2012-02-16 19:26:17 +08:00
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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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2013-03-21 17:31:51 +08:00
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// and/or other materials provided with the distribution.
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2012-02-16 19:26:17 +08:00
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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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2013-03-21 17:31:51 +08:00
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// any express or implied warranties, including, but not limited to, the implied
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2012-02-16 19:26:17 +08:00
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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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#define MIN_SIZE 32
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#define S(x) StreamAccessor::getStream(x)
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// GPU resize() is fast, but it differs from the CPU analog. Disabling this flag
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// leads to an inefficient code. It's for debug purposes only.
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#define ENABLE_GPU_RESIZE 1
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using namespace cv;
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using namespace cv::gpu;
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2012-10-02 02:37:20 +08:00
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#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
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2012-02-16 19:26:17 +08:00
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void cv::gpu::FarnebackOpticalFlow::operator ()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
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#else
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2013-04-03 20:04:04 +08:00
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namespace cv { namespace gpu { namespace cuda { namespace optflow_farneback
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2012-02-16 19:26:17 +08:00
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{
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2012-02-16 19:32:32 +08:00
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void setPolynomialExpansionConsts(
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2012-02-16 19:26:17 +08:00
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int polyN, const float *g, const float *xg, const float *xxg,
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float ig11, float ig03, float ig33, float ig55);
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2012-08-23 21:45:50 +08:00
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void polynomialExpansionGpu(const PtrStepSzf &src, int polyN, PtrStepSzf dst, cudaStream_t stream);
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2012-02-16 19:26:17 +08:00
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void setUpdateMatricesConsts();
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void updateMatricesGpu(
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2012-08-23 21:45:50 +08:00
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const PtrStepSzf flowx, const PtrStepSzf flowy, const PtrStepSzf R0, const PtrStepSzf R1,
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PtrStepSzf M, cudaStream_t stream);
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2012-02-16 19:26:17 +08:00
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void updateFlowGpu(
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2012-08-23 21:45:50 +08:00
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const PtrStepSzf M, PtrStepSzf flowx, PtrStepSzf flowy, cudaStream_t stream);
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2012-02-16 19:26:17 +08:00
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2012-08-23 21:45:50 +08:00
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/*void boxFilterGpu(const PtrStepSzf src, int ksizeHalf, PtrStepSzf dst, cudaStream_t stream);*/
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2012-02-16 19:26:17 +08:00
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2012-08-23 21:45:50 +08:00
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void boxFilter5Gpu(const PtrStepSzf src, int ksizeHalf, PtrStepSzf dst, cudaStream_t stream);
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2012-02-16 19:26:17 +08:00
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2012-08-23 21:45:50 +08:00
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void boxFilter5Gpu_CC11(const PtrStepSzf src, int ksizeHalf, PtrStepSzf dst, cudaStream_t stream);
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2012-04-30 22:33:52 +08:00
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2012-02-16 19:26:17 +08:00
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void setGaussianBlurKernel(const float *gKer, int ksizeHalf);
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void gaussianBlurGpu(
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2012-08-23 21:45:50 +08:00
