bool _Flow::init(void* pKiss)
{
CHECK_F(!this->_ThreadBase::init(pKiss));
Kiss* pK = (Kiss*)pKiss;
pK->m_pInst = this;
string presetDir = "";
string labelFile;
F_INFO(pK->root()->o("APP")->v("presetDir", &presetDir));
F_INFO(pK->v("bDepth", &m_bDepth));
F_INFO(pK->v("width", &m_width));
F_INFO(pK->v("height", &m_height));
F_INFO(pK->v("flowMax", &m_flowMax));
F_INFO(pK->v("colorFile", &labelFile));
m_pDepth = new Frame();
m_pFarn = cuda::FarnebackOpticalFlow::create();
m_pGrayFrames = new FrameGroup();
m_pGrayFrames->init(2);
m_GDMat = GpuMat(m_height, m_width, CV_32FC1, Scalar(0));
return true;
// m_labelColor = imread(presetDir+labelFile, 1);
// m_pGpuLUT = cuda::createLookUpTable(m_labelColor);
// m_pSeg = new CamFrame();
// m_flowMat = GpuMat(SMALL_WIDTH, SMALL_HEIGHT, CV_32FC2);
}
void SurfFeaturesFinderGpu::find(const Mat &image, ImageFeatures &features)
{
CV_Assert(image.depth() == CV_8U);
ensureSizeIsEnough(image.size(), image.type(), image_);
image_.upload(image);
ensureSizeIsEnough(image.size(), CV_8UC1, gray_image_);
cvtColor(image_, gray_image_, CV_BGR2GRAY);
surf_.nOctaves = num_octaves_;
surf_.nOctaveLayers = num_layers_;
surf_.upright = false;
surf_(gray_image_, GpuMat(), keypoints_);
surf_.nOctaves = num_octaves_descr_;
surf_.nOctaveLayers = num_layers_descr_;
surf_.upright = true;
surf_(gray_image_, GpuMat(), keypoints_, descriptors_, true);
surf_.downloadKeypoints(keypoints_, features.keypoints);
descriptors_.download(features.descriptors);
}
//cuda version
void LKTracker::normCrossCorrelation(const GpuMat& img1, const GpuMat& img2, const GpuMat& gPoints1, const GpuMat& gPoints2, const vector<Point2f>& points1, const vector<Point2f> points2) {
GpuMat res;
GpuMat rec0;
GpuMat rec1;
similarity.clear();
for (int i = 0; i < points1.size(); i++) {
if (status[i] == 1) {
Rect loc0(points1[i].x, points1[i].y, 10, 10);
Rect loc1(points2[i].x, points2[i].y, 10, 10);
rec0 = GpuMat(img1, loc0);
rec1 = GpuMat(img2, loc1);
gpu::matchTemplate(rec0, rec1, res, CV_TM_CCOEFF_NORMED);
similarity.push_back(((float *)(res.data))[0]);
}
else {
similarity.push_back(0.0);
}
}
rec0.release();
rec1.release();
res.release();
}
inline
GpuMat GpuMat::operator ()(Rect roi) const
{
return GpuMat(*this, roi);
}
inline
GpuMat GpuMat::operator ()(Range rowRange_, Range colRange_) const
{
return GpuMat(*this, rowRange_, colRange_);
}
inline
GpuMat GpuMat::colRange(Range r) const
{
return GpuMat(*this, Range::all(), r);
}
inline
GpuMat GpuMat::colRange(int startcol, int endcol) const
{
return GpuMat(*this, Range::all(), Range(startcol, endcol));
}
inline
GpuMat GpuMat::rowRange(Range r) const
{
return GpuMat(*this, r, Range::all());
}
inline
GpuMat GpuMat::rowRange(int startrow, int endrow) const
{
return GpuMat(*this, Range(startrow, endrow), Range::all());
}
inline
GpuMat GpuMat::col(int x) const
{
return GpuMat(*this, Range::all(), Range(x, x+1));
}
inline
GpuMat GpuMat::row(int y) const
{
return GpuMat(*this, Range(y, y+1), Range::all());
}
namespace cv { namespace gpu {
//! adds one matrix to another (c = a + b)
CV_EXPORTS void add(const GpuMat& a, const GpuMat& b, GpuMat& c, const GpuMat& mask = GpuMat(), int dtype = -1, Stream& stream = Stream::Null());
//! adds scalar to a matrix (c = a + s)
CV_EXPORTS void add(const GpuMat& a, const Scalar& sc, GpuMat& c, const GpuMat& mask = GpuMat(), int dtype = -1, Stream& stream = Stream::Null());
//! subtracts one matrix from another (c = a - b)
CV_EXPORTS void subtract(const GpuMat& a, const GpuMat& b, GpuMat& c, const GpuMat& mask = GpuMat(), int dtype = -1, Stream& stream = Stream::Null());
//! subtracts scalar from a matrix (c = a - s)
