diff --git a/components/operators/src/nvopticalflow.cpp b/components/operators/src/nvopticalflow.cpp
index 2426c10197a165b02929f444544cdc338de98cf7..ebbda2112285fd4f3cf527fe5db5a77c04057e7f 100644
--- a/components/operators/src/nvopticalflow.cpp
+++ b/components/operators/src/nvopticalflow.cpp
@@ -19,12 +19,17 @@ using cv::Size;
using cv::cuda::GpuMat;
NVOpticalFlow::NVOpticalFlow(ftl::Configurable* cfg) :
- ftl::operators::Operator(cfg), channel_in_{ftl::codecs::Channel::Colour,ftl::codecs::Channel::Colour2}, channel_out_{ftl::codecs::Channel::Flow,ftl::codecs::Channel::Flow2} {
- size_ = Size(0, 0);
+ ftl::operators::Operator(cfg),
+ channel_in_{ftl::codecs::Channel::Colour,ftl::codecs::Channel::Colour2},
+ channel_out_{ftl::codecs::Channel::Flow,ftl::codecs::Channel::Flow2},
+ nvof_(nullptr) {
+ size_ = Size(0, 0);
}
-NVOpticalFlow::NVOpticalFlow(ftl::Configurable*cfg, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel> &channels) : ftl::operators::Operator(cfg) {
+NVOpticalFlow::NVOpticalFlow(ftl::Configurable*cfg, const std::tuple<ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel,ftl::codecs::Channel> &channels) :
+ ftl::operators::Operator(cfg), nvof_(nullptr) {
+
channel_in_[0] = std::get<0>(channels);
channel_out_[0] = std::get<1>(channels);
channel_in_[1] = std::get<2>(channels);
@@ -38,15 +43,14 @@ NVOpticalFlow::~NVOpticalFlow() {
bool NVOpticalFlow::init() {
if (!ftl::cuda::hasCompute(7,5)) {
config()->set("enabled", false);
- //throw FTL_Error("GPU does not support optical flow");
- LOG(ERROR) << "GPU does not support optical flow";
+ LOG(WARNING) << "GPU does not support optical flow";
return false;
}
nvof_ = cv::cuda::NvidiaOpticalFlow_1_0::create(
- size_.width, size_.height,
+ size_.width, size_.height,
cv::cuda::NvidiaOpticalFlow_1_0::NV_OF_PERF_LEVEL_SLOW,
true, false, false, 0);
-
+
left_gray_.create(size_, CV_8UC1);
left_gray_prev_.create(size_, CV_8UC1);
right_gray_.create(size_, CV_8UC1);
@@ -55,12 +59,22 @@ bool NVOpticalFlow::init() {
}
bool NVOpticalFlow::apply(Frame &in, Frame &out, cudaStream_t stream) {
- bool both_channels = config()->value("both_channels", false);
- float scale = config()->value("viz_scale", 200.0f);
+ if (!nvof_) {
+ return false;
+ }
+
+ const bool both_channels = config()->value("both_channels", false);
+ const bool generate_disparity = config()->value("generate_disparity", false);
+ const float scale = config()->value("viz_scale", 200.0f);
if (!in.hasChannel(channel_in_[0])) return false;
if (in.hasChannel(channel_out_[0])) return true;
- if (both_channels) {
+
+ if (both_channels || generate_disparity) {
+ if (!in.hasChannel(channel_in_[1])) return false;
+ }
+
+ if (both_channels && !generate_disparity) {
if (!in.hasChannel(channel_in_[1])) return false;
if (in.hasChannel(channel_out_[1])) return true;
}
@@ -69,31 +83,22 @@ bool NVOpticalFlow::apply(Frame &in, Frame &out, cudaStream_t stream) {
size_ = in.get<GpuMat>(channel_in_[0]).size();
if (!init()) return false;
}
-
+
