void StereoSingleGpu::compute(const Mat& leftFrame, const Mat& rightFrame, Mat& disparity)
{
cuda::setDevice(deviceId_);
d_leftFrame.upload(leftFrame);
d_rightFrame.upload(rightFrame);
d_alg->compute(d_leftFrame, d_rightFrame, d_disparity);
d_disparity.download(disparity);
}
GpuMat* ImageImPro_OpenCvImpl::getGPUMat(){
Mat* ptrMat = this->getMat();
GpuMat* ptrGpuMat = new GpuMat();
ptrGpuMat->upload(*ptrMat);
delete ptrMat;
return ptrGpuMat;
}
/* Load the mean file in binaryproto format. */
void Classifier::SetMean(const string& mean_file)
{
BlobProto blob_proto;
ReadProtoFromBinaryFileOrDie(mean_file.c_str(), &blob_proto);
/* Convert from BlobProto to Blob<float> */
Blob<float> mean_blob;
mean_blob.FromProto(blob_proto);
CHECK_EQ(mean_blob.channels(), num_channels_)
<< "Number of channels of mean file doesn't match input layer.";
/* The format of the mean file is planar 32-bit float BGR or grayscale. */
std::vector<Mat> channels;
float* data = mean_blob.mutable_cpu_data();
for (int i = 0; i < num_channels_; ++i)
{
/* Extract an individual channel. */
Mat channel(mean_blob.height(), mean_blob.width(), CV_32FC1, data);
channels.push_back(channel);
data += mean_blob.height() * mean_blob.width();
}
/* Merge the separate channels into a single image. */
Mat packed_mean;
merge(channels, packed_mean);
/* Compute the global mean pixel value and create a mean image
* filled with this value. */
Scalar channel_mean = mean(packed_mean);
Mat host_mean = Mat(input_geometry_, packed_mean.type(), channel_mean);
mean_.upload(host_mean);
}
int main( int argc, char** argv )
{
char* filename = argc == 2 ? argv[1] : (char*)"baboon.jpg";
if (string(argv[1]) == "--help")
{
help();
return -1;
}
src.upload(imread(filename, 1));
if (src.empty())
{
help();
return -1;
}
cv::gpu::printShortCudaDeviceInfo(cv::gpu::getDevice());
help();
if (src.channels() == 3)
{
// gpu support only 4th channel images
GpuMat src4ch;
cv::gpu::cvtColor(src, src4ch, COLOR_BGR2BGRA);
src = src4ch;
}
//create windows for output images
namedWindow("Open/Close",1);
namedWindow("Erode/Dilate",1);
open_close_pos = erode_dilate_pos = max_iters;
createTrackbar("iterations", "Open/Close",&open_close_pos,max_iters*2+1,OpenClose);
createTrackbar("iterations", "Erode/Dilate",&erode_dilate_pos,max_iters*2+1,ErodeDilate);
for(;;)
{
int c;
OpenClose(open_close_pos, 0);
ErodeDilate(erode_dilate_pos, 0);
c = waitKey();
if( (char)c == 27 )
break;
if( (char)c == 'e' )
element_shape = MORPH_ELLIPSE;
else if( (char)c == 'r' )
element_shape = MORPH_RECT;
else if( (char)c == 'c' )
element_shape = MORPH_CROSS;
else if( (char)c == ' ' )
element_shape = (element_shape + 1) % 3;
}
return 0;
}
void cv::gpu::BruteForceMatcher_GPU_base::makeGpuCollection(GpuMat& trainCollection, GpuMat& maskCollection,
const vector<GpuMat>& masks)
{
if (empty())
return;
if (masks.empty())
{
Mat trainCollectionCPU(1, static_cast<int>(trainDescCollection.size()), CV_8UC(sizeof(DevMem2Db)));
DevMem2Db* trainCollectionCPU_ptr = trainCollectionCPU.ptr<DevMem2Db>();
for (size_t i = 0, size = trainDescCollection.size(); i < size; ++i, ++trainCollectionCPU_ptr)
*trainCollectionCPU_ptr = trainDescCollection[i];
trainCollection.upload(trainCollectionCPU);
maskCollection.release();
}
else
{
CV_Assert(masks.size() == trainDescCollection.size());
Mat trainCollectionCPU(1, static_cast<int>(trainDescCollection.size()), CV_8UC(sizeof(DevMem2Db)));
Mat maskCollectionCPU(1, static_cast<int>(trainDescCollection.size()), CV_8UC(sizeof(PtrStepb)));
DevMem2Db* trainCollectionCPU_ptr = trainCollectionCPU.ptr<DevMem2Db>();
PtrStepb* maskCollectionCPU_ptr = maskCollectionCPU.ptr<PtrStepb>();
for (size_t i = 0, size = trainDescCollection.size(); i < size; ++i, ++trainCollectionCPU_ptr, ++maskCollectionCPU_ptr)
{
const GpuMat& train = trainDescCollection[i];
const GpuMat& mask = masks[i];
CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.cols == train.rows));
*trainCollectionCPU_ptr = train;
*maskCollectionCPU_ptr = mask;
}
trainCollection.upload(trainCollectionCPU);
maskCollection.upload(maskCollectionCPU);
}
}
LevelsInit()
{
nValues3[0] = nValues3[1] = nValues3[2] = 256;
for (int i = 0; i < 256; ++i)
pLevels[i] = i;
#if (CUDA_VERSION <= 4020)
