1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include "precomp.hpp" 44 45 using namespace cv; 46 using namespace cv::cuda; 47 48 #if !defined (HAVE_CUDA) || !defined(HAVE_OPENCV_CUDAIMGPROC) || defined (CUDA_DISABLER) 49 50 void cv::cuda::createOpticalFlowNeedleMap(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&) { throw_no_cuda(); } 51 52 #else 53 54 namespace cv { namespace cuda { namespace device 55 { 56 namespace optical_flow 57 { 58 void NeedleMapAverage_gpu(PtrStepSzf u, PtrStepSzf v, PtrStepSzf u_avg, PtrStepSzf v_avg); 59 void CreateOpticalFlowNeedleMap_gpu(PtrStepSzf u_avg, PtrStepSzf v_avg, float* vertex_buffer, float* color_data, float max_flow, float xscale, float yscale); 60 } 61 }}} 62 63 void cv::cuda::createOpticalFlowNeedleMap(const GpuMat& u, const GpuMat& v, GpuMat& vertex, GpuMat& colors) 64 { 65 using namespace cv::cuda::device::optical_flow; 66 67 CV_Assert(u.type() == CV_32FC1); 68 CV_Assert(v.type() == u.type() && v.size() == u.size()); 69 70 const int NEEDLE_MAP_SCALE = 16; 71 72 const int x_needles = u.cols / NEEDLE_MAP_SCALE; 73 const int y_needles = u.rows / NEEDLE_MAP_SCALE; 74 75 GpuMat u_avg(y_needles, x_needles, CV_32FC1); 76 GpuMat v_avg(y_needles, x_needles, CV_32FC1); 77 78 NeedleMapAverage_gpu(u, v, u_avg, v_avg); 79 80 const int NUM_VERTS_PER_ARROW = 6; 81 82 const int num_arrows = x_needles * y_needles * NUM_VERTS_PER_ARROW; 83 84 vertex.create(1, num_arrows, CV_32FC3); 85 colors.create(1, num_arrows, CV_32FC3); 86 87 colors.setTo(Scalar::all(1.0)); 88 89 double uMax, vMax; 90 cuda::minMax(u_avg, 0, &uMax); 91 cuda::minMax(v_avg, 0, &vMax); 92 93 float max_flow = static_cast<float>(std::sqrt(uMax * uMax + vMax * vMax)); 94 95 CreateOpticalFlowNeedleMap_gpu(u_avg, v_avg, vertex.ptr<float>(), colors.ptr<float>(), max_flow, 1.0f / u.cols, 1.0f / u.rows); 96 97 cuda::cvtColor(colors, colors, COLOR_HSV2RGB); 98 } 99 100 #endif /* HAVE_CUDA */ 101
