def surf_image_match(left_image, right_image):
gray_left_image = cv.cvtColor(left_image, cv.COLOR_BGR2GRAY)
gray_right_image = cv.cvtColor(right_image, cv.COLOR_BGR2GRAY)
gpu_gray_left_image = cv.cuda_GpuMat(gray_left_image)
gpu_gray_right_image = cv.cuda_GpuMat(gray_right_image)
surf = cv.cuda.SURF_CUDA_create(4000)
# gpu_left_key_points, gpu_left_descriptors = surf(gpu_gray_left_image, None)
# gpu_right_key_points, gpu_right_descriptors = surf(gpu_gray_right_image, None)
gpu_left_key_points, gpu_left_descriptors = surf.detectWithDescriptors(
gpu_gray_left_image, None)
gpu_right_key_points, gpu_right_descriptors = surf.detectWithDescriptors(
gpu_gray_right_image, None)
# left_key_points, left_descriptors = cv.cuda_SURF_CUDA.detectWithDescriptors(surf, gpu_gray_left_image, None)
# right_key_points, right_descriptors = cv.cuda_SURF_CUDA.detectWithDescriptors(surf, gpu_gray_right_image, None)
matcher = cv.cuda.DescriptorMatcher_createBFMatcher(cv.NORM_L2)
matches = matcher.knnMatch(gpu_left_descriptors,
gpu_right_descriptors,
k=2)
# DMatch List
good_matches = [[m] for m, n in matches if m.distance < 0.7 * n.distance]
# KeyPoints
left_key_points = cv.cuda_SURF_CUDA.downloadKeypoints(
surf, gpu_left_key_points)
right_key_points = cv.cuda_SURF_CUDA.downloadKeypoints(
surf, gpu_right_key_points)
# return_image = cv.drawMatchesKnn(left_image, left_key_points, right_image, right_key_points, good_matches, None)
return cv.drawMatchesKnn(left_image,
left_key_points,
right_image,
right_key_points,
good_matches,
None,
flags=2)
def test_convolution(self):
npMat = (np.random.random((128, 128)) * 255).astype(np.float32)
npDims = np.array(npMat.shape)
kernel = (np.random.random((3, 3)) * 1).astype(np.float32)
kernelDims = np.array(kernel.shape)
iS = (kernelDims / 2).astype(int)
iE = npDims - kernelDims + iS
cuMat = cv.cuda_GpuMat(npMat)
cuKernel = cv.cuda_GpuMat(kernel)
cuMatDst = cv.cuda_GpuMat(tuple(npDims - kernelDims + 1), cuMat.type())
conv = cv.cuda.createConvolution()
self.assertTrue(
np.allclose(
conv.convolve(cuMat, cuKernel, ccorr=True).download(),
cv.filter2D(npMat, -1, kernel,
anchor=(-1, -1))[iS[0]:iE[0] + 1,
iS[1]:iE[1] + 1]))
conv.convolve(cuMat, cuKernel, cuMatDst, True)
self.assertTrue(
np.allclose(
cuMatDst.download(),
cv.filter2D(npMat, -1, kernel,
anchor=(-1, -1))[iS[0]:iE[0] + 1,
iS[1]:iE[1] + 1]))
def __init__(self):
self.is_pylon_data = False
self.image_imput = ImageImput()
self.camera_publish = rospy.Publisher("/camera_image",
Image,
queue_size=10)
self.convert_x_publish = rospy.Publisher("/data_x",
Float32,
queue_size=1)
self.convert_y_publish = rospy.Publisher("/data_y",
Float32,
queue_size=1)
self.z_publish = rospy.Publisher("/data_z", Float32, queue_size=1)
self.h_publish = rospy.Publisher("/data_h", Float32, queue_size=1)
self.depth_publish = rospy.Publisher("/data_depth",
Float32,
queue_size=1)
# 画像配列を生成
self.image = np.arange(27).reshape(3, 3, 3)
# データを生成
self.z_datas = [0] * self.PYLON_NUMBER