auto cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
- auto &flow1 = out.create<GpuMat>(channel_out_[0]);
+ // convert all necessary channels to gray
cv::cuda::cvtColor(in.get<GpuMat>(channel_in_[0]), left_gray_, cv::COLOR_BGRA2GRAY, 0, cvstream);
- cv::cuda::cvtColor(in.get<GpuMat>(channel_in_[1]), right_gray_, cv::COLOR_BGRA2GRAY, 0, cvstream);
-
- // TODO: Use optical flow confidence output, perhaps combined with a
- // sensitivity adjustment
- nvof_->calc(left_gray_, right_gray_, flow1, cvstream);
- //std::swap(left_gray_, left_gray_prev_);
+ if (both_channels || generate_disparity) {
+ cv::cuda::cvtColor(in.get<GpuMat>(channel_in_[1]), right_gray_, cv::COLOR_BGRA2GRAY, 0, cvstream);
+ }
- if (both_channels) {
+ if (generate_disparity) {
+ auto &flow1 = out.create<GpuMat>(channel_out_[0]);
auto &flow2 = out.create<GpuMat>(channel_out_[1]);
- nvof_->calc(right_gray_, left_gray_, flow2, cvstream);
- //std::swap(right_gray_, right_gray_prev_);
- }
- if (config()->value("show_flow", false)) {
- ftl::cuda::show_optical_flow(flow1, in.getTexture<uchar4>(channel_in_[0]), scale, stream);
- if (both_channels)
- ftl::cuda::show_optical_flow(out.get<GpuMat>(channel_out_[1]), in.getTexture<uchar4>(channel_in_[1]), scale, stream);
- }
+ nvof_->calc(left_gray_, right_gray_, flow1, cvstream);
+ nvof_->calc(right_gray_, left_gray_, flow2, cvstream);
- if (config()->value("generate_disparity", false)) {
if (!in.hasChannel(Channel::Disparity)) {
in.create<GpuMat>(Channel::Disparity).create(size_, CV_16SC1);
}
@@ -101,13 +106,36 @@ bool NVOpticalFlow::apply(Frame &in, Frame &out, cudaStream_t stream) {
flow1,
out.get<GpuMat>(channel_out_[1]),
in.createTexture<short>(Channel::Disparity), stream);
- }
- if (config()->value("check_reprojection", false)) {
- ftl::cuda::check_reprojection(in.get<cv::cuda::GpuMat>(Channel::Disparity), in.getTexture<uchar4>(Channel::Colour),
- in.createTexture<uchar4>(Channel::Colour2, true),
- stream);
+
+ if (config()->value("check_reprojection", false)) {
+ ftl::cuda::check_reprojection(
+ in.get<cv::cuda::GpuMat>(Channel::Disparity),
+ in.getTexture<uchar4>(Channel::Colour),
+ in.createTexture<uchar4>(Channel::Colour2, true),
+ stream);
+ }
+ }
+ else {
+ auto &flow1 = out.create<GpuMat>(channel_out_[0]);
+ // TODO: Use optical flow confidence output, perhaps combined with a
+ // sensitivity adjustment
+ nvof_->calc(left_gray_, left_gray_prev_, flow1, cvstream);
+ std::swap(left_gray_, left_gray_prev_);
+
+ if (both_channels) {
+ auto &flow2 = out.create<GpuMat>(channel_out_[1]);
+
+ nvof_->calc(right_gray_, right_gray_prev_, flow2, cvstream);
+ std::swap(right_gray_, right_gray_prev_);
+ }
+ if (config()->value("show_flow", false)) {
+ ftl::cuda::show_optical_flow(flow1, in.getTexture<uchar4>(channel_in_[0]), scale, stream);
+ if (both_channels)
+ ftl::cuda::show_optical_flow(out.get<GpuMat>(channel_out_[1]), in.getTexture<uchar4>(channel_in_[1]), scale, stream);
+ }
}
+
return true;
-}
\ No newline at end of file
+}