protected override void DisposeObject()
{
if (_ptr != null)
{
GpuInvoke.gpuFilterRelease(ref _ptr);
}
}
/// <summary>
/// Create a GPU cascade classifier using the specific file
/// </summary>
/// <param name="fileName">The file to create the classifier from</param>
public GpuCascadeClassifier(String fileName)
{
Debug.Assert(File.Exists(fileName), String.Format("The Cascade file {0} does not exist.", fileName));
_ptr = GpuInvoke.gpuCascadeClassifierCreate(fileName);
_buffer = new GpuMat <int>(1, 100, 4);
_stor = new MemStorage();
}
/// <summary>
/// Calculate an optical flow for a sparse feature set.
/// </summary>
/// <param name="frame0">First 8-bit input image (supports both grayscale and color images).</param>
/// <param name="frame1">Second input image of the same size and the same type as <paramref name="frame0"/></param>
/// <param name="points0">
/// Vector of 2D points for which the flow needs to be found. It must be one row
/// matrix with 2 channels
/// </param>
/// <param name="points1">
/// Output vector of 2D points (with single-precision two channel floating-point coordinates)
/// containing the calculated new positions of input features in the second image.</param>
/// <param name="status">
/// Output status vector (CV_8UC1 type). Each element of the vector is set to 1 if the
/// flow for the corresponding features has been found. Otherwise, it is set to 0.
/// </param>
/// <param name="err">
/// Output vector (CV_32FC1 type) that contains the difference between patches around
/// the original and moved points or min eigen value if getMinEigenVals is checked. It can be
/// null, if not needed.
/// </param>
public void Sparse(GpuImage <Gray, byte> frame0, GpuImage <Gray, byte> frame1, GpuMat <float> points0, out GpuMat <float> points1, out GpuMat <Byte> status, out GpuMat <float> err)
{
points1 = new GpuMat <float>();
status = new GpuMat <byte>();
err = new GpuMat <float>();
GpuInvoke.gpuPryLKOpticalFlowSparse(_ptr, frame0, frame1, points0, points1, status, err);
}
/// <summary>
/// Returns the min / max location and values for the image
/// </summary>
/// <param name="maxLocations">The maximum locations for each channel </param>
/// <param name="maxValues">The maximum values for each channel</param>
/// <param name="minLocations">The minimum locations for each channel</param>
/// <param name="minValues">The minimum values for each channel</param>
public void MinMax(out double[] minValues, out double[] maxValues, out Point[] minLocations, out Point[] maxLocations)
{
minValues = new double[NumberOfChannels];
maxValues = new double[NumberOfChannels];
minLocations = new Point[NumberOfChannels];
maxLocations = new Point[NumberOfChannels];
if (NumberOfChannels == 1)
{
GpuInvoke.MinMaxLoc(Ptr, ref minValues[0], ref maxValues[0], ref minLocations[0], ref maxLocations[0], IntPtr.Zero);
}
else
{
GpuMat <TDepth>[] channels = Split(null);
try
{
for (int i = 0; i < NumberOfChannels; i++)
{
GpuInvoke.MinMaxLoc(Ptr, ref minValues[i], ref maxValues[i], ref minLocations[i], ref maxLocations[i], IntPtr.Zero);
}
}
finally
{
foreach (GpuMat <TDepth> mat in channels)
{
mat.Dispose();
}
}
}
}
/// <summary>
/// Makes multi-channel array out of several single-channel arrays