self.h_datas = [0] * self.PYLON_NUMBER
self.convert_x_datas = [0] * self.PYLON_NUMBER
#GPUメモリのアロケーション
self.img_gpu_src = cv2.cuda_GpuMat()
self.img_gpu_dst = cv2.cuda_GpuMat()
#CUDA用ガウシアンフィルタ作成
self.gaussian_filter = cv2.cuda.createGaussianFilter(
cv2.CV_8UC3,
cv2.CV_8UC3,
ksize=self.GAUSSIAN_KERNEL_SIZE,
sigma1=0,
sigma2=0)
def apply_gpu(img1, img2, bbox1, bbox2, kp_center1, kp_center2):
"""
Still in development
"""
cuMat1 = cv.cuda_GpuMat(img1)
cuMat2 = cv.cuda_GpuMat(img2)
c_surf = cv.cuda.SURF_CUDA_create(500)
kp = c_surf.detect(cuMat1, None)
kp = c_surf.downloadKeypoints(kp)
kp = kp_filtersort_L2(kp, img1, bbox1, kp_center1)
kp, des = c_surf.detectWithDescriptors(cuMat1, None,cv.cuda_GpuMat(kp))
kp2 = c_surf.detect(cuMat2, None)
kp2 = c_surf.downloadKeypoints(kp2)
kp2 = kp_filtersort_L2(kp2, img2, bbox2, kp_center2)
kp2, des2 = c_surf.compute(img2, kp2)
# Brute Force matcher with default params (L2_NORM)
cbf = cv.cuda_DescriptorMatcher.createBFMatcher(cv.NORM_L1)
cmatches = cbf.match(des, des2)
# Sort matches by score
cmatches.sort(key=lambda x: x.distance, reverse=False)
# Remove not so good matches
numGoodMatches = int(len(cmatches) * 0.15)
cmatches = cmatches[:numGoodMatches]
return (kp, des), (kp2, des2), cmatches
def run(use_random=True, visualize=False):
cuda_stream = cv2.cuda_Stream()
backSub = cv2.cuda.createBackgroundSubtractorMOG2(history=100,
varThreshold=16,
detectShadows=False)
# backSub = cv2.createBackgroundSubtractorKNN(history=30, dist2Threshold=400.0, detectShadows=True)
warped_list = np.load("X:/frank.npy", mmap_mode='r')
N = 1000
bg_list = []
for frame_counter in range(N):
if use_random: index = random.randint(0, len(warped_list) - 1)
else: index = frame_counter % len(warped_list)
warped = warped_list[index]
warped_gpu = cv2.cuda_GpuMat()
warped_gpu.upload(warped)
fgMask = backSub.apply(warped_gpu, -1, cuda_stream)
fgMask = fgMask.download()
fgMask = cv2.morphologyEx(fgMask,
cv2.MORPH_CLOSE,
kernel=np.ones((5, 5), np.uint8))
if visualize: cv2.imshow('FG Mask', fgMask)
bg = cv2.cuda_GpuMat(warped_gpu.size(), warped_gpu.type())
backSub.getBackgroundImage(cuda_stream, bg)
bg = bg.download()
if visualize: cv2.imshow('BG', bg)
key = cv2.waitKey(1)
if key == 27:
break
cv2.imwrite("X:/final.png", bg)
if visualize: cv2.waitKey(0)
cv2.destroyAllWindows()
def test_surf(self):
img_path = os.environ['OPENCV_TEST_DATA_PATH'] + "/gpu/features2d/aloe.png"
hessianThreshold = 100
nOctaves = 3
nOctaveLayers = 2
extended = False
keypointsRatio = 0.05
upright = False
npMat = cv.cvtColor(cv.imread(img_path),cv.COLOR_BGR2GRAY)
cuMat = cv.cuda_GpuMat(npMat)
try:
cuSurf = cv.cuda_SURF_CUDA.create(hessianThreshold,nOctaves,nOctaveLayers,extended,keypointsRatio,upright)
surf = cv.xfeatures2d_SURF.create(hessianThreshold,nOctaves,nOctaveLayers,extended,upright)
except cv.error as e:
self.assertEqual(e.code, cv.Error.StsNotImplemented)
self.skipTest("OPENCV_ENABLE_NONFREE is not enabled in this build.")
