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Merge pull request #8045 from onetimking:master

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This commit is contained in:
Vadim Pisarevsky 2017-01-24 11:44:56 +00:00
commit ff5eaadfdf
2 changed files with 15 additions and 10 deletions
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19
modules/cudaoptflow/src/cuda/pyrlk.cu
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@ -51,6 +51,8 @@
#include "opencv2/core/cuda/filters.hpp" #include "opencv2/core/cuda/filters.hpp"
#include "opencv2/core/cuda/border_interpolate.hpp" #include "opencv2/core/cuda/border_interpolate.hpp"
#include <iostream>
using namespace cv::cuda; using namespace cv::cuda;
using namespace cv::cuda::device; using namespace cv::cuda::device;
@ -923,15 +925,15 @@ namespace pyrlk
float x = xBase - c_halfWin_x + j + 0.5f; float x = xBase - c_halfWin_x + j + 0.5f;
float y = yBase - c_halfWin_y + i + 0.5f; float y = yBase - c_halfWin_y + i + 0.5f;
I_patch[i * patchWidth + j] = tex2D(tex_Ib, x, y); I_patch[i * patchWidth + j] = tex2D(tex_If, x, y);
// Sharr Deriv // Sharr Deriv
dIdx_patch[i * patchWidth + j] = 3 * tex2D(tex_Ib, x+1, y-1) + 10 * tex2D(tex_Ib, x+1, y) + 3 * tex2D(tex_Ib, x+1, y+1) - dIdx_patch[i * patchWidth + j] = 3 * tex2D(tex_If, x+1, y-1) + 10 * tex2D(tex_If, x+1, y) + 3 * tex2D(tex_If, x+1, y+1) -
(3 * tex2D(tex_Ib, x-1, y-1) + 10 * tex2D(tex_Ib, x-1, y) + 3 * tex2D(tex_Ib, x-1, y+1)); (3 * tex2D(tex_If, x-1, y-1) + 10 * tex2D(tex_If, x-1, y) + 3 * tex2D(tex_If, x-1, y+1));
dIdy_patch[i * patchWidth + j] = 3 * tex2D(tex_Ib, x-1, y+1) + 10 * tex2D(tex_Ib, x, y+1) + 3 * tex2D(tex_Ib, x+1, y+1) - dIdy_patch[i * patchWidth + j] = 3 * tex2D(tex_If, x-1, y+1) + 10 * tex2D(tex_If, x, y+1) + 3 * tex2D(tex_If, x+1, y+1) -
(3 * tex2D(tex_Ib, x-1, y-1) + 10 * tex2D(tex_Ib, x, y-1) + 3 * tex2D(tex_Ib, x+1, y-1)); (3 * tex2D(tex_If, x-1, y-1) + 10 * tex2D(tex_If, x, y-1) + 3 * tex2D(tex_If, x+1, y-1));
} }
} }
@ -943,6 +945,7 @@ namespace pyrlk
if (x >= cols || y >= rows) if (x >= cols || y >= rows)
return; return;
int A11i = 0; int A11i = 0;
int A12i = 0; int A12i = 0;
int A22i = 0; int A22i = 0;
@ -970,7 +973,6 @@ namespace pyrlk
{ {
if (calcErr) if (calcErr)
err(y, x) = numeric_limits<float>::max(); err(y, x) = numeric_limits<float>::max();
return; return;
} }
@ -1014,6 +1016,7 @@ namespace pyrlk
} }
} }
float2 delta; float2 delta;
delta.x = A12 * b2 - A22 * b1; delta.x = A12 * b2 - A22 * b1;
delta.y = A12 * b1 - A11 * b2; delta.y = A12 * b1 - A11 * b2;
@ -1083,11 +1086,11 @@ namespace pyrlk
funcs[patch.y - 1][patch.x - 1](I, J, I.rows, I.cols, prevPts, nextPts, status, err, ptcount, funcs[patch.y - 1][patch.x - 1](I, J, I.rows, I.cols, prevPts, nextPts, status, err, ptcount,
level, block, stream); level, block, stream);
} }
static void dense(PtrStepSzb I, PtrStepSz<T> J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV, PtrStepSzf err, int2 winSize, cudaStream_t stream) static void dense(PtrStepSz<T> I, PtrStepSz<T> J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV, PtrStepSzf err, int2 winSize, cudaStream_t stream)
{ {
dim3 block(16, 16); dim3 block(16, 16);
dim3 grid(divUp(I.cols, block.x), divUp(I.rows, block.y)); dim3 grid(divUp(I.cols, block.x), divUp(I.rows, block.y));
Tex_I<1, uchar>::bindTexture_(I); Tex_I<1, T>::bindTexture_(I);
Tex_J<1, T>::bindTexture_(J); Tex_J<1, T>::bindTexture_(J);
int2 halfWin = make_int2((winSize.x - 1) / 2, (winSize.y - 1) / 2); int2 halfWin = make_int2((winSize.x - 1) / 2, (winSize.y - 1) / 2);

6
modules/cudaoptflow/src/pyrlk.cpp
View File

@ -61,7 +61,7 @@ namespace pyrlk
static void sparse(PtrStepSz<typename device::TypeVec<T, cn>::vec_type> I, PtrStepSz<typename device::TypeVec<T, cn>::vec_type> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, static void sparse(PtrStepSz<typename device::TypeVec<T, cn>::vec_type> I, PtrStepSz<typename device::TypeVec<T, cn>::vec_type> J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount,
int level, dim3 block, dim3 patch, cudaStream_t stream); int level, dim3 block, dim3 patch, cudaStream_t stream);
static void dense(PtrStepSzb I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV, static void dense(PtrStepSzf I, PtrStepSzf J, PtrStepSzf u, PtrStepSzf v, PtrStepSzf prevU, PtrStepSzf prevV,
PtrStepSzf err, int2 winSize, cudaStream_t stream); PtrStepSzf err, int2 winSize, cudaStream_t stream);
}; };
@ -236,7 +236,9 @@ namespace
prevPyr_.resize(maxLevel_ + 1); prevPyr_.resize(maxLevel_ + 1);
nextPyr_.resize(maxLevel_ + 1); nextPyr_.resize(maxLevel_ + 1);
prevPyr_[0] = prevImg; //prevPyr_[0] = prevImg;
prevImg.convertTo(prevPyr_[0], CV_32F, stream);
nextImg.convertTo(nextPyr_[0], CV_32F, stream); nextImg.convertTo(nextPyr_[0], CV_32F, stream);
for (int level = 1; level <= maxLevel_; ++level) for (int level = 1; level <= maxLevel_; ++level)