/// </summary>
///<param name="gpuMats">
///An array of single channel GpuMat where each item
///in the array represent a single channel of the GpuMat
///</param>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
public void MergeFrom(GpuMat <TDepth>[] gpuMats, Stream stream)
{
Debug.Assert(NumberOfChannels == gpuMats.Length, "Number of channels does not agrees with the length of gpuMats");
//If single channel, perform a copy
if (NumberOfChannels == 1)
{
if (stream == null)
{
GpuInvoke.Copy(gpuMats[0].Ptr, _ptr, IntPtr.Zero);
}
else
{
stream.Copy <TDepth>(gpuMats[0], this);
}
}
//handle multiple channels
Size size = Size;
IntPtr[] ptrs = new IntPtr[gpuMats.Length];
for (int i = 0; i < gpuMats.Length; i++)
{
Debug.Assert(gpuMats[i].Size == size, "Size mismatch");
ptrs[i] = gpuMats[i].Ptr;
}
GCHandle handle = GCHandle.Alloc(ptrs, GCHandleType.Pinned);
GpuInvoke.Merge(handle.AddrOfPinnedObject(), _ptr, stream);
handle.Free();
}
private static void ConvertColor(IntPtr src, IntPtr dest, Type srcColor, Type destColor, Size size, Stream stream)
{
try
{
// if the direct conversion exist, apply the conversion
GpuInvoke.CvtColor(src, dest, CvToolbox.GetColorCvtCode(srcColor, destColor), stream);
}
catch
{
try
{
//if a direct conversion doesn't exist, apply a two step conversion
using (GpuImage <Bgr, TDepth> tmp = new GpuImage <Bgr, TDepth>(size))
{
GpuInvoke.CvtColor(src, tmp.Ptr, CvToolbox.GetColorCvtCode(srcColor, typeof(Bgr)), stream);
GpuInvoke.CvtColor(tmp.Ptr, dest, CvToolbox.GetColorCvtCode(typeof(Bgr), destColor), stream);
}
}
catch
{
throw new NotSupportedException(String.Format(
"Convertion from Image<{0}, {1}> to Image<{2}, {3}> is not supported by OpenCV",
srcColor.ToString(),
typeof(TDepth).ToString(),
destColor.ToString(),
typeof(TDepth).ToString()));
}
}
}
/// <summary>
/// Create a clone of this GpuImage
/// </summary>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
/// <returns>A clone of this GpuImage</returns>
public GpuImage <TColor, TDepth> Clone()
{
GpuImage <TColor, TDepth> result = new GpuImage <TColor, TDepth>(Size);
GpuInvoke.Copy(_ptr, result, IntPtr.Zero);
return(result);
}
private static void ConvertColor(IntPtr src, IntPtr dest, Type srcColor, Type destColor, Size size, Stream stream)
{
try
{
// if the direct conversion exist, apply the conversion
GpuInvoke.CvtColor(src, dest, CvToolbox.GetColorCvtCode(srcColor, destColor), stream);
} catch
{
try
{
//if a direct conversion doesn't exist, apply a two step conversion
//in this case, needs to wait for the completion of the stream because a temporary local image buffer is used
//we don't want the tmp image to be released before the operation is completed.
using (GpuImage <Bgr, TDepth> tmp = new GpuImage <Bgr, TDepth>(size))
{
GpuInvoke.CvtColor(src, tmp.Ptr, CvToolbox.GetColorCvtCode(srcColor, typeof(Bgr)), stream);
GpuInvoke.CvtColor(tmp.Ptr, dest, CvToolbox.GetColorCvtCode(typeof(Bgr), destColor), stream);
stream.WaitForCompletion();
}
} catch
{
throw new NotSupportedException(String.Format(
"Convertion from Image<{0}, {1}> to Image<{2}, {3}> is not supported by OpenCV",
srcColor.ToString(),
typeof(TDepth).ToString(),
destColor.ToString(),
typeof(TDepth).ToString()));
}
}
}
///<summary>