cuKeypoints = cuSurf.detect(cuMat,cv.cuda_GpuMat())
keypointsHost = cuSurf.downloadKeypoints(cuKeypoints)
keypoints = surf.detect(npMat)
self.assertTrue(len(keypointsHost) == len(keypoints))
cuKeypoints, cuDescriptors = cuSurf.detectWithDescriptors(cuMat,cv.cuda_GpuMat(),cuKeypoints,useProvidedKeypoints=True)
keypointsHost = cuSurf.downloadKeypoints(cuKeypoints)
descriptorsHost = cuDescriptors.download()
keypoints, descriptors = surf.compute(npMat,keypoints)
self.assertTrue(len(keypointsHost) == len(keypoints) and descriptorsHost.shape == descriptors.shape)
def test_cudaarithm_logical(self):
npMat1 = (np.random.random((128, 128)) * 255).astype(np.uint8)
npMat2 = (np.random.random((128, 128)) * 255).astype(np.uint8)
cuMat1 = cv.cuda_GpuMat()
cuMat2 = cv.cuda_GpuMat()
cuMat1.upload(npMat1)
cuMat2.upload(npMat2)
self.assertTrue(np.allclose(cv.cuda.bitwise_or(cuMat1, cuMat2).download(),
cv.bitwise_or(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.bitwise_and(cuMat1, cuMat2).download(),
cv.bitwise_and(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.bitwise_xor(cuMat1, cuMat2).download(),
cv.bitwise_xor(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.bitwise_not(cuMat1).download(),
cv.bitwise_not(npMat1)))
self.assertTrue(np.allclose(cv.cuda.min(cuMat1, cuMat2).download(),
cv.min(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.max(cuMat1, cuMat2).download(),
cv.max(npMat1, npMat2)))
def test_cudafeatures2d(self):
npMat1 = self.get_sample("samples/data/right01.jpg")
npMat2 = self.get_sample("samples/data/right02.jpg")
cuMat1 = cv.cuda_GpuMat()
cuMat2 = cv.cuda_GpuMat()
cuMat1.upload(npMat1)
cuMat2.upload(npMat2)
cuMat1 = cv.cuda.cvtColor(cuMat1, cv.COLOR_RGB2GRAY)
cuMat2 = cv.cuda.cvtColor(cuMat2, cv.COLOR_RGB2GRAY)
fast = cv.cuda_FastFeatureDetector.create()
_kps = fast.detectAsync(cuMat1)
orb = cv.cuda_ORB.create()
_kps1, descs1 = orb.detectAndComputeAsync(cuMat1, None)
_kps2, descs2 = orb.detectAndComputeAsync(cuMat2, None)
self.assertTrue(len(orb.convert(_kps1)) == _kps1.size()[0])
self.assertTrue(len(orb.convert(_kps2)) == _kps2.size()[0])
bf = cv.cuda_DescriptorMatcher.createBFMatcher(cv.NORM_HAMMING)
matches = bf.match(descs1, descs2)
self.assertGreater(len(matches), 0)
matches = bf.knnMatch(descs1, descs2, 2)
self.assertGreater(len(matches), 0)
matches = bf.radiusMatch(descs1, descs2, 0.1)
self.assertGreater(len(matches), 0)
self.assertTrue(
True) #It is sufficient that no exceptions have been there
def test_cudaarithm(self):
npMat = (np.random.random((128, 128, 3)) * 255).astype(np.uint8)
cuMat = cv.cuda_GpuMat(npMat)
cuMatDst = cv.cuda_GpuMat(cuMat.size(), cuMat.type())
cuMatB = cv.cuda_GpuMat(cuMat.size(), cv.CV_8UC1)
cuMatG = cv.cuda_GpuMat(cuMat.size(), cv.CV_8UC1)
cuMatR = cv.cuda_GpuMat(cuMat.size(), cv.CV_8UC1)
self.assertTrue(np.allclose(cv.cuda.merge(cv.cuda.split(cuMat)),
npMat))
cv.cuda.split(cuMat, [cuMatB, cuMatG, cuMatR])
cv.cuda.merge([cuMatB, cuMatG, cuMatR], cuMatDst)
self.assertTrue(np.allclose(cuMatDst.download(), npMat))
shift = (np.random.random(
(cuMat.channels(), )) * 8).astype(np.uint8).tolist()
self.assertTrue(
np.allclose(
cv.cuda.rshift(cuMat, shift).download(), npMat >> shift))
cv.cuda.rshift(cuMat, shift, cuMatDst)
self.assertTrue(np.allclose(cuMatDst.download(), npMat >> shift))