pLevels3[0] = pLevels3[1] = pLevels3[2] = pLevels;
#else
d_pLevels.upload(Mat(1, 256, CV_32S, pLevels));
pLevels3[0] = pLevels3[1] = pLevels3[2] = d_pLevels.ptr<Npp32s>();
#endif
}
GpuMat cv::superres::arrGetGpuMat(InputArray arr, GpuMat& buf)
{
switch (arr.kind())
{
case _InputArray::GPU_MAT:
return arr.getGpuMat();
case _InputArray::OPENGL_BUFFER:
arr.getOGlBuffer().copyTo(buf);
return buf;
default:
buf.upload(arr.getMat());
return buf;
}
}
GpuMat cv::cuda::getInputMat(InputArray _src, Stream& stream)
{
GpuMat src;
#ifndef HAVE_CUDA
(void) _src;
(void) stream;
throw_no_cuda();
#else
if (_src.kind() == _InputArray::CUDA_GPU_MAT)
{
src = _src.getGpuMat();
}
else if (!_src.empty())
{
BufferPool pool(stream);
src = pool.getBuffer(_src.size(), _src.type());
src.upload(_src, stream);
}
#endif
return src;
}
int main( int argc, const char** argv )
{
VideoCapture cap;
Rect trackWindow;
struct timeval timea, timeb, timeS, timeE;
long totalTime = 0, matchTime = 0, convertTime = 0, loadTime = 0;
int nFrames = 0;
cap.open("/home/ubuntu/Aerial/photos/SoccerGoal2_464.mp4"); //open smaller video file (reccomended for Jetson)
// cap.open("/home/scott/Aerial//aerial_navigation/photos/SoccerGoal2.mp4"); //open regular video file (desktop)
cerr << cap.get(CV_CAP_PROP_FRAME_WIDTH) << endl;
cerr << cap.get(CV_CAP_PROP_FRAME_HEIGHT) << endl;
vector<string> screenshots;
//smaller training images (Jetson)
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh1_464.png");
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh2_464.png");
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh3_464.png");
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh4_464.png");
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh5_464.png");
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh6_464.png");
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh7_464.png");
screenshots.push_back("/home/ubuntu/Aerial/WicketTraining/sh8_464.png");
//regular training images (Jetson)
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh1.png");
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh2.png");
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh3.png");
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh4.png");
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh5.png");
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh6.png");
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh7.png");
// screenshots.push_back("/home/scott/Aerial/aerial_navigation/WicketTraining/sh8.png");
if( !cap.isOpened() ) //make sure video file could be opened
{
cout << "***Could not initialize capturing...***\n";
return -1;
}
//define the shape that is to be used for errode and dilate. Change size to increase or decrease the amount erroded and dilated
Mat element = getStructuringElement(element_shape, Size(3, 3), Point(-1, -1) );
//Initialize kalman filter
KalmanFilter KF(4, 2, 0);
Mat_<float> measurement(2,1); measurement.setTo(Scalar(0));
Point pt(0, 0);
//intialize display window
namedWindow( "TrackingWicket", 0 );
setMouseCallback( "TrackingWicket", onMouse, 0 );
Rect bb; //rectangle for used for masking image to decrease template match search time
//state variables
bool paused = false;
bool debug = true;
cap >> frame0; //load the first frame
paused = true; //paused for training
vector<int> index(8); //indexes of the training images
Point2f ctr_point, kal_point;
ctr_point = pt; //point for the measured center of matched image
kal_point = pt; //point for the corrected kalman filter eastimate
//Gather training images
for(int i = 0; i < screenshots.size(); i++){
sh = imread(screenshots[i]); //read in trained image file
for(;;){
gpu_frame0.upload(sh); //upload image to gpu memory
proccess_frame(element, thresh); //process the frame prior to selection
gpu_gray.download(image); //download processed image so it can be displayed
if(trackObject < 0) { //part of image has been selected so get the trained image
mask_coll[i] = GpuMat(gpu_gray.size(), CV_8UC1, Scalar::all(0)); //intialize a mask
mask_coll[i](selection).setTo(Scalar::all(255)); //set the mask to be the selected area
gpu::bitwise_and(gpu_gray, mask_coll[i], train_coll[i]); //set the image to be only the parts in the mask