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const PtrStepSzf src, int ksizeHalf, PtrStepSzf dst, int borderType, cudaStream_t stream);
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2012-02-16 19:26:17 +08:00
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void gaussianBlur5Gpu(
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2012-08-23 21:45:50 +08:00
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const PtrStepSzf src, int ksizeHalf, PtrStepSzf dst, int borderType, cudaStream_t stream);
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2012-02-16 19:26:17 +08:00
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2012-04-30 22:33:52 +08:00
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void gaussianBlur5Gpu_CC11(
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2012-08-23 21:45:50 +08:00
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const PtrStepSzf src, int ksizeHalf, PtrStepSzf dst, int borderType, cudaStream_t stream);
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2012-04-30 22:33:52 +08:00
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2013-04-03 20:04:04 +08:00
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}}}} // namespace cv { namespace gpu { namespace cuda { namespace optflow_farneback
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2012-02-16 19:26:17 +08:00
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void cv::gpu::FarnebackOpticalFlow::prepareGaussian(
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int n, double sigma, float *g, float *xg, float *xxg,
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double &ig11, double &ig03, double &ig33, double &ig55)
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{
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double s = 0.;
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for (int x = -n; x <= n; x++)
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{
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g[x] = (float)std::exp(-x*x/(2*sigma*sigma));
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s += g[x];
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}
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s = 1./s;
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for (int x = -n; x <= n; x++)
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{
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g[x] = (float)(g[x]*s);
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xg[x] = (float)(x*g[x]);
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xxg[x] = (float)(x*x*g[x]);
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}
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Mat_<double> G(6, 6);
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G.setTo(0);
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for (int y = -n; y <= n; y++)
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{
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for (int x = -n; x <= n; x++)
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{
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G(0,0) += g[y]*g[x];
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G(1,1) += g[y]*g[x]*x*x;
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G(3,3) += g[y]*g[x]*x*x*x*x;
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G(5,5) += g[y]*g[x]*x*x*y*y;
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}
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}
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//G[0][0] = 1.;
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G(2,2) = G(0,3) = G(0,4) = G(3,0) = G(4,0) = G(1,1);
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G(4,4) = G(3,3);
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G(3,4) = G(4,3) = G(5,5);
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// invG:
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// [ x e e ]
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// [ y ]
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// [ y ]
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// [ e z ]
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// [ e z ]
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// [ u ]
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Mat_<double> invG = G.inv(DECOMP_CHOLESKY);
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ig11 = invG(1,1);
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ig03 = invG(0,3);
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ig33 = invG(3,3);
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ig55 = invG(5,5);
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}
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void cv::gpu::FarnebackOpticalFlow::setPolynomialExpansionConsts(int n, double sigma)
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{
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2013-02-25 00:14:01 +08:00
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std::vector<float> buf(n*6 + 3);
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2012-02-16 19:26:17 +08:00
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float* g = &buf[0] + n;
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float* xg = g + n*2 + 1;