self.assertTrue(
np.allclose(
cv.cuda.lshift(cuMat, shift).download(),
(npMat << shift).astype('uint8')))
cv.cuda.lshift(cuMat, shift, cuMatDst)
self.assertTrue(
np.allclose(cuMatDst.download(), (npMat << shift).astype('uint8')))
def test_cudafeatures2d(self):
npMat1 = self.get_sample("samples/data/right01.jpg")
npMat2 = self.get_sample("samples/data/right02.jpg")
cuMat1 = cv.cuda_GpuMat()
cuMat2 = cv.cuda_GpuMat()
cuMat1.upload(npMat1)
cuMat2.upload(npMat2)
cuMat1 = cv.cuda.cvtColor(cuMat1, cv.COLOR_RGB2GRAY)
cuMat2 = cv.cuda.cvtColor(cuMat2, cv.COLOR_RGB2GRAY)
fast = cv.cuda_FastFeatureDetector.create()
kps = fast.detectAsync(cuMat1)
orb = cv.cuda_ORB.create()
kps1, descs1 = orb.detectAndComputeAsync(cuMat1, None)
kps2, descs2 = orb.detectAndComputeAsync(cuMat2, None)
bf = cv.cuda_DescriptorMatcher.createBFMatcher(cv.NORM_HAMMING)
matches = bf.match(descs1, descs2)
self.assertGreater(len(matches), 0)
matches = bf.knnMatch(descs1, descs2, 2)
self.assertGreater(len(matches), 0)
matches = bf.radiusMatch(descs1, descs2, 0.1)
self.assertGreater(len(matches), 0)
self.assertTrue(True) #It is sufficient that no exceptions have been there
def test_calc(self):
frame1 = os.environ[
'OPENCV_TEST_DATA_PATH'] + '/gpu/opticalflow/frame0.png'
frame2 = os.environ[
'OPENCV_TEST_DATA_PATH'] + '/gpu/opticalflow/frame1.png'
npMat1 = cv.cvtColor(cv.imread(frame1), cv.COLOR_BGR2GRAY)
npMat2 = cv.cvtColor(cv.imread(frame2), cv.COLOR_BGR2GRAY)
cuMat1 = cv.cuda_GpuMat(npMat1)
cuMat2 = cv.cuda_GpuMat(npMat2)
try:
nvof = cv.cuda_NvidiaOpticalFlow_1_0.create(
cuMat1.shape[1], cuMat1.shape[0], 5, False, False, False, 0)
flow = nvof.calc(cuMat1, cuMat2, None)
self.assertTrue(flow.shape[1] > 0 and flow.shape[0] > 0)
flowUpSampled = nvof.upSampler(flow[0],
cuMat1.shape[1], cuMat1.shape[0],
nvof.getGridSize(), None)
nvof.collectGarbage()
except cv.error as e:
if e.code == cv.Error.StsBadFunc or e.code == cv.Error.StsBadArg or e.code == cv.Error.StsNullPtr:
self.skipTest(
"Algorithm is not supported in the current environment")
self.assertTrue(flowUpSampled.shape[1] > 0
and flowUpSampled.shape[0] > 0)
def surf_image_stitch(left_frame, right_frame):
surf = cv.cuda.SURF_CUDA_create(200)
gray_left_frame = cv.cvtColor(left_frame, cv.COLOR_BGR2GRAY)
gray_right_frame = cv.cvtColor(right_frame, cv.COLOR_BGR2GRAY)
gpu_gray_left_frame = cv.cuda_GpuMat(gray_left_frame)
gpu_gray_right_frame = cv.cuda_GpuMat(gray_right_frame)
gpu_left_key_points, gpu_left_descriptors = surf.detectWithDescriptors(
gpu_gray_left_frame, None)
gpu_right_key_points, gpu_right_descriptors = surf.detectWithDescriptors(
gpu_gray_right_frame, None)
matcher = cv.cuda.DescriptorMatcher_createBFMatcher(cv.NORM_L2)
matches = matcher.knnMatch(gpu_left_descriptors,
gpu_right_descriptors,
k=2)
good_matches = [m for m, n in matches if m.distance < 0.5 * n.distance]
left_key_points = cv.cuda_SURF_CUDA.downloadKeypoints(
surf, gpu_left_key_points)
right_key_points = cv.cuda_SURF_CUDA.downloadKeypoints(
surf, gpu_right_key_points)
left_points = np.array(
[left_key_points[m.queryIdx].pt for m in good_matches])
right_points = np.array(
[right_key_points[m.trainIdx].pt for m in good_matches])
h_matrix = cv.findHomography(left_points, right_points)
left_height, left_width = left_frame.shape[:2]
