diff --git a/samples/gpu/CMakeLists.txt b/samples/gpu/CMakeLists.txt index 6aa6b87afa..96fe897af3 100644 --- a/samples/gpu/CMakeLists.txt +++ b/samples/gpu/CMakeLists.txt @@ -21,7 +21,6 @@ set(OPENCV_CUDA_SAMPLES_REQUIRED_DEPS opencv_cudaoptflow opencv_cudabgsegm opencv_cudastereo - opencv_cudalegacy opencv_cudaobjdetect) ocv_check_dependencies(${OPENCV_CUDA_SAMPLES_REQUIRED_DEPS}) diff --git a/samples/gpu/bgfg_segm.cpp b/samples/gpu/bgfg_segm.cpp index b7d9d7e9ae..a3c56f8b88 100644 --- a/samples/gpu/bgfg_segm.cpp +++ b/samples/gpu/bgfg_segm.cpp @@ -4,7 +4,6 @@ #include "opencv2/core.hpp" #include "opencv2/core/utility.hpp" #include "opencv2/cudabgsegm.hpp" -#include "opencv2/cudalegacy.hpp" #include "opencv2/video.hpp" #include "opencv2/highgui.hpp" @@ -16,8 +15,6 @@ enum Method { MOG, MOG2, - GMG, - FGD_STAT }; int main(int argc, const char** argv) @@ -25,7 +22,7 @@ int main(int argc, const char** argv) cv::CommandLineParser cmd(argc, argv, "{ c camera | | use camera }" "{ f file | ../data/vtest.avi | input video file }" - "{ m method | mog | method (mog, mog2, gmg, fgd) }" + "{ m method | mog | method (mog, mog2) }" "{ h help | | print help message }"); if (cmd.has("help") || !cmd.check()) @@ -40,9 +37,7 @@ int main(int argc, const char** argv) string method = cmd.get("method"); if (method != "mog" - && method != "mog2" - && method != "gmg" - && method != "fgd") + && method != "mog2") { cerr << "Incorrect method" << endl; return -1; @@ -50,8 +45,8 @@ int main(int argc, const char** argv) Method m = method == "mog" ? MOG : method == "mog2" ? MOG2 : - method == "fgd" ? FGD_STAT : - GMG; + (Method)-1; + CV_Assert(m != (Method)-1); VideoCapture cap; @@ -73,8 +68,6 @@ int main(int argc, const char** argv) Ptr mog = cuda::createBackgroundSubtractorMOG(); Ptr mog2 = cuda::createBackgroundSubtractorMOG2(); - Ptr gmg = cuda::createBackgroundSubtractorGMG(40); - Ptr fgd = cuda::createBackgroundSubtractorFGD(); GpuMat d_fgmask; GpuMat d_fgimg; @@ -93,23 +86,12 @@ int main(int argc, const char** argv) case MOG2: mog2->apply(d_frame, d_fgmask); break; - - case GMG: - gmg->apply(d_frame, d_fgmask); - break; - - case FGD_STAT: - fgd->apply(d_frame, d_fgmask); - break; } namedWindow("image", WINDOW_NORMAL); namedWindow("foreground mask", WINDOW_NORMAL); namedWindow("foreground image", WINDOW_NORMAL); - if (m != GMG) - { - namedWindow("mean background image", WINDOW_NORMAL); - } + namedWindow("mean background image", WINDOW_NORMAL); for(;;) { @@ -132,15 +114,6 @@ int main(int argc, const char** argv) mog2->apply(d_frame, d_fgmask); mog2->getBackgroundImage(d_bgimg); break; - - case GMG: - gmg->apply(d_frame, d_fgmask); - break; - - case FGD_STAT: - fgd->apply(d_frame, d_fgmask); - fgd->getBackgroundImage(d_bgimg); - break; } double fps = cv::getTickFrequency() / (cv::getTickCount() - start); diff --git a/samples/gpu/cascadeclassifier_nvidia_api.cpp b/samples/gpu/cascadeclassifier_nvidia_api.cpp deleted file mode 100644 index c932411eda..0000000000 --- a/samples/gpu/cascadeclassifier_nvidia_api.cpp +++ /dev/null @@ -1,388 +0,0 @@ -#if defined _MSC_VER && _MSC_VER >= 1400 -#pragma warning( disable : 4201 4408 4127 4100) -#endif - -#include -#include -#include -#include "opencv2/core/cuda.hpp" -#include "opencv2/cudalegacy.hpp" -#include "opencv2/highgui.hpp" -#include "opencv2/imgproc.hpp" -#include "opencv2/objdetect.hpp" -#include "opencv2/objdetect/objdetect_c.h" - -using namespace std; -using namespace cv; - - -#if !defined(HAVE_CUDA) || defined(__arm__) - -int main( int, const char** ) -{ -#if !defined(HAVE_CUDA) - std::cout << "CUDA support is required (CMake key 'WITH_CUDA' must be true)." << std::endl; -#endif - -#if defined(__arm__) - std::cout << "Unsupported for ARM CUDA library." << std::endl; -#endif - - return 0; -} - -#else - - -const Size2i preferredVideoFrameSize(640, 480); -const cv::String wndTitle = "NVIDIA Computer Vision :: Haar Classifiers Cascade"; - - -static void matPrint(Mat &img, int lineOffsY, Scalar fontColor, const string &ss) -{ - int fontFace = FONT_HERSHEY_DUPLEX; - double fontScale = 0.8; - int fontThickness = 2; - Size fontSize = cv::getTextSize("T[]", fontFace, fontScale, fontThickness, 0); - - Point org; - org.x = 1; - org.y = 3 * fontSize.height * (lineOffsY + 1) / 2; - putText(img, ss, org, fontFace, fontScale, Scalar(0,0,0), 