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244 lines
8.5 KiB
C++
244 lines
8.5 KiB
C++
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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 std;
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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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void cv::gpu::calcOpticalFlowBM(const GpuMat&, const GpuMat&, Size, Size, Size, bool, GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
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void cv::gpu::FastOpticalFlowBM::operator ()(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, int, int, Stream&) { throw_nogpu(); }
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#else // HAVE_CUDA
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namespace optflowbm
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{
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void calc(PtrStepSzb prev, PtrStepSzb curr, PtrStepSzf velx, PtrStepSzf vely, int2 blockSize, int2 shiftSize, bool usePrevious,
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int maxX, int maxY, int acceptLevel, int escapeLevel, const short2* ss, int ssCount, cudaStream_t stream);
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}
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void cv::gpu::calcOpticalFlowBM(const GpuMat& prev, const GpuMat& curr, Size blockSize, Size shiftSize, Size maxRange, bool usePrevious, GpuMat& velx, GpuMat& vely, GpuMat& buf, Stream& st)
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{
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CV_Assert( prev.type() == CV_8UC1 );
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CV_Assert( curr.size() == prev.size() && curr.type() == prev.type() );
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const Size velSize((prev.cols - blockSize.width + shiftSize.width) / shiftSize.width,
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(prev.rows - blockSize.height + shiftSize.height) / shiftSize.height);
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velx.create(velSize, CV_32FC1);
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vely.create(velSize, CV_32FC1);
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// scanning scheme coordinates
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vector<short2> ss((2 * maxRange.width + 1) * (2 * maxRange.height + 1));
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int ssCount = 0;
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// Calculate scanning scheme
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const int minCount = std::min(maxRange.width, maxRange.height);
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// use spiral search pattern
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//
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// 9 10 11 12
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// 8 1 2 13
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// 7 * 3 14
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// 6 5 4 15
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//... 20 19 18 17
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//
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for (int i = 0; i < minCount; ++i)
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{
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// four cycles along sides
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int x = -i - 1, y = x;
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// upper side
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for (int j = -i; j <= i + 1; ++j, ++ssCount)
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{
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ss[ssCount].x = ++x;
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ss[ssCount].y = y;
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}
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// right side
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for (int j = -i; j <= i + 1; ++j, ++ssCount)
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{
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ss[ssCount].x = x;
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ss[ssCount].y = ++y;
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}
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// bottom side
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for (int j = -i; j <= i + 1; ++j, ++ssCount)
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{
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ss[ssCount].x = --x;
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ss[ssCount].y = y;
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}
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// left side
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for (int j = -i; j <= i + 1; ++j, ++ssCount)
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{
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ss[ssCount].x = x;
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ss[ssCount].y = --y;
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}
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}
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// the rest part
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if (maxRange.width < maxRange.height)
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{
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const int xleft = -minCount;
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// cycle by neighbor rings
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for (int i = minCount; i < maxRange.height; ++i)
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{
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// two cycles by x
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int y = -(i + 1);
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int x = xleft;
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// upper side
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for (int j = -maxRange.width; j <= maxRange.width; ++j, ++ssCount, ++x)
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{
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ss[ssCount].x = x;
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ss[ssCount].y = y;
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}
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x = xleft;
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y = -y;
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// bottom side
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for (int j = -maxRange.width; j <= maxRange.width; ++j, ++ssCount, ++x)
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{
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ss[ssCount].x = x;
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ss[ssCount].y = y;
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}
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}
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}
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else if (maxRange.width > maxRange.height)
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{
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const int yupper = -minCount;
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// cycle by neighbor rings
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for (int i = minCount; i < maxRange.width; ++i)
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{
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// two cycles by y
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int x = -(i + 1);
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int y = yupper;
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// left side
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for (int j = -maxRange.height; j <= maxRange.height; ++j, ++ssCount, ++y)
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{
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ss[ssCount].x = x;
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ss[ssCount].y = y;
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}
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y = yupper;
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x = -x;
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// right side
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for (int j = -maxRange.height; j <= maxRange.height; ++j, ++ssCount, ++y)
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{
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ss[ssCount].x = x;
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ss[ssCount].y = y;
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}
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}
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}
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const cudaStream_t stream = StreamAccessor::getStream(st);
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ensureSizeIsEnough(1, ssCount, CV_16SC2, buf);
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if (stream == 0)
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cudaSafeCall( cudaMemcpy(buf.data, &ss[0], ssCount * sizeof(short2), cudaMemcpyHostToDevice) );
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else
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cudaSafeCall( cudaMemcpyAsync(buf.data, &ss[0], ssCount * sizeof(short2), cudaMemcpyHostToDevice, stream) );
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const int maxX = prev.cols - blockSize.width;
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const int maxY = prev.rows - blockSize.height;
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const int SMALL_DIFF = 2;
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const int BIG_DIFF = 128;
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const int blSize = blockSize.area();
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const int acceptLevel = blSize * SMALL_DIFF;
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const int escapeLevel = blSize * BIG_DIFF;
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optflowbm::calc(prev, curr, velx, vely,
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make_int2(blockSize.width, blockSize.height), make_int2(shiftSize.width, shiftSize.height), usePrevious,
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maxX, maxY, acceptLevel, escapeLevel, buf.ptr<short2>(), ssCount, stream);
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}
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namespace optflowbm_fast
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{
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void get_buffer_size(int src_cols, int src_rows, int search_window, int block_window, int& buffer_cols, int& buffer_rows);
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template <typename T>
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void calc(PtrStepSzb I0, PtrStepSzb I1, PtrStepSzf velx, PtrStepSzf vely, PtrStepi buffer, int search_window, int block_window, cudaStream_t stream);
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}
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void cv::gpu::FastOpticalFlowBM::operator ()(const GpuMat& I0, const GpuMat& I1, GpuMat& flowx, GpuMat& flowy, int search_window, int block_window, Stream& stream)
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{
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CV_Assert( I0.type() == CV_8UC1 );
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CV_Assert( I1.size() == I0.size() && I1.type() == I0.type() );
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int border_size = search_window / 2 + block_window / 2;
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Size esize = I0.size() + Size(border_size, border_size) * 2;
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ensureSizeIsEnough(esize, I0.type(), extended_I0);
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ensureSizeIsEnough(esize, I0.type(), extended_I1);
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copyMakeBorder(I0, extended_I0, border_size, border_size, border_size, border_size, cv::BORDER_DEFAULT, Scalar(), stream);
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copyMakeBorder(I1, extended_I1, border_size, border_size, border_size, border_size, cv::BORDER_DEFAULT, Scalar(), stream);
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GpuMat I0_hdr = extended_I0(Rect(Point2i(border_size, border_size), I0.size()));
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GpuMat I1_hdr = extended_I1(Rect(Point2i(border_size, border_size), I0.size()));
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int bcols, brows;
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optflowbm_fast::get_buffer_size(I0.cols, I0.rows, search_window, block_window, bcols, brows);
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ensureSizeIsEnough(brows, bcols, CV_32SC1, buffer);
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flowx.create(I0.size(), CV_32FC1);
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flowy.create(I0.size(), CV_32FC1);
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optflowbm_fast::calc<uchar>(I0_hdr, I1_hdr, flowx, flowy, buffer, search_window, block_window, StreamAccessor::getStream(stream));
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}
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#endif // HAVE_CUDA
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