right_height, right_height = right_frame.shape[:2]
transform_matrix = np.array([[1.0, 0, left_width], [0, 1.0, 0],
[0, 0, 1.0]])
m_matrix = np.dot(transform_matrix, h_matrix[0])
corners = cv.warpPerspective(left_frame, m_matrix,
(left_width * 2, left_height))
corners[0:left_height, left_width:left_width * 2] = right_frame
return corners
def run(use_random=True, visualize=False):
cuda_stream = cv2.cuda_Stream()
backSub = cv2.cuda.createBackgroundSubtractorMOG2(history=100,
varThreshold=16,
detectShadows=False)
# backSub = cv2.createBackgroundSubtractorKNN(history=30, dist2Threshold=400.0, detectShadows=True)
warped_list = np.load("X:/warped.npy", mmap_mode='r')
valid_mask_list = np.load("X:/mask.npy", mmap_mode='r')
i = 0
frame_counter = 0
mode = True
N = 1000
bg_list = []
for frame_counter in range(N):
if use_random: index = random.randint(0, len(warped_list) - 1)
else: index = frame_counter % len(warped_list)
warped = warped_list[index]
valid_mask = valid_mask_list[index]
frame_counter += 1
if frame_counter > 500 and random.randint(0, N - frame_counter) < 200:
warped_final = bg_list[random.randint(0, len(bg_list) - 1)]
else:
if frame_counter < 200:
mean_canvas = np.ones(warped.shape, dtype="uint8") * 200
mean_canvas = cv2.bitwise_or(mean_canvas,
mean_canvas,
mask=cv2.bitwise_not(valid_mask))
else:
mean_canvas = cv2.bitwise_or(bg,
bg,
mask=cv2.bitwise_not(valid_mask))
if frame_counter % 8 == 0: bg_list.append(bg)
valid_mask = cv2.bitwise_or(warped, warped, mask=valid_mask)
final = cv2.bitwise_or(mean_canvas, valid_mask)
if visualize: cv2.imshow('Passed', final)
final_gpu = cv2.cuda_GpuMat()
final_gpu.upload(final)
final = cv2.cuda_GpuMat(final)
fgMask = backSub.apply(final, -1, cuda_stream)
fgMask = fgMask.download()
# fgMask = cv2.morphologyEx(fgMask, cv2.MORPH_CLOSE, kernel=np.ones((5,5),np.uint8))
# cv2.imshow('FG Mask', fgMask)
bg = cv2.cuda_GpuMat(final_gpu.size(), final_gpu.type())
backSub.getBackgroundImage(cuda_stream, bg)
bg = bg.download()
bg_list.append(bg)
if visualize:
cv2.imshow('BG', bg)
key = cv2.waitKey(1)
if key == 27:
break
if key == ord('m'):
mode = not mode
if key == ord(' '):
cv2.imwrite(str(i) + ".jpg", warped)
i += 1
cv2.imwrite("X:/final.png", bg)
# cv2.waitKey(0)
cv2.destroyAllWindows()
def __init__(self, width, height):
self.width = width
self.height = height
self.src_gpu = [cv2.cuda_GpuMat() for i in range(4)]
self.dst_gpu = cv2.cuda_GpuMat()
self.merged_cpu = np.zeros((height, width, 4), dtype=np.uint8)
self.merged_gpu = cv2.cuda_GpuMat(height, width, cv2.CV_8UC4)
def test_warp(self):
npMat = (np.random.random((128, 128, 3)) * 255).astype(np.uint8)
size = npMat.shape[:2]
M1 = create_affine_transform_matrix(size, np.pi / 2)
cuMat = cv.cuda_GpuMat(npMat)
cuMatDst = cv.cuda_GpuMat(size, cuMat.type())
borderType = cv.BORDER_REFLECT101
self.assertTrue(
np.allclose(
cv.cuda.warpAffine(cuMat, M1, size,
borderMode=borderType).download(),
cv.warpAffine(npMat, M1, size, borderMode=borderType)))
cv.cuda.warpAffine(cuMat, M1, size, cuMatDst, borderMode=borderType)
self.assertTrue(
np.allclose(cuMatDst.download(),
cv.warpAffine(npMat, M1, size, borderMode=borderType)))
interpolation = cv.INTER_NEAREST
flags = interpolation | cv.WARP_INVERSE_MAP
dst_gold = cv.warpAffine(npMat, M1, size, flags=flags)