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float* xxg = xg + n*2 + 1;
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if (sigma < FLT_EPSILON)
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sigma = n*0.3;
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double ig11, ig03, ig33, ig55;
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prepareGaussian(n, sigma, g, xg, xxg, ig11, ig03, ig33, ig55);
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::setPolynomialExpansionConsts(n, g, xg, xxg, static_cast<float>(ig11), static_cast<float>(ig03), static_cast<float>(ig33), static_cast<float>(ig55));
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2012-02-16 19:26:17 +08:00
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}
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void cv::gpu::FarnebackOpticalFlow::updateFlow_boxFilter(
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const GpuMat& R0, const GpuMat& R1, GpuMat& flowx, GpuMat &flowy,
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GpuMat& M, GpuMat &bufM, int blockSize, bool updateMatrices, Stream streams[])
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{
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2012-12-17 21:03:39 +08:00
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if (deviceSupports(FEATURE_SET_COMPUTE_12))
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::boxFilter5Gpu(M, blockSize/2, bufM, S(streams[0]));
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2012-04-30 22:33:52 +08:00
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else
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::boxFilter5Gpu_CC11(M, blockSize/2, bufM, S(streams[0]));
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2012-02-16 19:26:17 +08:00
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swap(M, bufM);
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for (int i = 1; i < 5; ++i)
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streams[i].waitForCompletion();
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::updateFlowGpu(M, flowx, flowy, S(streams[0]));
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2012-02-16 19:26:17 +08:00
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if (updateMatrices)
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::updateMatricesGpu(flowx, flowy, R0, R1, M, S(streams[0]));
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2012-02-16 19:26:17 +08:00
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}
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void cv::gpu::FarnebackOpticalFlow::updateFlow_gaussianBlur(
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const GpuMat& R0, const GpuMat& R1, GpuMat& flowx, GpuMat& flowy,
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GpuMat& M, GpuMat &bufM, int blockSize, bool updateMatrices, Stream streams[])
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{
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2012-12-17 21:03:39 +08:00
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if (deviceSupports(FEATURE_SET_COMPUTE_12))
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::gaussianBlur5Gpu(
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2012-04-30 22:33:52 +08:00
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M, blockSize/2, bufM, BORDER_REPLICATE_GPU, S(streams[0]));
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else
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::gaussianBlur5Gpu_CC11(
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2012-04-30 22:33:52 +08:00
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M, blockSize/2, bufM, BORDER_REPLICATE_GPU, S(streams[0]));
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2012-02-16 19:26:17 +08:00
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swap(M, bufM);
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::updateFlowGpu(M, flowx, flowy, S(streams[0]));
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2012-02-16 19:26:17 +08:00
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if (updateMatrices)
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::updateMatricesGpu(flowx, flowy, R0, R1, M, S(streams[0]));
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2012-02-16 19:26:17 +08:00
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}
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void cv::gpu::FarnebackOpticalFlow::operator ()(
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const GpuMat &frame0, const GpuMat &frame1, GpuMat &flowx, GpuMat &flowy, Stream &s)
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{
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2012-12-05 18:20:48 +08:00
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CV_Assert(frame0.channels() == 1 && frame1.channels() == 1);
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2012-02-16 19:26:17 +08:00
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CV_Assert(frame0.size() == frame1.size());
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CV_Assert(polyN == 5 || polyN == 7);
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CV_Assert(!fastPyramids || std::abs(pyrScale - 0.5) < 1e-6);
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Stream streams[5];