CV_EXPORTS void subtract(const GpuMat& a, const Scalar& sc, GpuMat& c, const GpuMat& mask = GpuMat(), int dtype = -1, Stream& stream = Stream::Null());
//! computes element-wise weighted product of the two arrays (c = scale * a * b)
CV_EXPORTS void multiply(const GpuMat& a, const GpuMat& b, GpuMat& c, double scale = 1, int dtype = -1, Stream& stream = Stream::Null());
//! weighted multiplies matrix to a scalar (c = scale * a * s)
CV_EXPORTS void multiply(const GpuMat& a, const Scalar& sc, GpuMat& c, double scale = 1, int dtype = -1, Stream& stream = Stream::Null());
//! computes element-wise weighted quotient of the two arrays (c = a / b)
CV_EXPORTS void divide(const GpuMat& a, const GpuMat& b, GpuMat& c, double scale = 1, int dtype = -1, Stream& stream = Stream::Null());
//! computes element-wise weighted quotient of matrix and scalar (c = a / s)
CV_EXPORTS void divide(const GpuMat& a, const Scalar& sc, GpuMat& c, double scale = 1, int dtype = -1, Stream& stream = Stream::Null());
//! computes element-wise weighted reciprocal of an array (dst = scale/src2)
CV_EXPORTS void divide(double scale, const GpuMat& b, GpuMat& c, int dtype = -1, Stream& stream = Stream::Null());
//! computes the weighted sum of two arrays (dst = alpha*src1 + beta*src2 + gamma)
CV_EXPORTS void addWeighted(const GpuMat& src1, double alpha, const GpuMat& src2, double beta, double gamma, GpuMat& dst,
int dtype = -1, Stream& stream = Stream::Null());
//! adds scaled array to another one (dst = alpha*src1 + src2)
static inline void scaleAdd(const GpuMat& src1, double alpha, const GpuMat& src2, GpuMat& dst, Stream& stream = Stream::Null())
{
addWeighted(src1, alpha, src2, 1.0, 0.0, dst, -1, stream);
}
//! computes element-wise absolute difference of two arrays (c = abs(a - b))
CV_EXPORTS void absdiff(const GpuMat& a, const GpuMat& b, GpuMat& c, Stream& stream = Stream::Null());
//! computes element-wise absolute difference of array and scalar (c = abs(a - s))
CV_EXPORTS void absdiff(const GpuMat& a, const Scalar& s, GpuMat& c, Stream& stream = Stream::Null());
//! computes absolute value of each matrix element
//! supports CV_16S and CV_32F depth
CV_EXPORTS void abs(const GpuMat& src, GpuMat& dst, Stream& stream = Stream::Null());
//! computes square of each pixel in an image
//! supports CV_8U, CV_16U, CV_16S and CV_32F depth
CV_EXPORTS void sqr(const GpuMat& src, GpuMat& dst, Stream& stream = Stream::Null());
//! computes square root of each pixel in an image
//! supports CV_8U, CV_16U, CV_16S and CV_32F depth
CV_EXPORTS void sqrt(const GpuMat& src, GpuMat& dst, Stream& stream = Stream::Null());
//! computes exponent of each matrix element (b = e**a)
//! supports CV_8U, CV_16U, CV_16S and CV_32F depth
CV_EXPORTS void exp(const GpuMat& a, GpuMat& b, Stream& stream = Stream::Null());
//! computes natural logarithm of absolute value of each matrix element: b = log(abs(a))
//! supports CV_8U, CV_16U, CV_16S and CV_32F depth
CV_EXPORTS void log(const GpuMat& a, GpuMat& b, Stream& stream = Stream::Null());
//! computes power of each matrix element:
// (dst(i,j) = pow( src(i,j) , power), if src.type() is integer
// (dst(i,j) = pow(fabs(src(i,j)), power), otherwise
//! supports all, except depth == CV_64F
CV_EXPORTS void pow(const GpuMat& src, double power, GpuMat& dst, Stream& stream = Stream::Null());
//! compares elements of two arrays (c = a <cmpop> b)
CV_EXPORTS void compare(const GpuMat& a, const GpuMat& b, GpuMat& c, int cmpop, Stream& stream = Stream::Null());
CV_EXPORTS void compare(const GpuMat& a, Scalar sc, GpuMat& c, int cmpop, Stream& stream = Stream::Null());
//! performs per-elements bit-wise inversion