5*fontThickness/2, 16); - putText(img, ss, org, fontFace, fontScale, fontColor, fontThickness, 16); -} - - -static void displayState(Mat &canvas, bool bHelp, bool bGpu, bool bLargestFace, bool bFilter, double fps) -{ - Scalar fontColorRed(0,0,255); - Scalar fontColorNV(0,185,118); - - ostringstream ss; - ss << "FPS = " << setprecision(1) << fixed << fps; - matPrint(canvas, 0, fontColorRed, ss.str()); - ss.str(""); - ss << "[" << canvas.cols << "x" << canvas.rows << "], " << - (bGpu ? "GPU, " : "CPU, ") << - (bLargestFace ? "OneFace, " : "MultiFace, ") << - (bFilter ? "Filter:ON" : "Filter:OFF"); - matPrint(canvas, 1, fontColorRed, ss.str()); - - if (bHelp) - { - matPrint(canvas, 2, fontColorNV, "Space - switch GPU / CPU"); - matPrint(canvas, 3, fontColorNV, "M - switch OneFace / MultiFace"); - matPrint(canvas, 4, fontColorNV, "F - toggle rectangles Filter"); - matPrint(canvas, 5, fontColorNV, "H - toggle hotkeys help"); - } - else - { - matPrint(canvas, 2, fontColorNV, "H - toggle hotkeys help"); - } -} - - -static NCVStatus process(Mat *srcdst, - Ncv32u width, Ncv32u height, - NcvBool bFilterRects, NcvBool bLargestFace, - HaarClassifierCascadeDescriptor &haar, - NCVVector &d_haarStages, NCVVector &d_haarNodes, - NCVVector &d_haarFeatures, NCVVector &h_haarStages, - INCVMemAllocator &gpuAllocator, - INCVMemAllocator &cpuAllocator, - cudaDeviceProp &devProp) -{ - ncvAssertReturn(!((srcdst == NULL) ^ gpuAllocator.isCounting()), NCV_NULL_PTR); - - NCVStatus ncvStat; - - NCV_SET_SKIP_COND(gpuAllocator.isCounting()); - - NCVMatrixAlloc d_src(gpuAllocator, width, height); - ncvAssertReturn(d_src.isMemAllocated(), NCV_ALLOCATOR_BAD_ALLOC); - NCVMatrixAlloc h_src(cpuAllocator, width, height); - ncvAssertReturn(h_src.isMemAllocated(), NCV_ALLOCATOR_BAD_ALLOC); - NCVVectorAlloc d_rects(gpuAllocator, 100); - ncvAssertReturn(d_rects.isMemAllocated(), NCV_ALLOCATOR_BAD_ALLOC); - - NCV_SKIP_COND_BEGIN - - for (Ncv32u i=0; i<(Ncv32u)srcdst->rows; i++) - { - memcpy(h_src.ptr() + i * h_src.stride(), srcdst->ptr(i), srcdst->cols); - } - - ncvStat = h_src.copySolid(d_src, 0); - ncvAssertReturnNcvStat(ncvStat); - ncvAssertCUDAReturn(cudaStreamSynchronize(0), NCV_CUDA_ERROR); - - NCV_SKIP_COND_END - - NcvSize32u roi; - roi.width = d_src.width(); - roi.height = d_src.height(); - - Ncv32u numDetections; - ncvStat = ncvDetectObjectsMultiScale_device( - d_src, roi, d_rects, numDetections, haar, h_haarStages, - d_haarStages, d_haarNodes, d_haarFeatures, - haar.ClassifierSize, - (bFilterRects || bLargestFace) ? 4 : 0, - 1.2f, 1, - (bLargestFace ? NCVPipeObjDet_FindLargestObject : 0) - | NCVPipeObjDet_VisualizeInPlace, - gpuAllocator, cpuAllocator, devProp, 0); - ncvAssertReturnNcvStat(ncvStat); - ncvAssertCUDAReturn(cudaStreamSynchronize(0), NCV_CUDA_ERROR); - - NCV_SKIP_COND_BEGIN - - ncvStat = d_src.copySolid(h_src, 0); - ncvAssertReturnNcvStat(ncvStat); - ncvAssertCUDAReturn(cudaStreamSynchronize(0), NCV_CUDA_ERROR); - - for (Ncv32u i=0; i<(Ncv32u)srcdst->rows; i++) - { - memcpy(srcdst->ptr(i), h_src.ptr() + i * h_src.stride(), srcdst->cols); - } - - NCV_SKIP_COND_END - - return NCV_SUCCESS; -} - - -int main(int argc, const char** argv) -{ - cout << "OpenCV / NVIDIA Computer Vision" << endl; - cout << "Face Detection in video and live feed" << endl; - cout << "Syntax: exename " << endl; - cout << "=========================================" << endl; - - ncvAssertPrintReturn(cv::cuda::getCudaEnabledDeviceCount() != 0, "No GPU found or the library is compiled without CUDA support", -1); - ncvAssertPrintReturn(argc == 3, "Invalid number of arguments", -1); - - cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice()); - - string cascadeName = argv[1]; - string inputName = argv[2]; - - NCVStatus ncvStat; - NcvBool bQuit = false; - VideoCapture capture; - Size2i frameSize; - - //open content source - Mat image = imread(inputName); - Mat frame; - if (!image.empty()) - { - frameSize.width = image.cols; - frameSize.height = image.rows; - } - else - { - if (!capture.open(inputName)) - { - int camid = -1; - - istringstream ss(inputName); - int x = 0; - ss >> x; - - ncvAssertPrintReturn(capture.open(camid) != 0, "Can't open source", -1); - } - - capture >> frame; - ncvAssertPrintReturn(!frame.empty(), "Empty video source", -1); - - frameSize.width = frame.cols; - frameSize.height = frame.rows; - } - - NcvBool bUseGPU = true; - NcvBool bLargestObject = false; - NcvBool bFilterRects = true; - NcvBool bHelpScreen = false; - - CascadeClassifier classifierOpenCV; - ncvAssertPrintReturn(classifierOpenCV.load(cascadeName) != 0, "Error (in OpenCV) opening classifier", -1); - - int devId; - ncvAssertCUDAReturn(cudaGetDevice(&devId), -1); - cudaDeviceProp devProp; - ncvAssertCUDAReturn(cudaGetDeviceProperties(&devProp, devId), -1); - cout << "Using GPU: " << devId << "(" << devProp.name << - "), arch=" << devProp.major << "." << devProp.minor << endl; - - //============================================================================== - // - // Load the classifier from file (assuming its size is about 1 mb) - // using a simple allocator - // - //============================================================================== - - NCVMemNativeAllocator gpuCascadeAllocator(NCVMemoryTypeDevice, static_cast(devProp.textureAlignment)); - ncvAssertPrintReturn(gpuCascadeAllocator.isInitialized(), "Error creating cascade GPU allocator", -1); - NCVMemNativeAllocator cpuCascadeAllocator(NCVMemoryTypeHostPinned, static_cast(devProp.textureAlignment)); - ncvAssertPrintReturn(cpuCascadeAllocator.isInitialized(), "Error creating cascade CPU allocator", -1); - - Ncv32u haarNumStages, haarNumNodes, haarNumFeatures; - ncvStat = ncvHaarGetClassifierSize(cascadeName, haarNumStages, haarNumNodes, haarNumFeatures); - ncvAssertPrintReturn(ncvStat == NCV_SUCCESS, "Error reading classifier size (check the file)", -1); - - NCVVectorAlloc h_haarStages(cpuCascadeAllocator, haarNumStages); - ncvAssertPrintReturn(h_haarStages.isMemAllocated(), "Error in cascade CPU allocator", -1); - NCVVectorAlloc h_haarNodes(cpuCascadeAllocator, haarNumNodes); - ncvAssertPrintReturn(h_haarNodes.isMemAllocated(), "Error in cascade CPU allocator", -1); - NCVVectorAlloc h_haarFeatures(cpuCascadeAllocator, haarNumFeatures); - - ncvAssertPrintReturn(h_haarFeatures.isMemAllocated(), "Error in cascade CPU allocator", -1); - - HaarClassifierCascadeDescriptor haar; - ncvStat = ncvHaarLoadFromFile_host(cascadeName, haar, h_haarStages, h_haarNodes, h_haarFeatures); - ncvAssertPrintReturn(ncvStat == NCV_SUCCESS, "Error loading classifier", -1); - - NCVVectorAlloc d_haarStages(gpuCascadeAllocator, haarNumStages); - ncvAssertPrintReturn(d_haarStages.isMemAllocated(), "Error in cascade GPU allocator", -1); - NCVVectorAlloc d_haarNodes(gpuCascadeAllocator, haarNumNodes); - ncvAssertPrintReturn(d_haarNodes.isMemAllocated(), "Error in cascade GPU allocator", -1); - NCVVectorAlloc d_haarFeatures(gpuCascadeAllocator, haarNumFeatures); - ncvAssertPrintReturn(d_haarFeatures.isMemAllocated(), "Error in cascade GPU allocator", -1); - - ncvStat = h_haarStages.copySolid(d_haarStages, 0); - ncvAssertPrintReturn(ncvStat == NCV_SUCCESS, "Error copying cascade to GPU", -1); - ncvStat = h_haarNodes.copySolid(d_haarNodes, 0); - ncvAssertPrintReturn(ncvStat == NCV_SUCCESS, "Error copying cascade to GPU", -1); - ncvStat = h_haarFeatures.copySolid(d_haarFeatures, 0); - ncvAssertPrintReturn(ncvStat == NCV_SUCCESS, "Error copying cascade to GPU", -1); - - //============================================================================== - // - // Calculate memory requirements and create real allocators - // - //============================================================================== - - NCVMemStackAllocator gpuCounter(static_cast(devProp.textureAlignment)); - ncvAssertPrintReturn(gpuCounter.isInitialized(), "Error creating GPU memory counter", -1); - NCVMemStackAllocator cpuCounter(static_cast(devProp.textureAlignment)); - ncvAssertPrintReturn(cpuCounter.isInitialized(), "Error creating CPU memory counter", -1); - - ncvStat = process(NULL, frameSize.width, frameSize.height, - false, false, haar, - d_haarStages, d_haarNodes, - d_haarFeatures, h_haarStages, - gpuCounter, cpuCounter, devProp); - ncvAssertPrintReturn(ncvStat == NCV_SUCCESS, "Error in memory counting pass", -1); - - NCVMemStackAllocator gpuAllocator(NCVMemoryTypeDevice, gpuCounter.maxSize(), static_cast(devProp.textureAlignment)); - ncvAssertPrintReturn(gpuAllocator.isInitialized(), "Error creating GPU memory allocator", -1); - NCVMemStackAllocator cpuAllocator(NCVMemoryTypeHostPinned, cpuCounter.maxSize(), static_cast(devProp.textureAlignment)); - ncvAssertPrintReturn(cpuAllocator.isInitialized(), "Error