train_coll[i] = train_coll[i](selection); //set the trained image to be just the size of the selection. I'm not sure that this process is the best way
selections[i] = selection; //save the selection value for later use
index[i] = i; // save the index value
trackObject = 0; //set track object to 0 so we don't repeate this process until we have selected an object
selectObject = 0; //reset the selection object state to no object
break;
}
if( selectObject && selection.width > 0 && selection.height > 0 ) //if selecting an object show the area being selected
{
Mat mask(image, selection);
bitwise_not(mask, mask);
}
imshow("TrackingWicket", image); //display the image
waitKey(10);
}
break;
}
//loop over frames in video feed (breaks at end of file)
for(;;)
{
gettimeofday(&timea, NULL); //start overal timer
if( !paused )
{
gettimeofday(&timeS, NULL); //start image load timer
cap >> frame0; //load next frame
gettimeofday(&timeE, NULL); //end image load timer
loadTime += getTimeDelta(timeS, timeE); //add to the load time
nFrames++; //increment the frames proccessed count
if( frame0.empty() ) //make sure we have a frame stored
break;
}
if( !paused ) //skip if paused
{
if(trackObject < 0) { //if this is first pass through tracking do some initialization
//set point p to be the center of the selected area
Point p = Point(selection.tl().x + (selection.width / 2), selection.tl().y + (selection.height / 2));
bb = selection; //bounding box for the search area is the selection
kalman_init(KF, p, 1e-4, 1e-4, .1); //initialize kalman filter.
ctr_point = pt;
kal_point = pt;
trackObject = 1; //set this so we don't come through here again
}
if(trackObject){
Mat prediction = KF.predict(); //predict where the center of the match will be
Point predictPt(prediction.at<float>(0),prediction.at<float>(1)); //get the point
bool smallwindow = false;
if(predictPt.x != 0 || predictPt.y != 0){ //if the predicted point isn't the first (which is bad) then use the predicted point to set the search box location
smallwindow = true;
selection.x = predictPt.x - (selection.width/2);
selection.y = predictPt.y - (selection.height/2);
}
gettimeofday(&timeS, NULL); //start convert timer
gpu_frame0.upload(frame0); //upload frame to gpu memory
proccess_frame(element, thresh); //process the frame
gettimeofday(&timeE, NULL); //stop convert timer
convertTime += getTimeDelta(timeS, timeE);
//gpu_gray.download(gray);
double best_max_value = 0;
Point best_location;
Rect predictRect;
int idx = 0;
gettimeofday(&timeS, NULL); //start match template timer
if(smallwindow){ //if we are using a small window to search for the template
//change the dimensions of the search box to be 3 times bigger than the size of the train image/selection
int wt = 1.5*selection.width;
int ht = 1.5*selection.height;
//set top left and bottom right locations of search area
predictRect = Rect(predictPt.x - wt, predictPt.y - ht, predictPt.x + wt, predictPt.y + ht);
GpuMat roi(gpu_gray, predictRect); //get area of image we want to search
match_template(roi, train_coll, index, best_max_value, best_location, idx); //run template match
} else //search the whole image (slow)
match_template(gpu_gray, train_coll, index, best_max_value, best_location, idx); //run template match
gettimeofday(&timeE, NULL); //end template match timer
matchTime += getTimeDelta(timeS, timeE);
if (best_max_value > .8){ //if the value found was better than .8 the update the found location. Otherwise we didn't find a good enough spot (this is not tuned and can be changed)
if(smallwindow){
best_location.x = best_location.x + predictRect.tl().x;
best_location.y = best_location.y + predictRect.tl().y;
bb = Rect(best_location.x,best_location.y, selections[index[idx]].width, selections[index[idx]].height);//box is now the size of the matched image and the location of the best fit
box_update(KF, bb, measurement, ctr_point, kal_point); //update the current location of the image and bounding box
} else {
bb = Rect(best_location.x,best_location.y, selections[index[idx]].width, selections[index[idx]].height);
box_update(KF, bb, measurement, ctr_point, kal_point);
}
} else //the object wasn't in our window so search the whole image to find it.