cuMaps = cv.cuda.buildWarpAffineMaps(M1, True, size)
dst = cv.remap(npMat, cuMaps[0].download(), cuMaps[1].download(),
interpolation)
self.assertTrue(np.allclose(dst, dst_gold))
xmap = cv.cuda_GpuMat(size, cv.CV_32FC1)
ymap = cv.cuda_GpuMat(size, cv.CV_32FC1)
cv.cuda.buildWarpAffineMaps(M1, True, size, xmap, ymap)
dst = cv.remap(npMat, xmap.download(), ymap.download(), interpolation)
self.assertTrue(np.allclose(dst, dst_gold))
M2 = create_perspective_transform_matrix(size, np.pi / 2)
np.allclose(
cv.cuda.warpPerspective(cuMat, M2, size,
borderMode=borderType).download(),
cv.warpPerspective(npMat, M2, size, borderMode=borderType))
cv.cuda.warpPerspective(cuMat,
M2,
size,
cuMatDst,
borderMode=borderType)
self.assertTrue(
np.allclose(
cuMatDst.download(),
cv.warpPerspective(npMat, M2, size, borderMode=borderType)))
dst_gold = cv.warpPerspective(npMat, M2, size, flags=flags)
cuMaps = cv.cuda.buildWarpPerspectiveMaps(M2, True, size)
dst = cv.remap(npMat, cuMaps[0].download(), cuMaps[1].download(),
interpolation)
self.assertTrue(np.allclose(dst, dst_gold))
cv.cuda.buildWarpPerspectiveMaps(M2, True, size, xmap, ymap)
dst = cv.remap(npMat, xmap.download(), ymap.download(), interpolation)
self.assertTrue(np.allclose(dst, dst_gold))
def optical_flow():
size = (224, 224)
cap = cv2.VideoCapture(
"hmdb51/brush_hair/April_09_brush_hair_u_nm_np1_ba_goo_0.avi")
ret, previous_frame = cap.read()
if ret:
# resize frame
frame = cv2.resize(previous_frame, size)
# convert to gray
previous_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
previous_frame = np.float32(previous_frame) / 255.0
# upload pre-processed frame to GPU
gpu_previous = cv2.cuda_GpuMat(size, cv2.CV_32FC1)
gpu_previous.upload(previous_frame)
while True:
ret, frame = cap.read()
if not ret:
break
frame = cv2.resize(frame, size)
current_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
current_frame = np.float32(current_frame) / 255.0
gpu_current = cv2.cuda_GpuMat(size, cv2.CV_32FC1)
gpu_current.upload(current_frame)
gpu_flow = cv2.cuda_BroxOpticalFlow.create(0.197, 50.0, 0.8, 5,
150, 10)
gpu_flow = cv2.cuda_BroxOpticalFlow.calc(
gpu_flow,
gpu_previous,
gpu_current,
None,
)
optical_flow = gpu_flow.download()
gpu_flow_x = cv2.cuda_GpuMat(gpu_flow.size(), cv2.CV_32FC1)
gpu_flow_y = cv2.cuda_GpuMat(gpu_flow.size(), cv2.CV_32FC1)
cv2.cuda.split(gpu_flow, [gpu_flow_x, gpu_flow_y])
optical_flow_x = gpu_flow_x.download()
optical_flow_y = gpu_flow_y.download()
a = np.concatenate((optical_flow, np.zeros((224, 224, 1))), axis=2)
dist_x = optical_flow_x.max() - optical_flow_x.min()
dist_y = optical_flow_y.max() - optical_flow_x.min()
gpu_previous.upload(current_frame)
def color_filter(frame, hsv_mat, gray_mat, lower, upper):
mask_cw = cv2.cuda_GpuMat()
mask_cw_im = cv2.cuda_GpuMat()
lower_white = np.array([0, 0, 0], dtype="uint8")
upper_white = np.array([0, 0, 255], dtype="uint8")
mask_range = in_range(frame, hsv_mat, lower, upper)
mask_white = in_range(frame, gray_mat, lower_white, upper_white)
mask_cw = cv2.cuda.bitwise_or(mask_white, mask_range)
mask_cw_im = cv2.cuda.bitwise_and(gray_mat, mask_cw)
return mask_cw_im
def cuda_test():
for i in range(1000):
npTmp = np.random.random((1024, 1024)).astype(np.float32)
npMat1 = np.stack([npTmp, npTmp], axis=2)
npMat2 = npMat1
cuMat1 = cv.cuda_GpuMat()