creating CPU memory allocator", -1); - - printf("Initialized for frame size [%dx%d]\n", frameSize.width, frameSize.height); - - //============================================================================== - // - // Main processing loop - // - //============================================================================== - - namedWindow(wndTitle, 1); - Mat frameDisp; - - do - { - Mat gray; - cvtColor((image.empty() ? frame : image), gray, cv::COLOR_BGR2GRAY); - - // - // process - // - - NcvSize32u minSize = haar.ClassifierSize; - if (bLargestObject) - { - Ncv32u ratioX = preferredVideoFrameSize.width / minSize.width; - Ncv32u ratioY = preferredVideoFrameSize.height / minSize.height; - Ncv32u ratioSmallest = min(ratioX, ratioY); - ratioSmallest = max((Ncv32u)(ratioSmallest / 2.5f), (Ncv32u)1); - minSize.width *= ratioSmallest; - minSize.height *= ratioSmallest; - } - - Ncv32f avgTime; - NcvTimer timer = ncvStartTimer(); - - if (bUseGPU) - { - ncvStat = process(&gray, frameSize.width, frameSize.height, - bFilterRects, bLargestObject, haar, - d_haarStages, d_haarNodes, - d_haarFeatures, h_haarStages, - gpuAllocator, cpuAllocator, devProp); - ncvAssertPrintReturn(ncvStat == NCV_SUCCESS, "Error in memory counting pass", -1); - } - else - { - vector rectsOpenCV; - - classifierOpenCV.detectMultiScale( - gray, - rectsOpenCV, - 1.2f, - bFilterRects ? 4 : 0, - (bLargestObject ? CV_HAAR_FIND_BIGGEST_OBJECT : 0) - | CV_HAAR_SCALE_IMAGE, - Size(minSize.width, minSize.height)); - - for (size_t rt = 0; rt < rectsOpenCV.size(); ++rt) - rectangle(gray, rectsOpenCV[rt], Scalar(255)); - } - - avgTime = (Ncv32f)ncvEndQueryTimerMs(timer); - - cvtColor(gray, frameDisp, cv::COLOR_GRAY2BGR); - displayState(frameDisp, bHelpScreen, bUseGPU, bLargestObject, bFilterRects, 1000.0f / avgTime); - imshow(wndTitle, frameDisp); - - //handle input - switch (cv::waitKey(3)) - { - case ' ': - bUseGPU = !bUseGPU; - break; - case 'm': - case 'M': - bLargestObject = !bLargestObject; - break; - case 'f': - case 'F': - bFilterRects = !bFilterRects; - break; - case 'h': - case 'H': - bHelpScreen = !bHelpScreen; - break; - case 27: - bQuit = true; - break; - } - - // For camera and video file, capture the next image - if (capture.isOpened()) - { - capture >> frame; - if (frame.empty()) - { - break; - } - } - } while (!bQuit); - - cv::destroyWindow(wndTitle); - - return 0; -} - -#endif //!defined(HAVE_CUDA) diff --git a/samples/gpu/opticalflow_nvidia_api.cpp b/samples/gpu/opticalflow_nvidia_api.cpp deleted file mode 100644 index 0d924ec85e..0000000000 --- a/samples/gpu/opticalflow_nvidia_api.cpp +++ /dev/null @@ -1,651 +0,0 @@ -#if defined _MSC_VER && _MSC_VER >= 1400 -#pragma warning( disable : 4201 4408 4127 4100) -#endif - -#include -#include -#include -#include -#include -#include - -#include -#include -#include "opencv2/core/cuda.hpp" -#include "opencv2/cudalegacy.hpp" -#include "opencv2/highgui.hpp" - -#include "opencv2/core/core_c.h" // FIXIT legacy API -#include "opencv2/highgui/highgui_c.h" // FIXIT legacy API - -#if !defined(HAVE_CUDA) -int main( int, const char** ) -{ - std::cout << "Please compile the library with CUDA support" << std::endl; - return -1; -} -#else - -//using std::shared_ptr; -using cv::Ptr; - -#define PARAM_LEFT "--left" -#define PARAM_RIGHT "--right" -#define PARAM_SCALE "--scale" -#define PARAM_ALPHA "--alpha" -#define PARAM_GAMMA "--gamma" -#define PARAM_INNER "--inner" -#define PARAM_OUTER "--outer" -#define PARAM_SOLVER "--solver" -#define PARAM_TIME_STEP "--time-step" -#define PARAM_HELP "--help" - -Ptr g_pGPUMemAllocator; -Ptr g_pHostMemAllocator; - -class RgbToMonochrome -{ -public: - float operator ()(unsigned char b, unsigned char g, unsigned char r) - { - float _r = static_cast(r)/255.0f; - float _g = static_cast(g)/255.0f; - float _b = static_cast(b)/255.0f; - return (_r + _g + _b)/3.0f; - } -}; - -class RgbToR -{ -public: - float operator ()(unsigned char /*b*/, unsigned char /*g*/, unsigned char r) - { - return static_cast(r)/255.0f; - } -}; - - -class RgbToG -{ -public: - float operator ()(unsigned char /*b*/, unsigned char g, unsigned char /*r*/) - { - return static_cast(g)/255.0f; - } -}; - -class RgbToB -{ -public: - float operator ()(unsigned char b, unsigned char /*g*/, unsigned char /*r*/) - { - return