smallwindow = false;
}
}
if( trackObject < 0 ) {
paused = false;
}
gettimeofday(&timeb, NULL); //stop total timer
totalTime += getTimeDelta(timea, timeb);
if(debug){ //if debugging then display the image and rectangles of where the kalman filter (red) things the best spot is and where the matched (yellow) spot is
frame0.copyTo(image);
rectangle(image, selection, Scalar(0, 0, 255), 1, 8, 0);
rectangle(image, bb, Scalar(0, 255, 255), 1, 8, 0);
circle( image, kal_point, 4, Scalar(0, 0, 255), -1, 8, 0 );
circle( image, ctr_point, 4, Scalar(0, 255, 255), -1, 8, 0 );
imshow( "TrackingWicket", image );
}
char c = (char)waitKey(10);
if( c == 27 )
break;
switch(c)
{
case 'c':
trackObject = 0;
break;
case 'd':
debug = !debug;
break;
case 'p':
paused = !paused;
cout << "frames : " << nFrames << endl;
cout << "TotalTime : " << double(totalTime)/1000000.0 << endl;
cout << "FPS : " << double(nFrames)/(double(totalTime)/1000000.0) << endl;
cout << "Percentage Convert Time : " << double(convertTime)/double(totalTime) << endl;
cout << "Percentage Match Time : " << double(matchTime)/double(totalTime) << endl;
cout << "Percentage Load Time : " << double(loadTime)/double(totalTime) << endl;
totalTime = matchTime = convertTime = loadTime = 0;
nFrames = 0;
break;
default:
;
}
}
void cv::gpu::GoodFeaturesToTrackDetector_GPU::operator ()(const GpuMat& image, GpuMat& corners, const GpuMat& mask)
{
using namespace cv::gpu::device::gfft;
CV_Assert(qualityLevel > 0 && minDistance >= 0 && maxCorners >= 0);
CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()));
ensureSizeIsEnough(image.size(), CV_32F, eig_);
if (useHarrisDetector)
cornerHarris(image, eig_, Dx_, Dy_, buf_, blockSize, 3, harrisK);
else
cornerMinEigenVal(image, eig_, Dx_, Dy_, buf_, blockSize, 3);
double maxVal = 0;
minMax(eig_, 0, &maxVal, GpuMat(), minMaxbuf_);
ensureSizeIsEnough(1, std::max(1000, static_cast<int>(image.size().area() * 0.05)), CV_32FC2, tmpCorners_);
int total = findCorners_gpu(eig_, static_cast<float>(maxVal * qualityLevel), mask, tmpCorners_.ptr<float2>(), tmpCorners_.cols);
if (total == 0)
{
corners.release();
return;
}
sortCorners_gpu(eig_, tmpCorners_.ptr<float2>(), total);
if (minDistance < 1)
tmpCorners_.colRange(0, maxCorners > 0 ? std::min(maxCorners, total) : total).copyTo(corners);
else
{
vector<Point2f> tmp(total);
Mat tmpMat(1, total, CV_32FC2, (void*)&tmp[0]);
tmpCorners_.colRange(0, total).download(tmpMat);
vector<Point2f> tmp2;
tmp2.reserve(total);
const int cell_size = cvRound(minDistance);
const int grid_width = (image.cols + cell_size - 1) / cell_size;
const int grid_height = (image.rows + cell_size - 1) / cell_size;
std::vector< std::vector<Point2f> > grid(grid_width * grid_height);
for (int i = 0; i < total; ++i)
{
Point2f p = tmp[i];
bool good = true;
int x_cell = static_cast<int>(p.x / cell_size);
int y_cell = static_cast<int>(p.y / cell_size);
int x1 = x_cell - 1;
int y1 = y_cell - 1;
int x2 = x_cell + 1;
int y2 = y_cell + 1;
// boundary check
x1 = std::max(0, x1);
y1 = std::max(0, y1);
x2 = std::min(grid_width - 1, x2);
y2 = std::min(grid_height - 1, y2);
for (int yy = y1; yy <= y2; yy++)
{
for (int xx = x1; xx <= x2; xx++)
{
vector<Point2f>& m = grid[yy * grid_width + xx];
if (!m.empty())
{
for(size_t j = 0; j < m.size(); j++)
{
float dx = p.x - m[j].x;
float dy = p.y - m[j].y;
if (dx * dx + dy * dy < minDistance * minDistance)
{
good = false;
goto break_out;
}
}
}
}
}
break_out:
if(good)
{
grid[y_cell * grid_width + x_cell].push_back(p);
tmp2.push_back(p);
if (maxCorners > 0 && tmp2.size() == static_cast<size_t>(maxCorners))
break;
}
}
corners.upload(Mat(1, static_cast<int>(tmp2.size()), CV_32FC2, &tmp2[0]));
}
}
Mat visionUtils::cannySegmentation(Mat img0, int minPixelSize, bool displayFaces)
{
// Segments items in gray image (img0)
// minPixelSize=
// -1, returns largest region only
// pixels, threshold for removing smaller regions, with less than minPixelSize pixels
// 0, returns all detected segments
// LB: Zero pad image to remove edge effects when getting regions....