///Split current Image into an array of gray scale images where each element
///in the array represent a single color channel of the original image
///</summary>
///<param name="gpuMats">
///An array of single channel GpuMat where each item
///in the array represent a single channel of the original GpuMat
///</param>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
public void SplitInto(GpuMat <TDepth>[] gpuMats, Stream stream)
{
Debug.Assert(NumberOfChannels == gpuMats.Length, "Number of channels does not agrees with the length of gpuMats");
if (NumberOfChannels == 1)
{
//If single channel, return a copy
if (stream == null)
{
GpuInvoke.Copy(_ptr, gpuMats[0], IntPtr.Zero);
}
else
{
stream.Copy <TDepth>(this, gpuMats[0]);
}
}
else
{
//handle multiple channels
Size size = Size;
IntPtr[] ptrs = new IntPtr[gpuMats.Length];
for (int i = 0; i < ptrs.Length; i++)
{
Debug.Assert(gpuMats[i].Size == size, "Size mismatch");
ptrs[i] = gpuMats[i].Ptr;
}
GCHandle handle = GCHandle.Alloc(ptrs, GCHandleType.Pinned);
GpuInvoke.Split(_ptr, handle.AddrOfPinnedObject(), stream);
handle.Free();
}
}
/// <summary>
/// Release the buffer
/// </summary>
protected override void DisposeObject()
{
if (_ptr != IntPtr.Zero)
{
GpuInvoke.gpuTemplateMatchingRelease(ref _ptr);
}
}
public GpuImage <TColor, Single> Convolution(ConvolutionKernelF kernel, Stream stream)
{
GpuImage <TColor, Single> result = new GpuImage <TColor, float>(Size);
GpuInvoke.Filter2D(_ptr, result, kernel, kernel.Center, CvEnum.BORDER_TYPE.REFLECT101, stream);
return(result);
}
/// <summary>
/// Find the good features to track
/// </summary>
public GpuMat <float> Detect(GpuImage <Gray, byte> image, GpuImage <Gray, byte> mask)
{
GpuMat <float> corners = new GPU.GpuMat <float>();
GpuInvoke.gpuGoodFeaturesToTrackDetectorDetect(_ptr, image, corners, mask);
return(corners);
}
/// <summary>
/// Release all the unmanaged memory associate with this Canny edge detector.
/// </summary>
protected override void DisposeObject()
{
if (_ptr != null)
{
GpuInvoke.gpuCannyEdgeDetectorRelease(ref _ptr);
}
}
/// <summary>
/// Create a GPUBruteForce Matcher using the specific distance type
/// </summary>
/// <param name="distanceType">The distance type</param>
public GpuBruteForceMatcher(DistanceType distanceType)
{
if (distanceType == DistanceType.Hamming)
{
if (typeof(T) != typeof(byte))
{
throw new ArgumentException("Hamming distance type requires model descriptor to be Matrix<Byte>");
}
}
if (typeof(T) != typeof(byte) && typeof(T) != typeof(float))
{
throw new NotImplementedException(String.Format("Data type of {0} is not supported", typeof(T).ToString()));
}
switch (distanceType)
{
case (DistanceType.Hamming):
_distanceType = GpuMatcherDistanceType.HammingDist;
break;
case (DistanceType.L1):
_distanceType = GpuMatcherDistanceType.L1Dist;
break;
case (DistanceType.L2):
_distanceType = GpuMatcherDistanceType.L2Dist;
break;
default:
throw new NotImplementedException(String.Format("Distance type of {0} is not implemented in GPU.", distanceType.ToString()));
}
_ptr = GpuInvoke.gpuBruteForceMatcherCreate(_distanceType);
}
/// <summary>
/// Resize the GpuImage. The calling GpuMat be GpuMat%lt;Byte>. If stream is specified, it has to be either 1 or 4 channels.