CV_EXPORTS void bitwise_not(const GpuMat& src, GpuMat& dst, const GpuMat& mask=GpuMat(), Stream& stream = Stream::Null());
//! calculates per-element bit-wise disjunction of two arrays
CV_EXPORTS void bitwise_or(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, const GpuMat& mask=GpuMat(), Stream& stream = Stream::Null());
//! calculates per-element bit-wise disjunction of array and scalar
//! supports 1, 3 and 4 channels images with CV_8U, CV_16U or CV_32S depth
CV_EXPORTS void bitwise_or(const GpuMat& src1, const Scalar& sc, GpuMat& dst, Stream& stream = Stream::Null());
//! calculates per-element bit-wise conjunction of two arrays
CV_EXPORTS void bitwise_and(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, const GpuMat& mask=GpuMat(), Stream& stream = Stream::Null());
//! calculates per-element bit-wise conjunction of array and scalar
//! supports 1, 3 and 4 channels images with CV_8U, CV_16U or CV_32S depth
CV_EXPORTS void bitwise_and(const GpuMat& src1, const Scalar& sc, GpuMat& dst, Stream& stream = Stream::Null());
//! calculates per-element bit-wise "exclusive or" operation
CV_EXPORTS void bitwise_xor(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, const GpuMat& mask=GpuMat(), Stream& stream = Stream::Null());
//! calculates per-element bit-wise "exclusive or" of array and scalar
//! supports 1, 3 and 4 channels images with CV_8U, CV_16U or CV_32S depth
CV_EXPORTS void bitwise_xor(const GpuMat& src1, const Scalar& sc, GpuMat& dst, Stream& stream = Stream::Null());
//! pixel by pixel right shift of an image by a constant value
//! supports 1, 3 and 4 channels images with integers elements
CV_EXPORTS void rshift(const GpuMat& src, Scalar_<int> sc, GpuMat& dst, Stream& stream = Stream::Null());
//! pixel by pixel left shift of an image by a constant value
//! supports 1, 3 and 4 channels images with CV_8U, CV_16U or CV_32S depth
CV_EXPORTS void lshift(const GpuMat& src, Scalar_<int> sc, GpuMat& dst, Stream& stream = Stream::Null());
//! computes per-element minimum of two arrays (dst = min(src1, src2))
CV_EXPORTS void min(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, Stream& stream = Stream::Null());
//! computes per-element minimum of array and scalar (dst = min(src1, src2))
CV_EXPORTS void min(const GpuMat& src1, double src2, GpuMat& dst, Stream& stream = Stream::Null());
//! computes per-element maximum of two arrays (dst = max(src1, src2))
CV_EXPORTS void max(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, Stream& stream = Stream::Null());
//! computes per-element maximum of array and scalar (dst = max(src1, src2))
CV_EXPORTS void max(const GpuMat& src1, double src2, GpuMat& dst, Stream& stream = Stream::Null());
//! implements generalized matrix product algorithm GEMM from BLAS
CV_EXPORTS void gemm(const GpuMat& src1, const GpuMat& src2, double alpha,
const GpuMat& src3, double beta, GpuMat& dst, int flags = 0, Stream& stream = Stream::Null());
//! transposes the matrix
//! supports matrix with element size = 1, 4 and 8 bytes (CV_8UC1, CV_8UC4, CV_16UC2, CV_32FC1, etc)
CV_EXPORTS void transpose(const GpuMat& src1, GpuMat& dst, Stream& stream = Stream::Null());
//! reverses the order of the rows, columns or both in a matrix
//! supports 1, 3 and 4 channels images with CV_8U, CV_16U, CV_32S or CV_32F depth
CV_EXPORTS void flip(const GpuMat& a, GpuMat& b, int flipCode, Stream& stream = Stream::Null());
//! transforms 8-bit unsigned integers using lookup table: dst(i)=lut(src(i))
//! destination array will have the depth type as lut and the same channels number as source
//! supports CV_8UC1, CV_8UC3 types
CV_EXPORTS void LUT(const GpuMat& src, const Mat& lut, GpuMat& dst, Stream& stream = Stream::Null());