cuMat2 = cv.cuda_GpuMat()
cuMat1.upload(npMat1)
cuMat2.upload(npMat2)
cv.cuda.gemm(cuMat1, cuMat2, 1, None, 0, None, 1)
def __init__(self, width, height):
self.width = width
self.height = height
self.src_gpu = cv2.cuda_GpuMat()
self.dst_gpu = [cv2.cuda_GpuMat() for i in range(4)]
self.color_cpu = np.zeros((height, width, 3), dtype=np.uint8)
self.alpha_cpu = np.zeros((height, width, 1), dtype=np.uint8)
self.color_gpu = cv2.cuda_GpuMat(height, width, cv2.CV_8UC3)
self.alpha_gpu = cv2.cuda_GpuMat(height, width, cv2.CV_8UC1)
def main_module():
cap = cv2.VideoCapture("video.mp4")
img_mat = cv2.cuda_GpuMat()
while cap.isOpened():
ret, frame = cap.read()
# lower_black = np.array([0, 0, 0], dtype="uint8")
# upper_black = np.array([230, 255, 65], dtype="uint8")
# frame = cv2.imread("dahedra_armor.png")
# cv2.imshow("frame", frame)
img_mat.upload(frame)
gray_mat = cv2.cuda.cvtColor(img_mat, cv2.COLOR_RGB2GRAY)
median_filter = cv2.cuda.createMedianFilter(cv2.CV_8UC1, 7)
median = median_filter.apply(gray_mat)
norm = cv2.cuda_GpuMat()
norm = cv2.cuda.normalize(median, 0, 255, cv2.NORM_MINMAX, 1)
norm_c = norm.download()
cv2.imshow("norm", norm_c)
warp = bird_view(frame, norm)
wp = warp.download()
cv2.imshow("warp-gpu", wp)
# canny_filter = cv2.cuda.createCannyEdgeDetector(50, 150)
# canny = canny_filter.detect(norm)
# canny_show = canny.download()
# cv2.imshow("canny", canny_show)
# hsv_mat = cv2.cuda.cvtColor(img_mat, cv2.COLOR_RGB2HSV)
# gauss = cv2.cuda.createGaussianFilter(cv2.CV_8UC3, -1, (3, 3), 16)
#
# filtered_col = color_filter(frame, hsv_mat, gray_img, lower_black, upper_black)
# fil = filtered_col.download()
# # cv2.imshow("fil", fil)
# gauss_filtered = gauss.apply(filtered_col)
# # gauss_filtered = gauss.apply(hsv_mat)
#
# detector = cv2.cuda.createCannyEdgeDetector(50, 150)
# detector.detect(gauss_filtered)
# canny = detector.download()
# cv2.imshow("Canny", canny)
# if cv2.waitKey(10) & 0xFF == ord('q'):
# break
# The following frees up resources and closes all windows
# cap.release()
# cv2.destroyAllWindows()
if cv2.waitKey(10) & 0xFF == ord('q'):
break
# The following frees up resources and closes all windows
cap.release()
cv2.destroyAllWindows()
def bird_view(frame, img_mat):
image_h, image_w, _ = frame.shape
# src = cv2.cuda_GpuMat()
# dst = cv2.cuda_GpuMat()
src = np.float32([[0, image_h], [1207, image_h], [0, 0], [image_w, 0]])
dst = np.float32([[568, image_h], [711, image_h], [0, 0], [image_w, 0]])
M = cv2.cuda_GpuMat()
M_cpu = cv2.getPerspectiveTransform(src, dst)
M.upload(M_cpu)
bird_mat = cv2.cuda_GpuMat()
bird_mat = cv2.cuda.warpPerspective(img_mat, M, (1280, 960))
return bird_mat
def test_cudaarithm_arithmetic(self):
npMat1 = np.random.random((128, 128, 3)) - 0.5
npMat2 = np.random.random((128, 128, 3)) - 0.5
cuMat1 = cv.cuda_GpuMat()
cuMat2 = cv.cuda_GpuMat()
cuMat1.upload(npMat1)
cuMat2.upload(npMat2)
self.assertTrue(
np.allclose(
cv.cuda.add(cuMat1, cuMat2).download(), cv.add(npMat1,
npMat2)))
self.assertTrue(
np.allclose(
cv.cuda.subtract(cuMat1, cuMat2).download(),
cv.subtract(npMat1, npMat2)))
self.assertTrue(
np.allclose(
cv.cuda.multiply(cuMat1, cuMat2).download(),
cv.multiply(npMat1, npMat2)))
self.assertTrue(
np.allclose(
cv.cuda.divide(cuMat1, cuMat2).download(),
cv.divide(npMat1, npMat2)))