/// </summary>
/// <param name="size">The new size</param>
/// <param name="interpolationType">The interpolation type</param>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
/// <returns>A GpuImage of the new size</returns>
public GpuImage <TColor, TDepth> Resize(Size size, CvEnum.INTER interpolationType, Stream stream)
{
GpuImage <TColor, TDepth> result = new GpuImage <TColor, TDepth>(size);
GpuInvoke.Resize(_ptr, result, interpolationType, stream);
return(result);
}
///<summary>
///Performs a convolution using the specific <paramref name="kernel"/>
///</summary>
///<param name="kernel">The convolution kernel</param>
///<returns>The result of the convolution</returns>
public GpuImage <TColor, Single> Convolution(ConvolutionKernelF kernel)
{
GpuImage <TColor, Single> result = new GpuImage <TColor, float>(Size);
GpuInvoke.Filter2D(_ptr, result, kernel, kernel.Center);
return(result);
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from. The order of the keypoints might be changed unless the GPU_SURF detector is UP-RIGHT.</param>
/// <returns>The image features founded on the keypoint location</returns>
public GpuMat <float> ComputeDescriptorsRaw(GpuImage <Gray, Byte> image, GpuImage <Gray, byte> mask, GpuMat <float> keyPoints)
{
GpuMat <float> descriptors = new GpuMat <float>(keyPoints.Size.Height, DescriptorSize, 1);
GpuInvoke.gpuSURFDetectorCompute(_ptr, image, mask, keyPoints, descriptors, true);
return(descriptors);
}
/// <summary>
/// Detect keypoints in the GpuImage
/// </summary>
/// <param name="img">The image where keypoints will be detected from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>
/// The keypoints GpuMat that will have 1 row.
/// keypoints.at<float[6]>(1, i) contains i'th keypoint
/// format: (x, y, size, response, angle, octave)
/// </returns>
public GpuMat <float> DetectKeyPointsRaw(GpuImage <Gray, Byte> img, GpuImage <Gray, Byte> mask)
{
GpuMat <float> result = new GpuMat <float>();
GpuInvoke.gpuSURFDetectorDetectKeyPoints(_ptr, img, mask, result);
return(result);
}
/// <summary>
/// Updates the background model
/// </summary>
/// <param name="frame">Next video frame.</param>
/// <param name="learningRate">The learning rate, use -1.0f for default value.</param>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
public void Update(GpuImage <TColor, Byte> frame, float learningRate, Stream stream)
{
if (_forgroundMask == null)
{
_forgroundMask = new GpuImage <Gray, byte>(frame.Size);
}
GpuInvoke.gpuMog2Compute(_ptr, frame, learningRate, _forgroundMask, stream);
}
/// <summary>
/// Returns coefficients of the classifier trained for people detection (for size 64x128).
/// </summary>
/// <returns>The people detector of 64x128 resolution.</returns>
public static float[] GetPeopleDetector64x128()
{
using (VectorOfFloat f = new VectorOfFloat())
{
GpuInvoke.gpuHOGDescriptorGetPeopleDetector64x128(f);
return(f.ToArray());
}
}
/// <summary>
/// Set the SVM detector
/// </summary>
/// <param name="detector">The SVM detector</param>
public void SetSVMDetector(float[] detector)
{
using (VectorOfFloat vec = new VectorOfFloat())
{
vec.Push(detector);
GpuInvoke.gpuHOGSetSVMDetector(_ptr, vec);
}
}
/// <summary>
/// Convert this GpuMat to different depth
/// </summary>
/// <typeparam name="TOtherDepth">The depth type to convert to</typeparam>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
