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
createOpticalFlowNeedleMap(const GpuMat &,const GpuMat &,GpuMat &,GpuMat &)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
createOpticalFlowNeedleMap(const GpuMat & u,const GpuMat & v,GpuMat & vertex,GpuMat & colors)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