static_cast(b)/255.0f; - } -}; - -template -NCVStatus CopyData(IplImage *image, Ptr >& dst) -{ - dst = Ptr > (new NCVMatrixAlloc (*g_pHostMemAllocator, image->width, image->height)); - ncvAssertReturn (dst->isMemAllocated (), NCV_ALLOCATOR_BAD_ALLOC); - - unsigned char *row = reinterpret_cast (image->imageData); - T convert; - for (int i = 0; i < image->height; ++i) - { - for (int j = 0; j < image->width; ++j) - { - if (image->nChannels < 3) - { - dst->ptr ()[j + i*dst->stride ()] = static_cast (*(row + j*image->nChannels))/255.0f; - } - else - { - unsigned char *color = row + j * image->nChannels; - dst->ptr ()[j +i*dst->stride ()] = convert (color[0], color[1], color[2]); - } - } - row += image->widthStep; - } - return NCV_SUCCESS; -} - -template -NCVStatus CopyData(const IplImage *image, const NCVMatrixAlloc &dst) -{ - unsigned char *row = reinterpret_cast (image->imageData); - T convert; - for (int i = 0; i < image->height; ++i) - { - for (int j = 0; j < image->width; ++j) - { - if (image->nChannels < 3) - { - dst.ptr ()[j + i*dst.stride ()] = static_cast(*(row + j*image->nChannels))/255.0f; - } - else - { - unsigned char *color = row + j * image->nChannels; - dst.ptr ()[j +i*dst.stride()] = convert (color[0], color[1], color[2]); - } - } - row += image->widthStep; - } - return NCV_SUCCESS; -} - -static NCVStatus LoadImages (const char *frame0Name, - const char *frame1Name, - int &width, - int &height, - Ptr > &src, - Ptr > &dst, - IplImage *&firstFrame, - IplImage *&lastFrame) -{ - IplImage *image; - image = cvLoadImage (frame0Name); - if (image == 0) - { - std::cout << "Could not open '" << frame0Name << "'\n"; - return NCV_FILE_ERROR; - } - - firstFrame = image; - // copy data to src - ncvAssertReturnNcvStat (CopyData (image, src)); - - IplImage *image2; - image2 = cvLoadImage (frame1Name); - if (image2 == 0) - { - std::cout << "Could not open '" << frame1Name << "'\n"; - return NCV_FILE_ERROR; - } - lastFrame = image2; - - ncvAssertReturnNcvStat (CopyData (image2, dst)); - - width = image->width; - height = image->height; - - return NCV_SUCCESS; -} - -template -inline T Clamp (T x, T a, T b) -{ - return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a)); -} - -template -inline T MapValue (T x, T a, T b, T c, T d) -{ - x = Clamp (x, a, b); - return c + (d - c) * (x - a) / (b - a); -} - -static NCVStatus ShowFlow (NCVMatrixAlloc &u, NCVMatrixAlloc &v, const char *name) -{ - IplImage *flowField; - - NCVMatrixAlloc host_u(*g_pHostMemAllocator, u.width(), u.height()); - ncvAssertReturn(host_u.isMemAllocated(), NCV_ALLOCATOR_BAD_ALLOC); - - NCVMatrixAlloc host_v (*g_pHostMemAllocator, u.width (), u.height ()); - ncvAssertReturn (host_v.isMemAllocated (), NCV_ALLOCATOR_BAD_ALLOC); - - ncvAssertReturnNcvStat (u.copySolid (host_u, 0)); - ncvAssertReturnNcvStat (v.copySolid (host_v, 0)); - - float *ptr_u = host_u.ptr (); - float *ptr_v = host_v.ptr (); - - float maxDisplacement = 1.0f; - - for (Ncv32u i = 0; i < u.height (); ++i) - { - for (Ncv32u j = 0; j < u.width (); ++j) - { - float d = std::max ( fabsf(*ptr_u), fabsf(*ptr_v) ); - if (d > maxDisplacement) maxDisplacement = d; - ++ptr_u; - ++ptr_v; - } - ptr_u += u.stride () - u.width (); - ptr_v += v.stride () - v.width (); - } - - CvSize image_size = cvSize (u.width (), u.height ()); - flowField = cvCreateImage (image_size, IPL_DEPTH_8U, 4); - if (flowField == 0) return NCV_NULL_PTR; - - unsigned char *row = reinterpret_cast (flowField->imageData); - - ptr_u = host_u.ptr(); - ptr_v = host_v.ptr(); - for (int i = 0; i < flowField->height; ++i) - { - for (int j = 0; j < flowField->width; ++j) - { - (row + j * flowField->nChannels)[0] = 0; - (row + j * flowField->nChannels)[1] = static_cast (MapValue (-(*ptr_v), -maxDisplacement, maxDisplacement, 0.0f, 255.0f)); - (row + j * flowField->nChannels)[2] = static_cast (MapValue (*ptr_u , -maxDisplacement, maxDisplacement, 0.0f, 255.0f)); - (row + j * flowField->nChannels)[3] = 255; - ++ptr_u; - ++ptr_v; - } - row += flowField->widthStep; - ptr_u += u.stride () - u.width (); - ptr_v += v.stride () - v.width (); - } - - cvShowImage (name, flowField); - - return NCV_SUCCESS; -} - -static IplImage *CreateImage (NCVMatrixAlloc &h_r, NCVMatrixAlloc &h_g, NCVMatrixAlloc &h_b) -{ - CvSize imageSize = cvSize (h_r.width (), h_r.height ()); - IplImage *image = cvCreateImage (imageSize, IPL_DEPTH_8U, 4); - if (image == 0) return 0; - - unsigned char *row = reinterpret_cast (image->imageData); - - for (int i = 0; i < image->height; ++i) - { - for (int j = 0; j < image->width; ++j) - { - int offset = j * image->nChannels; - int pos = i * h_r.stride () + j; - row[offset + 0] = static_cast (h_b.ptr ()[pos] * 255.0f); - row[offset + 1] = static_cast (h_g.ptr ()[pos] * 255.0f); - row[offset + 2] = static_cast (h_r.ptr ()[pos] * 255.0f); - row[offset + 3] = 255; - } - row += image->widthStep; - } - return image; -} - -static void PrintHelp () -{ - std::cout << "Usage help:\n"; - std::cout << std::setiosflags(std::ios::left); - std::cout << "\t" << std::setw(15) << PARAM_ALPHA << " - set alpha\n"; - std::cout << "\t" << std::setw(15) << PARAM_GAMMA << " - set gamma\n"; - std::cout << "\t" << std::setw(15) << PARAM_INNER << " - set number of inner iterations\n"; - std::cout << "\t" << std::setw(15) << PARAM_LEFT << " - specify left image\n"; - std::cout << "\t" << std::setw(15) << PARAM_RIGHT << " - specify right image\n"; - std::cout << "\t" << std::setw(15) << PARAM_OUTER << " - set number of outer iterations\n"; - std::cout << "\t" << std::setw(15) << PARAM_SCALE << " - set pyramid scale factor\n"; - std::cout << "\t" << std::setw(15) << PARAM_SOLVER << " - set number of basic solver iterations\n"; - std::cout << "\t" << std::setw(15) << PARAM_TIME_STEP << " - set frame interpolation time step\n"; - std::cout << "\t" << std::setw(15) << PARAM_HELP << " - display this help message\n"; -} - -static int ProcessCommandLine(int argc, char **argv, - Ncv32f &timeStep, - char *&frame0Name, - char *&frame1Name, - NCVBroxOpticalFlowDescriptor &desc) -{ - timeStep = 0.25f; - for (int iarg = 1; iarg < argc; ++iarg) - { - if (strcmp(argv[iarg], PARAM_LEFT) == 0) - { - if (iarg + 1 < argc) - { - frame0Name = argv[++iarg]; - } - else - return -1; - } - if (strcmp(argv[iarg], PARAM_RIGHT) == 0) - { - if (iarg + 1 < argc) - { - frame1Name = argv[++iarg]; - } - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_SCALE) == 0) - { - if (iarg + 1 < argc) - desc.scale_factor = static_cast(atof(argv[++iarg])); - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_ALPHA) == 0) - { - if (iarg + 1 < argc) - desc.alpha = static_cast(atof(argv[++iarg])); - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_GAMMA) == 0) - { - if (iarg + 1 < argc) - desc.gamma = static_cast(atof(argv[++iarg])); - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_INNER) == 0) - { - if (iarg + 1 < argc) - desc.number_of_inner_iterations = static_cast(atoi(argv[++iarg])); - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_OUTER) == 0) - { - if (iarg + 1 < argc) - desc.number_of_outer_iterations = static_cast(atoi(argv[++iarg])); - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_SOLVER) == 0) - { - if (iarg + 1 < argc) - desc.number_of_solver_iterations = static_cast(atoi(argv[++iarg])); - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_TIME_STEP) == 0) - { - if (iarg + 1 < argc) - timeStep = static_cast(atof(argv[++iarg])); - else - return -1; - } - else if(strcmp(argv[iarg], PARAM_HELP) == 0) - { - PrintHelp (); - return 0; - } - } - return 0; -} - - -int main(int argc, char **argv) -{ - char *frame0Name = 0, *frame1Name = 0; - Ncv32f timeStep = 0.01f; - - NCVBroxOpticalFlowDescriptor desc; - - desc.alpha = 0.197f; - desc.gamma = 50.0f; - desc.number_of_inner_iterations = 10; - desc.number_of_outer_iterations = 77; - desc.number_of_solver_iterations = 10; - desc.scale_factor = 0.8f; - - int result = ProcessCommandLine (argc, argv, timeStep, frame0Name, frame1Name, desc); - if (argc == 1 || result) - { - PrintHelp(); - return result; - } - - cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice()); - - std::cout << "OpenCV / NVIDIA Computer Vision\n"; - std::cout << "Optical Flow Demo: Frame Interpolation\n"; - std::cout << "=========================================\n"; - std::cout << "Press:\n ESC to quit\n 'a' to move to the previous frame\n 's' to move to the next frame\n"; - - int devId; - ncvAssertCUDAReturn(cudaGetDevice(&devId), -1); - cudaDeviceProp devProp; - ncvAssertCUDAReturn(cudaGetDeviceProperties(&devProp, devId), -1); - std::cout << "Using GPU: " << devId << "(" << devProp.name << - "), arch=" << devProp.major << "." << devProp.minor << std::endl; - - g_pGPUMemAllocator = Ptr (new NCVMemNativeAllocator (NCVMemoryTypeDevice, static_cast(devProp.textureAlignment))); - ncvAssertPrintReturn (g_pGPUMemAllocator->isInitialized (), "Device memory allocator isn't initialized", -1); - - g_pHostMemAllocator = Ptr (new NCVMemNativeAllocator (NCVMemoryTypeHostPageable, static_cast(devProp.textureAlignment))); - ncvAssertPrintReturn (g_pHostMemAllocator->isInitialized (), "Host memory allocator isn't initialized", -1); - - int width, height; - - Ptr > src_host; - Ptr > dst_host; - - IplImage *firstFrame, *lastFrame; - if (frame0Name != 0 && frame1Name != 0) - { - ncvAssertReturnNcvStat (LoadImages (frame0Name, frame1Name, width, height, src_host, dst_host, firstFrame, lastFrame)); - } - else - { - ncvAssertReturnNcvStat (LoadImages ("frame10.bmp", "frame11.bmp", width, height, src_host, dst_host, firstFrame, lastFrame)); - } - - Ptr > src (new NCVMatrixAlloc (*g_pGPUMemAllocator, src_host->width (), src_host->height ())); - ncvAssertReturn(src->isMemAllocated(), -1); - - Ptr > dst (new NCVMatrixAlloc (*g_pGPUMemAllocator, src_host->width (), src_host->height ())); - ncvAssertReturn (dst->isMemAllocated (), -1); - - ncvAssertReturnNcvStat (src_host->copySolid ( *src, 0 )); - ncvAssertReturnNcvStat (dst_host->copySolid ( *dst, 0 )); - -#if defined SAFE_MAT_DECL -#undef SAFE_MAT_DECL -#endif -#define SAFE_MAT_DECL(name, allocator, sx, sy) \ - NCVMatrixAlloc name(*allocator, sx, sy);\ - ncvAssertReturn(name.isMemAllocated(), -1); - - SAFE_MAT_DECL (u, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (v, g_pGPUMemAllocator, width, height); - - SAFE_MAT_DECL (uBck, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (vBck, g_pGPUMemAllocator, width, height); - - SAFE_MAT_DECL (h_r, g_pHostMemAllocator, width, height); - SAFE_MAT_DECL (h_g, g_pHostMemAllocator, width, height); - SAFE_MAT_DECL (h_b, g_pHostMemAllocator, width, height); - - std::cout << "Estimating optical flow\nForward...\n"; - - if (NCV_SUCCESS != NCVBroxOpticalFlow (desc, *g_pGPUMemAllocator, *src, *dst, u, v, 0)) - { - std::cout << "Failed\n"; - return -1; - } - - std::cout << "Backward...\n"; - if (NCV_SUCCESS != NCVBroxOpticalFlow (desc, *g_pGPUMemAllocator, *dst, *src, uBck, vBck, 0)) - { - std::cout << "Failed\n"; - return -1; - } - - // matrix for temporary data - SAFE_MAT_DECL (d_temp, g_pGPUMemAllocator, width, height); - - // first frame color components (GPU memory) - SAFE_MAT_DECL (d_r, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (d_g, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (d_b, g_pGPUMemAllocator, width, height); - - // second frame color components (GPU memory) - SAFE_MAT_DECL (d_rt, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (d_gt, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (d_bt, g_pGPUMemAllocator, width, height); - - // intermediate frame color components (GPU memory) - SAFE_MAT_DECL (d_rNew, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (d_gNew, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (d_bNew, g_pGPUMemAllocator, width, height); - - // interpolated forward flow - SAFE_MAT_DECL (ui, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (vi, g_pGPUMemAllocator, width, height); - - // interpolated backward flow - SAFE_MAT_DECL (ubi, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (vbi, g_pGPUMemAllocator, width, height); - - // occlusion masks - SAFE_MAT_DECL (occ0, g_pGPUMemAllocator, width, height); - SAFE_MAT_DECL (occ1, g_pGPUMemAllocator, width, height); - - // prepare color components on host and copy them to device memory - ncvAssertReturnNcvStat (CopyData (firstFrame, h_r)); - ncvAssertReturnNcvStat (CopyData (firstFrame, h_g)); - ncvAssertReturnNcvStat (CopyData (firstFrame, h_b)); - - ncvAssertReturnNcvStat (h_r.copySolid ( d_r, 0 )); - ncvAssertReturnNcvStat (h_g.copySolid ( d_g, 0 )); - ncvAssertReturnNcvStat (h_b.copySolid ( d_b, 0 )); - - ncvAssertReturnNcvStat (CopyData (lastFrame, h_r)); - ncvAssertReturnNcvStat (CopyData (lastFrame, h_g)); - ncvAssertReturnNcvStat (CopyData (lastFrame, h_b)); - - ncvAssertReturnNcvStat (h_r.copySolid ( d_rt, 0 )); - ncvAssertReturnNcvStat (h_g.copySolid ( d_gt, 0 )); - ncvAssertReturnNcvStat (h_b.copySolid ( d_bt, 0 )); - - std::cout << "Interpolating...