frame0.cols, frame0.rows, static_cast<Ncv32u>(frame0.step));
    NCVMatrixReuse<Ncv32f> frame1Mat(frame1MemSeg, static_cast<Ncv32u>(devProp.textureAlignment), frame1.cols, frame1.rows, static_cast<Ncv32u>(frame1.step));
    NCVMatrixReuse<Ncv32f> uMat(uMemSeg, static_cast<Ncv32u>(devProp.textureAlignment), u.cols, u.rows, static_cast<Ncv32u>(u.step));
    NCVMatrixReuse<Ncv32f> vMat(vMemSeg, static_cast<Ncv32u>(devProp.textureAlignment), v.cols, v.rows, static_cast<Ncv32u>(v.step));

    cudaStream_t stream = StreamAccessor::getStream(s);

    size_t bufSize = getBufSize(desc, frame0Mat, frame1Mat, uMat, vMat, devProp);

    ensureSizeIsEnough(1, static_cast<int>(bufSize), CV_8UC1, buf);

    NCVMemStackAllocator gpuAllocator(NCVMemoryTypeDevice, bufSize, static_cast<Ncv32u>(devProp.textureAlignment), buf.ptr());

    ncvSafeCall( NCVBroxOpticalFlow(desc, gpuAllocator, frame0Mat, frame1Mat, uMat, vMat, stream) );
}

#endif /* HAVE_CUDA */