int padPixels=20;
// Rect border added at start...
Rect tempRect;
tempRect.x=padPixels;
tempRect.y=padPixels;
tempRect.width=img0.cols;
tempRect.height=img0.rows;
Mat img1 = Mat::zeros(img0.rows+(padPixels*2), img0.cols+(padPixels*2), CV_8UC1);
img0.copyTo(img1(tempRect));
if (useGPU)// converted to GPU -> NOT tested to speed up here!
{
GpuMat imgGPU;
imgGPU.upload(img1);
#if CV_MAJOR_VERSION == 2
gpu::Canny(imgGPU, imgGPU, 100, 200, 3); //100, 200, 3);
#elif CV_MAJOR_VERSION == 3
cv::Ptr<cv::cuda::CannyEdgeDetector> canny = cv::cuda::createCannyEdgeDetector(100, 200, 3);
canny->detect(imgGPU, imgGPU);
#endif
imgGPU.download(img1);
}
else
{
Canny(img1, img1, 100, 200, 3); //100, 200, 3);
}
// find the contours
vector< vector<Point> > contours;
findContours(img1, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
// Mask for segmented regiond
Mat mask = Mat::zeros(img1.rows, img1.cols, CV_8UC1);
vector<double> areas(contours.size());
if (minPixelSize==-1)
{ // Case of taking largest region
for(int i = 0; i < (int)contours.size(); i++)
areas[i] = contourArea(Mat(contours[i]));
double max;
Point maxPosition;
cv::minMaxLoc(Mat(areas),0,&max,0,&maxPosition);
drawContours(mask, contours, maxPosition.y, Scalar(1), CV_FILLED);
}
else
{ // Case for using minimum pixel size
for (int i = 0; i < (int)contours.size(); i++)
{
if (contourArea(Mat(contours[i]))>minPixelSize)
drawContours(mask, contours, i, Scalar(1), CV_FILLED);
}
}
// normalize so imwrite(...)/imshow(...) shows the mask correctly!
cv::normalize(mask.clone(), mask, 0.0, 255.0, CV_MINMAX, CV_8UC1);
Mat returnMask;
returnMask=mask(tempRect);
// show the images
if (displayFaces) imshow("Canny: Img in", img0);
if (displayFaces) imshow("Canny: Mask", returnMask);
if (displayFaces) imshow("Canny: Output", img1);
return returnMask;
}
Mat visionUtils::skinDetect(Mat captureframe, Mat3b *skinDetectHSV, Mat *skinMask, std::vector<int> adaptiveHSV, int minPixelSize, int imgBlurPixels, int imgMorphPixels, int singleRegionChoice, bool displayFaces)
{
if (adaptiveHSV.size()!=6 || adaptiveHSV.empty())
{
adaptiveHSV.clear();
adaptiveHSV.push_back(5);
adaptiveHSV.push_back(38);
adaptiveHSV.push_back(51);
adaptiveHSV.push_back(17);
adaptiveHSV.push_back(250);
adaptiveHSV.push_back(242);
}
//int step = 0;
Mat3b frameTemp;
Mat3b frame;
// Forcing resize to 640x480 -> all thresholds / pixel filters configured for this size.....
// Note returned to original size at end...
