f4334277
 Hu Chunming
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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
//
// Copyright (C) 2020 Intel Corporation
#include "precomp.hpp"
#include <opencv2/gapi/video.hpp>
#include <opencv2/gapi/cpu/video.hpp>
#include <opencv2/gapi/cpu/gcpukernel.hpp>
#ifdef HAVE_OPENCV_VIDEO
#include <opencv2/video.hpp>
#endif // HAVE_OPENCV_VIDEO
#ifdef HAVE_OPENCV_VIDEO
GAPI_OCV_KERNEL(GCPUBuildOptFlowPyramid, cv::gapi::video::GBuildOptFlowPyramid)
{
static void run(const cv::Mat &img,
const cv::Size &winSize,
const cv::Scalar &maxLevel,
bool withDerivatives,
int pyrBorder,
int derivBorder,
bool tryReuseInputImage,
std::vector<cv::Mat> &outPyr,
cv::Scalar &outMaxLevel)
{
outMaxLevel = cv::buildOpticalFlowPyramid(img, outPyr, winSize,
static_cast<int>(maxLevel[0]),
withDerivatives, pyrBorder,
derivBorder, tryReuseInputImage);
}
};
GAPI_OCV_KERNEL(GCPUCalcOptFlowLK, cv::gapi::video::GCalcOptFlowLK)
{
static void run(const cv::Mat &prevImg,
const cv::Mat &nextImg,
const std::vector<cv::Point2f> &prevPts,
const std::vector<cv::Point2f> &predPts,
const cv::Size &winSize,
const cv::Scalar &maxLevel,
const cv::TermCriteria &criteria,
int flags,
double minEigThresh,
std::vector<cv::Point2f> &outPts,
std::vector<uchar> &status,
std::vector<float> &err)
{
if (flags & cv::OPTFLOW_USE_INITIAL_FLOW)
outPts = predPts;
cv::calcOpticalFlowPyrLK(prevImg, nextImg, prevPts, outPts, status, err, winSize,
static_cast<int>(maxLevel[0]), criteria, flags, minEigThresh);
}
};
GAPI_OCV_KERNEL(GCPUCalcOptFlowLKForPyr, cv::gapi::video::GCalcOptFlowLKForPyr)
{
static void run(const std::vector<cv::Mat> &prevPyr,
const std::vector<cv::Mat> &nextPyr,
const std::vector<cv::Point2f> &prevPts,
const std::vector<cv::Point2f> &predPts,
const cv::Size &winSize,
const cv::Scalar &maxLevel,
const cv::TermCriteria &criteria,
int flags,
double minEigThresh,
std::vector<cv::Point2f> &outPts,
std::vector<uchar> &status,
std::vector<float> &err)
{
if (flags & cv::OPTFLOW_USE_INITIAL_FLOW)
outPts = predPts;
cv::calcOpticalFlowPyrLK(prevPyr, nextPyr, prevPts, outPts, status, err, winSize,
static_cast<int>(maxLevel[0]), criteria, flags, minEigThresh);
}
};
GAPI_OCV_KERNEL_ST(GCPUBackgroundSubtractor,
cv::gapi::video::GBackgroundSubtractor,
cv::BackgroundSubtractor)
{
static void setup(const cv::GMatDesc&, const cv::gapi::video::BackgroundSubtractorParams& bsParams,
std::shared_ptr<cv::BackgroundSubtractor>& state,
const cv::GCompileArgs&)
{
if (bsParams.operation == cv::gapi::video::TYPE_BS_MOG2)
state = cv::createBackgroundSubtractorMOG2(bsParams.history,
bsParams.threshold,
bsParams.detectShadows);
else if (bsParams.operation == cv::gapi::video::TYPE_BS_KNN)
state = cv::createBackgroundSubtractorKNN(bsParams.history,
bsParams.threshold,
bsParams.detectShadows);
GAPI_Assert(state);
}
static void run(const cv::Mat& in, const cv::gapi::video::BackgroundSubtractorParams& bsParams,
cv::Mat &out, cv::BackgroundSubtractor& state)
{
state.apply(in, out, bsParams.learningRate);
}
};
GAPI_OCV_KERNEL_ST(GCPUKalmanFilter, cv::gapi::video::GKalmanFilter, cv::KalmanFilter)
{
static void setup(const cv::GMatDesc&, const cv::GOpaqueDesc&,
const cv::GMatDesc&, const cv::gapi::KalmanParams& kfParams,
std::shared_ptr<cv::KalmanFilter> &state, const cv::GCompileArgs&)
{
state = std::make_shared<cv::KalmanFilter>(kfParams.transitionMatrix.rows, kfParams.measurementMatrix.rows,
kfParams.controlMatrix.cols, kfParams.transitionMatrix.type());
// initial state
kfParams.state.copyTo(state->statePost);
kfParams.errorCov.copyTo(state->errorCovPost);
// dynamic system initialization
kfParams.controlMatrix.copyTo(state->controlMatrix);
kfParams.measurementMatrix.copyTo(state->measurementMatrix);
kfParams.transitionMatrix.copyTo(state->transitionMatrix);
kfParams.processNoiseCov.copyTo(state->processNoiseCov);
kfParams.measurementNoiseCov.copyTo(state->measurementNoiseCov);
}
static void run(const cv::Mat& measurements, bool haveMeasurement,
const cv::Mat& control, const cv::gapi::KalmanParams&,
cv::Mat &out, cv::KalmanFilter& state)
{
cv::Mat pre = state.predict(control);
if (haveMeasurement)
state.correct(measurements).copyTo(out);
else
pre.copyTo(out);
}
};
GAPI_OCV_KERNEL_ST(GCPUKalmanFilterNoControl, cv::gapi::video::GKalmanFilterNoControl, cv::KalmanFilter)
{
static void setup(const cv::GMatDesc&, const cv::GOpaqueDesc&,
const cv::gapi::KalmanParams& kfParams,
std::shared_ptr<cv::KalmanFilter> &state,
const cv::GCompileArgs&)
{
state = std::make_shared<cv::KalmanFilter>(kfParams.transitionMatrix.rows, kfParams.measurementMatrix.rows,
0, kfParams.transitionMatrix.type());
// initial state
kfParams.state.copyTo(state->statePost);
kfParams.errorCov.copyTo(state->errorCovPost);
// dynamic system initialization
kfParams.measurementMatrix.copyTo(state->measurementMatrix);
kfParams.transitionMatrix.copyTo(state->transitionMatrix);
kfParams.processNoiseCov.copyTo(state->processNoiseCov);
kfParams.measurementNoiseCov.copyTo(state->measurementNoiseCov);
}
static void run(const cv::Mat& measurements, bool haveMeasurement,
const cv::gapi::KalmanParams&, cv::Mat &out,
cv::KalmanFilter& state)
{
cv::Mat pre = state.predict();
if (haveMeasurement)
state.correct(measurements).copyTo(out);
else
pre.copyTo(out);
}
};
cv::gapi::GKernelPackage cv::gapi::video::cpu::kernels()
{
static auto pkg = cv::gapi::kernels
< GCPUBuildOptFlowPyramid
, GCPUCalcOptFlowLK
, GCPUCalcOptFlowLKForPyr
, GCPUBackgroundSubtractor
, GCPUKalmanFilter
, GCPUKalmanFilterNoControl
>();
return pkg;
}
#else
cv::gapi::GKernelPackage cv::gapi::video::cpu::kernels()
{
return GKernelPackage();
}
#endif // HAVE_OPENCV_VIDEO
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