//! makes multi-channel array out of several single-channel arrays
CV_EXPORTS void merge(const GpuMat* src, size_t n, GpuMat& dst, Stream& stream = Stream::Null());
//! makes multi-channel array out of several single-channel arrays
CV_EXPORTS void merge(const std::vector<GpuMat>& src, GpuMat& dst, Stream& stream = Stream::Null());
//! copies each plane of a multi-channel array to a dedicated array
CV_EXPORTS void split(const GpuMat& src, GpuMat* dst, Stream& stream = Stream::Null());
//! copies each plane of a multi-channel array to a dedicated array
CV_EXPORTS void split(const GpuMat& src, std::vector<GpuMat>& dst, Stream& stream = Stream::Null());
//! computes magnitude of complex (x(i).re, x(i).im) vector
//! supports only CV_32FC2 type
CV_EXPORTS void magnitude(const GpuMat& xy, GpuMat& magnitude, Stream& stream = Stream::Null());
//! computes squared magnitude of complex (x(i).re, x(i).im) vector
//! supports only CV_32FC2 type
CV_EXPORTS void magnitudeSqr(const GpuMat& xy, GpuMat& magnitude, Stream& stream = Stream::Null());
//! computes magnitude of each (x(i), y(i)) vector
//! supports only floating-point source
CV_EXPORTS void magnitude(const GpuMat& x, const GpuMat& y, GpuMat& magnitude, Stream& stream = Stream::Null());
//! computes squared magnitude of each (x(i), y(i)) vector
//! supports only floating-point source
CV_EXPORTS void magnitudeSqr(const GpuMat& x, const GpuMat& y, GpuMat& magnitude, Stream& stream = Stream::Null());
//! computes angle (angle(i)) of each (x(i), y(i)) vector
//! supports only floating-point source
CV_EXPORTS void phase(const GpuMat& x, const GpuMat& y, GpuMat& angle, bool angleInDegrees = false, Stream& stream = Stream::Null());
//! converts Cartesian coordinates to polar
//! supports only floating-point source
CV_EXPORTS void cartToPolar(const GpuMat& x, const GpuMat& y, GpuMat& magnitude, GpuMat& angle, bool angleInDegrees = false, Stream& stream = Stream::Null());
//! converts polar coordinates to Cartesian
//! supports only floating-point source
CV_EXPORTS void polarToCart(const GpuMat& magnitude, const GpuMat& angle, GpuMat& x, GpuMat& y, bool angleInDegrees = false, Stream& stream = Stream::Null());
//! scales and shifts array elements so that either the specified norm (alpha) or the minimum (alpha) and maximum (beta) array values get the specified values
CV_EXPORTS void normalize(const GpuMat& src, GpuMat& dst, double alpha = 1, double beta = 0,
int norm_type = NORM_L2, int dtype = -1, const GpuMat& mask = GpuMat());
CV_EXPORTS void normalize(const GpuMat& src, GpuMat& dst, double a, double b,
int norm_type, int dtype, const GpuMat& mask, GpuMat& norm_buf, GpuMat& cvt_buf);
//! computes norm of array
//! supports NORM_INF, NORM_L1, NORM_L2
//! supports all matrices except 64F
CV_EXPORTS double norm(const GpuMat& src1, int normType=NORM_L2);
CV_EXPORTS double norm(const GpuMat& src1, int normType, GpuMat& buf);
CV_EXPORTS double norm(const GpuMat& src1, int normType, const GpuMat& mask, GpuMat& buf);
//! computes norm of the difference between two arrays
//! supports NORM_INF, NORM_L1, NORM_L2
//! supports only CV_8UC1 type
CV_EXPORTS double norm(const GpuMat& src1, const GpuMat& src2, int normType=NORM_L2);
//! computes sum of array elements
//! supports only single channel images
CV_EXPORTS Scalar sum(const GpuMat& src);
CV_EXPORTS Scalar sum(const GpuMat& src, GpuMat& buf);
CV_EXPORTS Scalar sum(const GpuMat& src, const GpuMat& mask, GpuMat& buf);
//! computes sum of array elements absolute values
//! supports only single channel images
CV_EXPORTS Scalar absSum(const GpuMat& src);
CV_EXPORTS Scalar absSum(const GpuMat& src, GpuMat& buf);