Size s = captureframe.size();
cv::resize(captureframe,captureframe,Size(640,480));
if (useGPU)
{
GpuMat imgGPU, imgGPUHSV;
imgGPU.upload(captureframe);
cv::cvtColor(imgGPU, imgGPUHSV, CV_BGR2HSV);
GaussianBlur(imgGPUHSV, imgGPUHSV, Size(imgBlurPixels,imgBlurPixels), 1, 1);
imgGPUHSV.download(frameTemp);
}
else
{
cv::cvtColor(captureframe, frameTemp, CV_BGR2HSV);
GaussianBlur(frameTemp, frameTemp, Size(imgBlurPixels,imgBlurPixels), 1, 1);
}
// Potential FASTER VERSION using inRange
Mat frameThreshold = Mat::zeros(frameTemp.rows,frameTemp.cols, CV_8UC1);
Mat hsvMin = (Mat_<int>(1,3) << adaptiveHSV[0], adaptiveHSV[1],adaptiveHSV[2] );
Mat hsvMax = (Mat_<int>(1,3) << adaptiveHSV[3], adaptiveHSV[4],adaptiveHSV[5] );
inRange(frameTemp,hsvMin ,hsvMax, frameThreshold);
frameTemp.copyTo(frame,frameThreshold);
/* BGR CONVERSION AND THRESHOLD */
Mat1b frame_gray;
// send HSV to skinDetectHSV for return
*skinDetectHSV=frame.clone();
cv::cvtColor(frame, frame_gray, CV_BGR2GRAY);
// Adaptive thresholding technique
// 1. Threshold data to find main areas of skin
adaptiveThreshold(frame_gray,frame_gray,255,ADAPTIVE_THRESH_GAUSSIAN_C,THRESH_BINARY_INV,9,1);
if (useGPU)
{
GpuMat imgGPU;
imgGPU.upload(frame_gray);
// 2. Fill in thresholded areas
#if CV_MAJOR_VERSION == 2
gpu::morphologyEx(imgGPU, imgGPU, CV_MOP_CLOSE, Mat1b(imgMorphPixels,imgMorphPixels,1), Point(-1, -1), 2);
gpu::GaussianBlur(imgGPU, imgGPU, Size(imgBlurPixels,imgBlurPixels), 1, 1);
#elif CV_MAJOR_VERSION == 3
//TODO: Check if that's correct
Mat element = getStructuringElement(MORPH_RECT, Size(imgMorphPixels, imgMorphPixels), Point(-1, -1));
Ptr<cuda::Filter> closeFilter = cuda::createMorphologyFilter(MORPH_CLOSE, imgGPU.type(), element, Point(-1, -1), 2);
closeFilter->apply(imgGPU, imgGPU);
cv::Ptr<cv::cuda::Filter> gaussianFilter = cv::cuda::createGaussianFilter(imgGPU.type(), imgGPU.type(), Size(imgMorphPixels, imgMorphPixels), 1, 1);
gaussianFilter->apply(imgGPU, imgGPU);
#endif
imgGPU.download(frame_gray);
}
else
{
// 2. Fill in thresholded areas
morphologyEx(frame_gray, frame_gray, CV_MOP_CLOSE, Mat1b(imgMorphPixels,imgMorphPixels,1), Point(-1, -1), 2);
GaussianBlur(frame_gray, frame_gray, Size(imgBlurPixels,imgBlurPixels), 1, 1);
// Select single largest region from image, if singleRegionChoice is selected (1)
}
if (singleRegionChoice)
{
*skinMask = cannySegmentation(frame_gray, -1, displayFaces);
}
else // Detect each separate block and remove blobs smaller than a few pixels
{
*skinMask = cannySegmentation(frame_gray, minPixelSize, displayFaces);
}
// Just return skin
Mat frame_skin;
captureframe.copyTo(frame_skin,*skinMask); // Copy captureframe data to frame_skin, using mask from frame_ttt
// Resize image to original before return
cv::resize(frame_skin,frame_skin,s);
if (displayFaces)
{
imshow("Skin HSV (B)",frame);
imshow("Adaptive_threshold (D1)",frame_gray);
imshow("Skin segmented",frame_skin);
}
return frame_skin;
waitKey(1);
}
inline
void Stream::enqueueUpload(InputArray src, GpuMat& dst)
{
dst.upload(src, *this);
}
void cv::gpu::evenLevels(GpuMat& levels, int nLevels, int lowerLevel, int upperLevel)
{
Mat host_levels(1, nLevels, CV_32SC1);
nppSafeCall( nppiEvenLevelsHost_32s(host_levels.ptr<Npp32s>(), nLevels, lowerLevel, upperLevel) );
levels.upload(host_levels);
}