/// <returns>GpuMat of different depth</returns>
public GpuMat <TOtherDepth> Convert <TOtherDepth>(Stream stream)
where TOtherDepth : new()
{
GpuMat <TOtherDepth> res = new GpuMat <TOtherDepth>(Size, NumberOfChannels);
GpuInvoke.ConvertTo(Ptr, res.Ptr, 1.0, 0.0, stream);
return(res);
}
/// <summary>
/// This function is similiar to cvCalcBackProjectPatch. It slids through image, compares overlapped patches of size wxh with templ using the specified method and stores the comparison results to result
/// </summary>
/// <param name="image">Image where the search is running. It should be 8-bit or 32-bit floating-point</param>
/// <param name="templ">Searched template; must be not greater than the source image and the same data type as the image</param>
/// <param name="result">A map of comparison results; single-channel 32-bit floating-point. If image is WxH and templ is wxh then result must be W-w+1xH-h+1.</param>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
public void Match(GpuImage <TColor, TDepth> image, GpuImage <TColor, TDepth> templ, GpuImage <Gray, float> result, Stream stream)
{
if (_ptr == IntPtr.Zero)
{
_ptr = GpuInvoke.gpuTemplateMatchingCreate(image.Type, _method, ref _blockSize);
}
GpuInvoke.gpuTemplateMatchingMatch(_ptr, image, templ, result, stream);
}
/*
* /// <summary>
* /// Add the model descriptors
* /// </summary>
* /// <param name="modelDescriptors">The model discriptors</param>
* public void Add(Matrix<Byte> modelDescriptors)
* {
* if (!(_distanceType == DistanceType.HammingDist))
* throw new ArgumentException("Hamming distance type requires model descriptor to be Matrix<Byte>");
* gpuBruteForceMatcherAdd(_ptr, modelDescriptors);
* }
*
* /// <summary>
* /// Add the model descriptors
* /// </summary>
* /// <param name="modelDescriptors">The model discriptors</param>
* public void Add(Matrix<float> modelDescriptors)
* {
* if (!(_distanceType == DistanceType.L2 || _distanceType == DistanceType.L1))
* throw new ArgumentException("L1 / L2 distance type requires model descriptor to be Matrix<float>");
* gpuBruteForceMatcherAdd(_ptr, modelDescriptors);
* }*/
/// <summary>
/// Find the k nearest neighbour using the brute force matcher.
/// </summary>
/// <param name="queryDescriptors">The query descriptors</param>
/// <param name="modelDescriptors">The model descriptors</param>
/// <param name="modelIdx">The model index. A n x <paramref name="k"/> matrix where n = <paramref name="queryDescriptors"/>.Cols</param>
/// <param name="distance">The matrix where the distance valus is stored. A n x <paramref name="k"/> matrix where n = <paramref name="queryDescriptors"/>.Size.Height</param>
/// <param name="k">The number of nearest neighbours to be searched</param>
/// <param name="mask">The mask</param>
/// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
public void KnnMatchSingle(GpuMat <T> queryDescriptors, GpuMat <T> modelDescriptors, GpuMat <int> modelIdx, GpuMat <float> distance, int k, GpuMat <Byte> mask, Stream stream)
{
if (k == 2 && !(modelIdx.IsContinuous && distance.IsContinuous))
{
throw new ArgumentException("For k == 2, the allocated index matrix and distance matrix must be continuous");
}
GpuInvoke.gpuBruteForceMatcherKnnMatchSingle(_ptr, queryDescriptors, modelDescriptors, modelIdx, distance, k, mask, stream);
}
/// <summary>
/// Query the information of the gpu device with the specific id.