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if (S(s))
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streams[0] = s;
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Size size = frame0.size();
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GpuMat prevFlowX, prevFlowY, curFlowX, curFlowY;
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flowx.create(size, CV_32F);
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flowy.create(size, CV_32F);
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GpuMat flowx0 = flowx;
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GpuMat flowy0 = flowy;
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// Crop unnecessary levels
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double scale = 1;
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int numLevelsCropped = 0;
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for (; numLevelsCropped < numLevels; numLevelsCropped++)
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{
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scale *= pyrScale;
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if (size.width*scale < MIN_SIZE || size.height*scale < MIN_SIZE)
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break;
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}
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streams[0].enqueueConvert(frame0, frames_[0], CV_32F);
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streams[1].enqueueConvert(frame1, frames_[1], CV_32F);
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if (fastPyramids)
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{
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// Build Gaussian pyramids using pyrDown()
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pyramid0_.resize(numLevelsCropped + 1);
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pyramid1_.resize(numLevelsCropped + 1);
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pyramid0_[0] = frames_[0];
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pyramid1_[0] = frames_[1];
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for (int i = 1; i <= numLevelsCropped; ++i)
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{
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pyrDown(pyramid0_[i - 1], pyramid0_[i], streams[0]);
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pyrDown(pyramid1_[i - 1], pyramid1_[i], streams[1]);
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}
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}
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setPolynomialExpansionConsts(polyN, polySigma);
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2013-04-03 20:04:04 +08:00
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cuda::optflow_farneback::setUpdateMatricesConsts();
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2012-02-16 19:26:17 +08:00
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for (int k = numLevelsCropped; k >= 0; k--)
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{
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streams[0].waitForCompletion();
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scale = 1;
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for (int i = 0; i < k; i++)
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scale *= pyrScale;
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double sigma = (1./scale - 1) * 0.5;
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int smoothSize = cvRound(sigma*5) | 1;
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smoothSize = std::max(smoothSize, 3);
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int width = cvRound(size.width*scale);
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int height = cvRound(size.height*scale);
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if (fastPyramids)
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{
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width = pyramid0_[k].cols;
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height = pyramid0_[k].rows;
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}
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if (k > 0)
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{
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curFlowX.create(height, width, CV_32F);
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curFlowY.create(height, width, CV_32F);
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}
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else
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{
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curFlowX = flowx0;
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curFlowY = flowy0;
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}
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if (!prevFlowX.data)
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{
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if (flags & OPTFLOW_USE_INITIAL_FLOW)
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{
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#if ENABLE_GPU_RESIZE
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resize(flowx0, curFlowX, Size(width, height), 0, 0, INTER_LINEAR, streams[0]);
