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// License Agreement
// For Open Source Computer Vision Library
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#if !defined CUDA_DISABLER
#include "opencv2/core/cuda/common.hpp"
namespace cv { namespace cuda { namespace device
{
namespace optical_flow
{
#define NEEDLE_MAP_SCALE 16
#define NUM_VERTS_PER_ARROW 6
__global__ void NeedleMapAverageKernel(const PtrStepSzf u, const PtrStepf v, PtrStepf u_avg, PtrStepf v_avg)
{
__shared__ float smem[2 * NEEDLE_MAP_SCALE];
volatile float* u_col_sum = smem;
volatile float* v_col_sum = u_col_sum + NEEDLE_MAP_SCALE;
const int x = blockIdx.x * NEEDLE_MAP_SCALE + threadIdx.x;
const int y = blockIdx.y * NEEDLE_MAP_SCALE;
u_col_sum[threadIdx.x] = 0;
v_col_sum[threadIdx.x] = 0;
#pragma unroll
for(int i = 0; i < NEEDLE_MAP_SCALE; ++i)
{
u_col_sum[threadIdx.x] += u(::min(y + i, u.rows - 1), x);
v_col_sum[threadIdx.x] += v(::min(y + i, u.rows - 1), x);
}
if (threadIdx.x < 8)
{
// now add the column sums
const uint X = threadIdx.x;
if (X | 0xfe == 0xfe) // bit 0 is 0
{
u_col_sum[threadIdx.x] += u_col_sum[threadIdx.x + 1];
v_col_sum[threadIdx.x] += v_col_sum[threadIdx.x + 1];
}
if (X | 0xfe == 0xfc) // bits 0 & 1 == 0
{
u_col_sum[threadIdx.x] += u_col_sum[threadIdx.x + 2];
v_col_sum[threadIdx.x] += v_col_sum[threadIdx.x + 2];
}
if (X | 0xf8 == 0xf8)
{
u_col_sum[threadIdx.x] += u_col_sum[threadIdx.x + 4];
v_col_sum[threadIdx.x] += v_col_sum[threadIdx.x + 4];
}
if (X == 0)
{
u_col_sum[threadIdx.x] += u_col_sum[threadIdx.x + 8];
v_col_sum[threadIdx.x] += v_col_sum[threadIdx.x + 8];
}
}
if (threadIdx.x == 0)
{
const float coeff = 1.0f / (NEEDLE_MAP_SCALE * NEEDLE_MAP_SCALE);
u_col_sum[0] *= coeff;
v_col_sum[0] *= coeff;
u_avg(blockIdx.y, blockIdx.x) = u_col_sum[0];
v_avg(blockIdx.y, blockIdx.x) = v_col_sum[0];
}
}
void NeedleMapAverage_gpu(PtrStepSzf u, PtrStepSzf v, PtrStepSzf u_avg, PtrStepSzf v_avg)
{
const dim3 block(NEEDLE_MAP_SCALE);
const dim3 grid(u_avg.cols, u_avg.rows);
NeedleMapAverageKernel<<<grid, block>>>(u, v, u_avg, v_avg);
cudaSafeCall( cudaGetLastError() );
cudaSafeCall( cudaDeviceSynchronize() );
}
__global__ void NeedleMapVertexKernel(const PtrStepSzf u_avg, const PtrStepf v_avg, float* vertex_data, float* color_data, float max_flow, float xscale, float yscale)
{
// test - just draw a triangle at each pixel
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
const float arrow_x = x * NEEDLE_MAP_SCALE + NEEDLE_MAP_SCALE / 2.0f;
const float arrow_y = y * NEEDLE_MAP_SCALE + NEEDLE_MAP_SCALE / 2.0f;
float3 v[NUM_VERTS_PER_ARROW];
if (x < u_avg.cols && y < u_avg.rows)
{
const float u_avg_val = u_avg(y, x);
const float v_avg_val = v_avg(y, x);
const float theta = ::atan2f(v_avg_val, u_avg_val);
float r = ::sqrtf(v_avg_val * v_avg_val + u_avg_val * u_avg_val);
r = fmin(14.0f * (r / max_flow), 14.0f);
v[0].z = 1.0f;
v[1].z = 0.7f;
v[2].z = 0.7f;
v[3].z = 0.7f;
v[4].z = 0.7f;
v[5].z = 1.0f;
v[0].x = arrow_x;
v[0].y = arrow_y;
v[5].x = arrow_x;
v[5].y = arrow_y;
v[2].x = arrow_x + r * ::cosf(theta);
v[2].y = arrow_y + r * ::sinf(theta);
v[3].x = v[2].x;
v[3].y = v[2].y;
r = ::fmin(r, 2.5f);
v[1].x = arrow_x + r * ::cosf(theta - CV_PI_F / 2.0f);
v[1].y = arrow_y + r * ::sinf(theta - CV_PI_F / 2.0f);
v[4].x = arrow_x + r * ::cosf(theta + CV_PI_F / 2.0f);
v[4].y = arrow_y + r * ::sinf(theta + CV_PI_F / 2.0f);
int indx = (y * u_avg.cols + x) * NUM_VERTS_PER_ARROW * 3;
color_data[indx] = (theta - CV_PI_F) / CV_PI_F * 180.0f;
vertex_data[indx++] = v[0].x * xscale;
vertex_data[indx++] = v[0].y * yscale;
vertex_data[indx++] = v[0].z;
color_data[indx] = (theta - CV_PI_F) / CV_PI_F * 180.0f;
vertex_data[indx++] = v[1].x * xscale;
vertex_data[indx++] = v[1].y * yscale;
vertex_data[indx++] = v[1].z;
color_data[indx] = (theta - CV_PI_F) / CV_PI_F * 180.0f;
vertex_data[indx++] = v[2].x * xscale;
vertex_data[indx++] = v[2].y * yscale;
vertex_data[indx++] = v[2].z;
color_data[indx] = (theta - CV_PI_F) / CV_PI_F * 180.0f;
vertex_data[indx++] = v[3].x * xscale;
vertex_data[indx++] = v[3].y * yscale;
vertex_data[indx++] = v[3].z;
color_data[indx] = (theta - CV_PI_F) / CV_PI_F * 180.0f;
vertex_data[indx++] = v[4].x * xscale;
vertex_data[indx++] = v[4].y * yscale;
vertex_data[indx++] = v[4].z;
color_data[indx] = (theta - CV_PI_F) / CV_PI_F * 180.0f;
vertex_data[indx++] = v[5].x * xscale;
vertex_data[indx++] = v[5].y * yscale;
vertex_data[indx++] = v[5].z;
}
}
void CreateOpticalFlowNeedleMap_gpu(PtrStepSzf u_avg, PtrStepSzf v_avg, float* vertex_buffer, float* color_data, float max_flow, float xscale, float yscale)
{
const dim3 block(16);
const dim3 grid(divUp(u_avg.cols, block.x), divUp(u_avg.rows, block.y));
NeedleMapVertexKernel<<<grid, block>>>(u_avg, v_avg, vertex_buffer, color_data, max_flow, xscale, yscale);
cudaSafeCall( cudaGetLastError() );
cudaSafeCall( cudaDeviceSynchronize() );
}
}
}}}
#endif /* CUDA_DISABLER */