CV_EXPORTS Scalar absSum(const GpuMat& src, const GpuMat& mask, GpuMat& buf);
//! computes squared sum of array elements
//! supports only single channel images
CV_EXPORTS Scalar sqrSum(const GpuMat& src);
CV_EXPORTS Scalar sqrSum(const GpuMat& src, GpuMat& buf);
CV_EXPORTS Scalar sqrSum(const GpuMat& src, const GpuMat& mask, GpuMat& buf);
//! finds global minimum and maximum array elements and returns their values
CV_EXPORTS void minMax(const GpuMat& src, double* minVal, double* maxVal=0, const GpuMat& mask=GpuMat());
CV_EXPORTS void minMax(const GpuMat& src, double* minVal, double* maxVal, const GpuMat& mask, GpuMat& buf);
//! finds global minimum and maximum array elements and returns their values with locations
CV_EXPORTS void minMaxLoc(const GpuMat& src, double* minVal, double* maxVal=0, Point* minLoc=0, Point* maxLoc=0,
const GpuMat& mask=GpuMat());
CV_EXPORTS void minMaxLoc(const GpuMat& src, double* minVal, double* maxVal, Point* minLoc, Point* maxLoc,
const GpuMat& mask, GpuMat& valbuf, GpuMat& locbuf);
//! counts non-zero array elements
CV_EXPORTS int countNonZero(const GpuMat& src);
CV_EXPORTS int countNonZero(const GpuMat& src, GpuMat& buf);
//! reduces a matrix to a vector
CV_EXPORTS void reduce(const GpuMat& mtx, GpuMat& vec, int dim, int reduceOp, int dtype = -1, Stream& stream = Stream::Null());
//! computes mean value and standard deviation of all or selected array elements
//! supports only CV_8UC1 type
CV_EXPORTS void meanStdDev(const GpuMat& mtx, Scalar& mean, Scalar& stddev);
//! buffered version
CV_EXPORTS void meanStdDev(const GpuMat& mtx, Scalar& mean, Scalar& stddev, GpuMat& buf);
//! computes the standard deviation of integral images
//! supports only CV_32SC1 source type and CV_32FC1 sqr type
//! output will have CV_32FC1 type
CV_EXPORTS void rectStdDev(const GpuMat& src, const GpuMat& sqr, GpuMat& dst, const Rect& rect, Stream& stream = Stream::Null());
//! copies 2D array to a larger destination array and pads borders with user-specifiable constant
CV_EXPORTS void copyMakeBorder(const GpuMat& src, GpuMat& dst, int top, int bottom, int left, int right, int borderType,
const Scalar& value = Scalar(), Stream& stream = Stream::Null());
//! applies fixed threshold to the image
CV_EXPORTS double threshold(const GpuMat& src, GpuMat& dst, double thresh, double maxval, int type, Stream& stream = Stream::Null());
//! computes the integral image
//! sum will have CV_32S type, but will contain unsigned int values
//! supports only CV_8UC1 source type
CV_EXPORTS void integral(const GpuMat& src, GpuMat& sum, Stream& stream = Stream::Null());
//! buffered version
CV_EXPORTS void integralBuffered(const GpuMat& src, GpuMat& sum, GpuMat& buffer, Stream& stream = Stream::Null());
//! computes squared integral image
//! result matrix will have 64F type, but will contain 64U values
//! supports source images of 8UC1 type only
CV_EXPORTS void sqrIntegral(const GpuMat& src, GpuMat& sqsum, Stream& stream = Stream::Null());
//! performs per-element multiplication of two full (not packed) Fourier spectrums
//! supports 32FC2 matrixes only (interleaved format)
CV_EXPORTS void mulSpectrums(const GpuMat& a, const GpuMat& b, GpuMat& c, int flags, bool conjB=false, Stream& stream = Stream::Null());
//! performs per-element multiplication of two full (not packed) Fourier spectrums
//! supports 32FC2 matrixes only (interleaved format)
CV_EXPORTS void mulAndScaleSpectrums(const GpuMat& a, const GpuMat& b, GpuMat& c, int flags, float scale, bool conjB=false, Stream& stream = Stream::Null());
//! Performs a forward or inverse discrete Fourier transform (1D or 2D) of floating point matrix.