/// </summary>
/// <param name="deviceId">The device id</param>
public GpuDevice(int deviceId)
{
ID = deviceId;
Name = GpuInvoke.GetDeviceName(deviceId);
GpuInvoke.GetComputeCapability(deviceId, ref CudaComputeCapability.Major, ref CudaComputeCapability.Minor);
NumberOfSMs = GpuInvoke.GetNumberOfSMs(deviceId);
HasNativeDoubleSupport = GpuInvoke.HasNativeDoubleSupport(deviceId);
HasAtomicSupport = GpuInvoke.HasAtomicsSupport(deviceId);
}
/// <summary>
/// Create a GPU SURF detector
/// </summary>
/// <param name="hessianThreshold">The interest operator threshold. Use 100 for default</param>
/// <param name="nOctaves">The number of octaves to process. Use 4 for default</param>
/// <param name="nIntervals">The number of intervals in each octave. Use 4 for default</param>
/// <param name="extended">True, if generate 128-len descriptors, false - 64-len descriptors. Use true for default.</param>
/// <param name="featuresRatio">Max features = featuresRatio * img.size().srea(). Use 0.01 for default</param>
/// <param name="upright">Use false for default. If set to true, the orientation is not computed for the keypoints</param>
public GpuSURFDetector(
float hessianThreshold,
int nOctaves,
int nIntervals,
bool extended,
float featuresRatio,
bool upright)
{
_ptr = GpuInvoke.gpuSURFDetectorCreate(hessianThreshold, nOctaves, nIntervals, extended, featuresRatio, upright);
}
/// <summary>
///
/// </summary>
/// <param name="numLevels"></param>
/// <param name="pyrScale"></param>
/// <param name="fastPyramids"></param>
/// <param name="winSize"></param>
/// <param name="numIters"></param>
/// <param name="polyN"></param>
/// <param name="polySigma"></param>
/// <param name="flags"></param>
public GpuFarnebackOpticalFlow(
int numLevels,
double pyrScale,
bool fastPyramids,
int winSize,
int numIters,
int polyN,
double polySigma,
int flags)
{
_ptr = GpuInvoke.gpuFarnebackOpticalFlowCreate(numLevels, pyrScale, fastPyramids, winSize, numIters, polyN, polySigma, flags);
}
/// <summary>
/// Create a GpuMat of the specified size
/// </summary>
/// <param name="rows">The number of rows (height)</param>
/// <param name="cols">The number of columns (width)</param>
/// <param name="channels">The number of channels</param>
/// <param name="continuous">Indicates if the data should be continuous</param>
public GpuMat(int rows, int cols, int channels, bool continuous)
{
int matType = CvInvoke.CV_MAKETYPE((int)CvToolbox.GetMatrixDepth(typeof(TDepth)), channels);
if (continuous)
{
_ptr = GpuInvoke.GpuMatCreateContinuous(rows, cols, matType);
}
else
{
_ptr = GpuInvoke.GpuMatCreate(rows, cols, matType);
}
}
private Rectangle[] DetectMultiScale(
IntPtr image,
double hitThreshold,
Size winStride,
Size padding,
double scale,
int groupThreshold)
{
using (MemStorage storage = new MemStorage())
{
Seq <Rectangle> rectSeq = new Seq <Rectangle>(storage);
GpuInvoke.gpuHOGDescriptorDetectMultiScale(_ptr, image, rectSeq, hitThreshold, winStride, padding, scale, groupThreshold);
return(rectSeq.ToArray());
}
}
/// <summary>
/// Finds rectangular regions in the given image that are likely to contain objects the cascade has been trained for and returns those regions as a sequence of rectangles.
/// </summary>
/// <param name="image">The image where search will take place</param>
/// <param name="scaleFactor">The factor by which the search window is scaled between the subsequent scans, for example, 1.1 means increasing window by 10%. Use 1.2 for default.</param>
/// <param name="minNeighbors">Minimum number (minus 1) of neighbor rectangles that makes up an object. All the groups of a smaller number of rectangles than min_neighbors-1 are rejected. If min_neighbors is 0, the function does not any grouping at all and returns all the detected candidate rectangles, which may be useful if the user wants to apply a customized grouping procedure. Use 4 for default.</param>
/// <param name="minSize">Minimum window size. By default, it is set to the size of samples the classifier has been trained on (~20x20 for face detection). Use Size.Empty for default</param>
/// <returns>An array of regions for the detected objects</returns>
public Rectangle[] DetectMultiScale <TColor>(GpuImage <TColor, Byte> image, double scaleFactor, int minNeighbors, Size minSize) where TColor : struct, IColor
{
try
{
Seq <Rectangle> regions = new Seq <Rectangle>(_stor);
int count = GpuInvoke.gpuCascadeClassifierDetectMultiScale(_ptr, image, _buffer, scaleFactor, minNeighbors, minSize, regions);
if (count == 0)
{
return(new Rectangle[0]);
}
Rectangle[] result = regions.ToArray();
return(result);
}
finally
{
_stor.Clear();
}
}
