131 lines
5.4 KiB
C++
131 lines
5.4 KiB
C++
/*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::cuda;
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#if !defined (HAVE_CUDA) || !defined (HAVE_OPENCV_CUDALEGACY) || defined (CUDA_DISABLER)
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void cv::cuda::BroxOpticalFlow::operator ()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_no_cuda(); }
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#else
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namespace
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{
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size_t getBufSize(const NCVBroxOpticalFlowDescriptor& desc, const NCVMatrix<Ncv32f>& frame0, const NCVMatrix<Ncv32f>& frame1,
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NCVMatrix<Ncv32f>& u, NCVMatrix<Ncv32f>& v, const cudaDeviceProp& devProp)
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{
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NCVMemStackAllocator gpuCounter(static_cast<Ncv32u>(devProp.textureAlignment));
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ncvSafeCall( NCVBroxOpticalFlow(desc, gpuCounter, frame0, frame1, u, v, 0) );
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return gpuCounter.maxSize();
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}
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}
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namespace
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{
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static void outputHandler(const String &msg) { CV_Error(cv::Error::GpuApiCallError, msg.c_str()); }
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}
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void cv::cuda::BroxOpticalFlow::operator ()(const GpuMat& frame0, const GpuMat& frame1, GpuMat& u, GpuMat& v, Stream& s)
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{
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ncvSetDebugOutputHandler(outputHandler);
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CV_Assert(frame0.type() == CV_32FC1);
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CV_Assert(frame1.size() == frame0.size() && frame1.type() == frame0.type());
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u.create(frame0.size(), CV_32FC1);
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v.create(frame0.size(), CV_32FC1);
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cudaDeviceProp devProp;
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cudaSafeCall( cudaGetDeviceProperties(&devProp, getDevice()) );
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NCVBroxOpticalFlowDescriptor desc;
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desc.alpha = alpha;
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desc.gamma = gamma;
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desc.scale_factor = scale_factor;
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desc.number_of_inner_iterations = inner_iterations;
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desc.number_of_outer_iterations = outer_iterations;
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desc.number_of_solver_iterations = solver_iterations;
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NCVMemSegment frame0MemSeg;
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frame0MemSeg.begin.memtype = NCVMemoryTypeDevice;
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frame0MemSeg.begin.ptr = const_cast<uchar*>(frame0.data);
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frame0MemSeg.size = frame0.step * frame0.rows;
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NCVMemSegment frame1MemSeg;
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frame1MemSeg.begin.memtype = NCVMemoryTypeDevice;
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frame1MemSeg.begin.ptr = const_cast<uchar*>(frame1.data);
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frame1MemSeg.size = frame1.step * frame1.rows;
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NCVMemSegment uMemSeg;
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uMemSeg.begin.memtype = NCVMemoryTypeDevice;
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uMemSeg.begin.ptr = u.ptr();
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uMemSeg.size = u.step * u.rows;
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NCVMemSegment vMemSeg;
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vMemSeg.begin.memtype = NCVMemoryTypeDevice;
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vMemSeg.begin.ptr = v.ptr();
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vMemSeg.size = v.step * v.rows;
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NCVMatrixReuse<Ncv32f> frame0Mat(frame0MemSeg, static_cast<Ncv32u>(devProp.textureAlignment), frame0.cols, frame0.rows, static_cast<Ncv32u>(frame0.step));
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NCVMatrixReuse<Ncv32f> frame1Mat(frame1MemSeg, static_cast<Ncv32u>(devProp.textureAlignment), frame1.cols, frame1.rows, static_cast<Ncv32u>(frame1.step));
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NCVMatrixReuse<Ncv32f> uMat(uMemSeg, static_cast<Ncv32u>(devProp.textureAlignment), u.cols, u.rows, static_cast<Ncv32u>(u.step));
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NCVMatrixReuse<Ncv32f> vMat(vMemSeg, static_cast<Ncv32u>(devProp.textureAlignment), v.cols, v.rows, static_cast<Ncv32u>(v.step));
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cudaStream_t stream = StreamAccessor::getStream(s);
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size_t bufSize = getBufSize(desc, frame0Mat, frame1Mat, uMat, vMat, devProp);
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ensureSizeIsEnough(1, static_cast<int>(bufSize), CV_8UC1, buf);
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NCVMemStackAllocator gpuAllocator(NCVMemoryTypeDevice, bufSize, static_cast<Ncv32u>(devProp.textureAlignment), buf.ptr());
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ncvSafeCall( NCVBroxOpticalFlow(desc, gpuAllocator, frame0Mat, frame1Mat, uMat, vMat, stream) );
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}
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#endif /* HAVE_CUDA */
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