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resize(flowy0, curFlowY, Size(width, height), 0, 0, INTER_LINEAR, streams[1]);
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streams[0].enqueueConvert(curFlowX, curFlowX, curFlowX.depth(), scale);
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streams[1].enqueueConvert(curFlowY, curFlowY, curFlowY.depth(), scale);
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#else
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Mat tmp1, tmp2;
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flowx0.download(tmp1);
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resize(tmp1, tmp2, Size(width, height), 0, 0, INTER_AREA);
|
|
|
|
tmp2 *= scale;
|
|
|
|
curFlowX.upload(tmp2);
|
|
|
|
flowy0.download(tmp1);
|
|
|
|
resize(tmp1, tmp2, Size(width, height), 0, 0, INTER_AREA);
|
|
|
|
tmp2 *= scale;
|
|
|
|
curFlowY.upload(tmp2);
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
streams[0].enqueueMemSet(curFlowX, 0);
|
|
|
|
streams[1].enqueueMemSet(curFlowY, 0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
#if ENABLE_GPU_RESIZE
|
|
|
|
resize(prevFlowX, curFlowX, Size(width, height), 0, 0, INTER_LINEAR, streams[0]);
|
|
|
|
resize(prevFlowY, curFlowY, Size(width, height), 0, 0, INTER_LINEAR, streams[1]);
|
|
|
|
streams[0].enqueueConvert(curFlowX, curFlowX, curFlowX.depth(), 1./pyrScale);
|
|
|
|
streams[1].enqueueConvert(curFlowY, curFlowY, curFlowY.depth(), 1./pyrScale);
|
|
|
|
#else
|
|
|
|
Mat tmp1, tmp2;
|
|
|
|
prevFlowX.download(tmp1);
|
|
|
|
resize(tmp1, tmp2, Size(width, height), 0, 0, INTER_LINEAR);
|
|
|
|
tmp2 *= 1./pyrScale;
|
|
|
|
curFlowX.upload(tmp2);
|
|
|
|
prevFlowY.download(tmp1);
|
|
|
|
resize(tmp1, tmp2, Size(width, height), 0, 0, INTER_LINEAR);
|
|
|
|
tmp2 *= 1./pyrScale;
|
|
|
|
curFlowY.upload(tmp2);
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
|
|
|
GpuMat M = allocMatFromBuf(5*height, width, CV_32F, M_);
|
|
|
|
GpuMat bufM = allocMatFromBuf(5*height, width, CV_32F, bufM_);
|
|
|
|
GpuMat R[2] =
|
|
|
|
{
|
|
|
|
allocMatFromBuf(5*height, width, CV_32F, R_[0]),
|
|
|
|
allocMatFromBuf(5*height, width, CV_32F, R_[1])
|
|
|
|
};
|
|
|
|
|
|
|
|
if (fastPyramids)
|
|
|
|
{
|
2013-04-03 20:04:04 +08:00
|
|
|
cuda::optflow_farneback::polynomialExpansionGpu(pyramid0_[k], polyN, R[0], S(streams[0]));
|
|
|
|
cuda::optflow_farneback::polynomialExpansionGpu(pyramid1_[k], polyN, R[1], S(streams[1]));
|
2012-02-16 19:26:17 +08:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
2012-02-16 20:00:17 +08:00
|
|
|
GpuMat blurredFrame[2] =
|
2012-02-16 19:26:17 +08:00
|
|
|
{
|
2012-02-16 20:00:17 +08:00
|
|
|
allocMatFromBuf(size.height, size.width, CV_32F, blurredFrame_[0]),
|
|
|
|
allocMatFromBuf(size.height, size.width, CV_32F, blurredFrame_[1])
|
2012-02-16 19:26:17 +08:00
|
|
|
};
|
2012-02-16 20:00:17 +08:00
|
|
|
GpuMat pyrLevel[2] =
|
2012-02-16 19:26:17 +08:00
|
|
|
{
|
2012-02-16 20:00:17 +08:00
|
|
|
allocMatFromBuf(height, width, CV_32F, pyrLevel_[0]),
|
|
|
|
allocMatFromBuf(height, width, CV_32F, pyrLevel_[1])
|
2012-02-16 19:26:17 +08:00
|
|
|
};
|
|
|
|
|
|
|
|
Mat g = getGaussianKernel(smoothSize, sigma, CV_32F);
|
2013-04-03 20:04:04 +08:00
|
|
|
cuda::optflow_farneback::setGaussianBlurKernel(g.ptr<float>(smoothSize/2), smoothSize/2);
|
2012-02-16 19:26:17 +08:00
|
|
|
|
|
|
|
for (int i = 0; i < 2; i++)
|
|
|
|
{
|
2013-04-03 20:04:04 +08:00
|
|
|
cuda::optflow_farneback::gaussianBlurGpu(
|
2012-02-16 20:00:17 +08:00
|
|
|
frames_[i], smoothSize/2, blurredFrame[i], BORDER_REFLECT101_GPU, S(streams[i]));
|
2012-02-16 19:26:17 +08:00
|
|
|
#if ENABLE_GPU_RESIZE
|
2012-02-16 20:00:17 +08:00
|
|
|
resize(blurredFrame[i], pyrLevel[i], Size(width, height), INTER_LINEAR, streams[i]);
|
2012-02-16 19:26:17 +08:00
|
|
|
#else
|
|
|
|
Mat tmp1, tmp2;
|
|
|
|
tmp[i].download(tmp1);
|
|
|
|
resize(tmp1, tmp2, Size(width, height), INTER_LINEAR);
|
|
|
|
I[i].upload(tmp2);
|
|
|
|
#endif
|
2013-04-03 20:04:04 +08:00
|
|
|
cuda::optflow_farneback::polynomialExpansionGpu(pyrLevel[i], polyN, R[i], S(streams[i]));
|
2012-02-16 19:26:17 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
streams[1].waitForCompletion();
|
2013-04-03 20:04:04 +08:00
|
|
|
cuda::optflow_farneback::updateMatricesGpu(curFlowX, curFlowY, R[0], R[1], M, S(streams[0]));
|
2012-02-16 19:26:17 +08:00
|
|
|
|
|
|
|
if (flags & OPTFLOW_FARNEBACK_GAUSSIAN)
|
|
|
|
{
|
|
|
|
Mat g = getGaussianKernel(winSize, winSize/2*0.3f, CV_32F);
|
2013-04-03 20:04:04 +08:00
|
|
|
cuda::optflow_farneback::setGaussianBlurKernel(g.ptr<float>(winSize/2), winSize/2);
|
2012-02-16 19:26:17 +08:00
|
|
|
}
|
|
|
|
for (int i = 0; i < numIters; i++)
|
|
|
|
{
|
|
|
|
if (flags & OPTFLOW_FARNEBACK_GAUSSIAN)
|
|
|
|
updateFlow_gaussianBlur(R[0], R[1], curFlowX, curFlowY, M, bufM, winSize, i < numIters-1, streams);
|
|
|
|
else
|
|
|
|
updateFlow_boxFilter(R[0], R[1], curFlowX, curFlowY, M, bufM, winSize, i < numIters-1, streams);
|
|
|
|
}
|
|
|
|
|
|
|
|
prevFlowX = curFlowX;
|
|
|
|
prevFlowY = curFlowY;
|
|
|
|
}
|
|
|
|
|
|
|
|
flowx = curFlowX;
|
2012-10-17 15:12:04 +08:00
|
|
|
flowy = curFlowY;
|
2012-02-16 19:26:17 +08:00
|
|
|
|
|
|
|
if (!S(s))
|
|
|
|
streams[0].waitForCompletion();
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif
|