//! Param dft_size is the size of DFT transform.
//!
//! If the source matrix is not continous, then additional copy will be done,
//! so to avoid copying ensure the source matrix is continous one. If you want to use
//! preallocated output ensure it is continuous too, otherwise it will be reallocated.
//!
//! Being implemented via CUFFT real-to-complex transform result contains only non-redundant values
//! in CUFFT's format. Result as full complex matrix for such kind of transform cannot be retrieved.
//!
//! For complex-to-real transform it is assumed that the source matrix is packed in CUFFT's format.
CV_EXPORTS void dft(const GpuMat& src, GpuMat& dst, Size dft_size, int flags=0, Stream& stream = Stream::Null());
struct CV_EXPORTS ConvolveBuf
{
Size result_size;
Size block_size;
Size user_block_size;
Size dft_size;
int spect_len;
GpuMat image_spect, templ_spect, result_spect;
GpuMat image_block, templ_block, result_data;
void create(Size image_size, Size templ_size);
static Size estimateBlockSize(Size result_size, Size templ_size);
};
//! computes convolution (or cross-correlation) of two images using discrete Fourier transform
//! supports source images of 32FC1 type only
//! result matrix will have 32FC1 type
CV_EXPORTS void convolve(const GpuMat& image, const GpuMat& templ, GpuMat& result, bool ccorr = false);
CV_EXPORTS void convolve(const GpuMat& image, const GpuMat& templ, GpuMat& result, bool ccorr, ConvolveBuf& buf, Stream& stream = Stream::Null());
}} // namespace cv { namespace gpu {
//! returns deep copy of the GpuMatrix, i.e. the data is copied
GpuMat clone() const;
//! copies the GpuMatrix content to "m".
// It calls m.create(this->size(), this->type()).
void copyTo( GpuMat& m ) const;
//! copies those GpuMatrix elements to "m" that are marked with non-zero mask elements.
void copyTo( GpuMat& m, const GpuMat& mask ) const;
//! converts GpuMatrix to another datatype with optional scalng. See cvConvertScale.
void convertTo( GpuMat& m, int rtype, double alpha=1, double beta=0 ) const;
void assignTo( GpuMat& m, int type=-1 ) const;
//! sets every GpuMatrix element to s
GpuMat& operator = (const Scalar& s);
//! sets some of the GpuMatrix elements to s, according to the mask
GpuMat& setTo(const Scalar& s, const GpuMat& mask = GpuMat());
//! creates alternative GpuMatrix header for the same data, with different
// number of channels and/or different number of rows. see cvReshape.
GpuMat reshape(int cn, int rows = 0) const;
//! allocates new GpuMatrix data unless the GpuMatrix already has specified size and type.
// previous data is unreferenced if needed.
void create(int rows, int cols, int type);
void create(Size size, int type);
//! decreases reference counter;
// deallocate the data when reference counter reaches 0.
void release();
//! swaps with other smart pointer
void swap(GpuMat& mat);