\n"; - std::cout.precision (4); - - std::vector frames; - frames.push_back (firstFrame); - - // compute interpolated frames - for (Ncv32f timePos = timeStep; timePos < 1.0f; timePos += timeStep) - { - ncvAssertCUDAReturn (cudaMemset (ui.ptr (), 0, ui.pitch () * ui.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (vi.ptr (), 0, vi.pitch () * vi.height ()), NCV_CUDA_ERROR); - - ncvAssertCUDAReturn (cudaMemset (ubi.ptr (), 0, ubi.pitch () * ubi.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (vbi.ptr (), 0, vbi.pitch () * vbi.height ()), NCV_CUDA_ERROR); - - ncvAssertCUDAReturn (cudaMemset (occ0.ptr (), 0, occ0.pitch () * occ0.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (occ1.ptr (), 0, occ1.pitch () * occ1.height ()), NCV_CUDA_ERROR); - - NppStInterpolationState state; - // interpolation state should be filled once except pSrcFrame0, pSrcFrame1, and pNewFrame - // we will only need to reset buffers content to 0 since interpolator doesn't do this itself - state.size = NcvSize32u (width, height); - state.nStep = d_r.pitch (); - state.pSrcFrame0 = d_r.ptr (); - state.pSrcFrame1 = d_rt.ptr (); - state.pFU = u.ptr (); - state.pFV = v.ptr (); - state.pBU = uBck.ptr (); - state.pBV = vBck.ptr (); - state.pos = timePos; - state.pNewFrame = d_rNew.ptr (); - state.ppBuffers[0] = occ0.ptr (); - state.ppBuffers[1] = occ1.ptr (); - state.ppBuffers[2] = ui.ptr (); - state.ppBuffers[3] = vi.ptr (); - state.ppBuffers[4] = ubi.ptr (); - state.ppBuffers[5] = vbi.ptr (); - - // interpolate red channel - nppiStInterpolateFrames (&state); - - // reset buffers - ncvAssertCUDAReturn (cudaMemset (ui.ptr (), 0, ui.pitch () * ui.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (vi.ptr (), 0, vi.pitch () * vi.height ()), NCV_CUDA_ERROR); - - ncvAssertCUDAReturn (cudaMemset (ubi.ptr (), 0, ubi.pitch () * ubi.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (vbi.ptr (), 0, vbi.pitch () * vbi.height ()), NCV_CUDA_ERROR); - - ncvAssertCUDAReturn (cudaMemset (occ0.ptr (), 0, occ0.pitch () * occ0.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (occ1.ptr (), 0, occ1.pitch () * occ1.height ()), NCV_CUDA_ERROR); - - // interpolate green channel - state.pSrcFrame0 = d_g.ptr (); - state.pSrcFrame1 = d_gt.ptr (); - state.pNewFrame = d_gNew.ptr (); - - nppiStInterpolateFrames (&state); - - // reset buffers - ncvAssertCUDAReturn (cudaMemset (ui.ptr (), 0, ui.pitch () * ui.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (vi.ptr (), 0, vi.pitch () * vi.height ()), NCV_CUDA_ERROR); - - ncvAssertCUDAReturn (cudaMemset (ubi.ptr (), 0, ubi.pitch () * ubi.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (vbi.ptr (), 0, vbi.pitch () * vbi.height ()), NCV_CUDA_ERROR); - - ncvAssertCUDAReturn (cudaMemset (occ0.ptr (), 0, occ0.pitch () * occ0.height ()), NCV_CUDA_ERROR); - ncvAssertCUDAReturn (cudaMemset (occ1.ptr (), 0, occ1.pitch () * occ1.height ()), NCV_CUDA_ERROR); - - // interpolate blue channel - state.pSrcFrame0 = d_b.ptr (); - state.pSrcFrame1 = d_bt.ptr (); - state.pNewFrame = d_bNew.ptr (); - - nppiStInterpolateFrames (&state); - - // copy to host memory - ncvAssertReturnNcvStat (d_rNew.copySolid (h_r, 0)); - ncvAssertReturnNcvStat (d_gNew.copySolid (h_g, 0)); - ncvAssertReturnNcvStat (d_bNew.copySolid (h_b, 0)); - - // convert to IplImage - IplImage *newFrame = CreateImage (h_r, h_g, h_b); - if (newFrame == 0) - { - std::cout << "Could not create new frame in host memory\n"; - break; - } - frames.push_back (newFrame); - std::cout << timePos * 100.0f << "%\r"; - } - std::cout << std::setw (5) << "100%\n"; - - frames.push_back (lastFrame); - - Ncv32u currentFrame; - currentFrame = 0; - - ShowFlow (u, v, "Forward flow"); - ShowFlow (uBck, vBck, "Backward flow"); - - cvShowImage ("Interpolated frame", frames[currentFrame]); - - bool qPressed = false; - while ( !qPressed ) - { - int key = toupper (cvWaitKey (10)); - switch (key) - { - case 27: - qPressed = true; - break; - case 'A': - if (currentFrame > 0) --currentFrame; - cvShowImage ("Interpolated frame", frames[currentFrame]); - break; - case 'S': - if (currentFrame < frames.size()-1) ++currentFrame; - cvShowImage ("Interpolated frame", frames[currentFrame]); - break; - } - } - - cvDestroyAllWindows (); - - std::vector::iterator iter; - for (iter = frames.begin (); iter != frames.end (); ++iter) - { - cvReleaseImage (&(*iter)); - } - - return 0; -} - -#endif