self.assertTrue(
np.allclose(
cv.cuda.absdiff(cuMat1, cuMat2).download(),
cv.absdiff(npMat1, npMat2)))
self.assertTrue(
np.allclose(
cv.cuda.compare(cuMat1, cuMat2, cv.CMP_GE).download(),
cv.compare(npMat1, npMat2, cv.CMP_GE)))
self.assertTrue(
np.allclose(cv.cuda.abs(cuMat1).download(), np.abs(npMat1)))
self.assertTrue(
np.allclose(
cv.cuda.sqrt(cv.cuda.sqr(cuMat1)).download(),
cv.cuda.abs(cuMat1).download()))
self.assertTrue(
np.allclose(cv.cuda.log(cv.cuda.exp(cuMat1)).download(), npMat1))
self.assertTrue(
np.allclose(cv.cuda.pow(cuMat1, 2).download(), cv.pow(npMat1, 2)))
def hough_init(self):
self.image_canny = cv2.cuda_GpuMat((self.W_size, self.H_size),
cv2.CV_8U)
self.cannyFilter = cv2.cuda.createCannyEdgeDetector(low_thresh=5,
high_thresh=20,
apperture_size=3)
self.houghFilter = cv2.cuda.createHoughLinesDetector(rho=1,
theta=(np.pi /
60),
threshold=3,
doSort=True,
maxLines=30)
self.houghResult_gpu = cv2.cuda_GpuMat((30, 2), cv2.CV_32FC2)
def main():
rand = np.random.random((1024, 1024)).astype(np.float32)
h_array1 = np.stack([rand, rand],axis=2)
h_array2 = h_array1
d_array1 = cv.cuda_GpuMat()
d_array2 = cv.cuda_GpuMat()
d_array1.upload(h_array1)
d_array2.upload(h_array2)
start = time.time()
cv.cuda.gemm(d_array1, d_array2, 1, None, 0, None, 1)
end = time.time()
print("Time elapsed:", end - start, "sec")
def is_same_object(left_frame, right_frame, left_boxes, left_indices,
right_boxes, right_indices):
gray_left_image = cv.cvtColor(left_frame, cv.COLOR_BGR2GRAY)
gray_right_image = cv.cvtColor(right_frame, cv.COLOR_BGR2GRAY)
gpu_gray_left_image = cv.cuda_GpuMat(gray_left_image)
gpu_gray_right_image = cv.cuda_GpuMat(gray_right_image)
surf = cv.cuda.SURF_CUDA_create(4000)
gpu_left_key_points, gpu_left_descriptors = surf.detectWithDescriptors(
gpu_gray_left_image, None)
gpu_right_key_points, gpu_right_descriptors = surf.detectWithDescriptors(
gpu_gray_right_image, None)
matcher = cv.cuda.DescriptorMatcher_createBFMatcher(cv.NORM_L2)
matches = matcher.knnMatch(gpu_left_descriptors,
gpu_right_descriptors,
k=2)
good_match = [[m] for m, n in matches if m.distance < 0.7 * n.distance]
left_key_points = cv.cuda_SURF_CUDA.downloadKeypoints(
surf, gpu_left_key_points)
right_key_points = cv.cuda_SURF_CUDA.downloadKeypoints(
surf, gpu_right_key_points)
flag = []
for left_index in left_indices:
is_find = False
left_idx = left_index[0]
left_box = left_boxes[left_idx]
for match in good_match:
if (left_box[0] <= left_key_points[match[0].queryIdx].pt[0] <=
(left_box[0] + left_box[2])) and (
left_box[1] <= left_key_points[match[0].queryIdx].pt[1] <=
(left_box[1] + left_box[3])):
right_match_point = right_key_points[match[0].trainIdx].pt
for right_index in right_indices:
right_idx = right_index[0]
right_box = right_boxes[right_idx]
if (right_box[0] <= right_match_point[0] <=
right_box[0] + right_box[2]) and (
right_box[1] <= right_match_point[1] <=
right_box[3]):
if right_idx not in flag:
flag.append(right_idx)
is_find = True
break
if is_find:
break
if not is_find:
flag.append(-1)
return flag
def test_cudaarithm_arithmetic(self):
npMat1 = (np.random.random((128, 128, 3)) * 255).astype(np.uint8)
cuMat1 = cv.cuda_GpuMat(npMat1)
cuMatDst = cv.cuda_GpuMat(cuMat1.size(), cuMat1.type())
cuMatB = cv.cuda_GpuMat(cuMat1.size(), cv.CV_8UC1)
cuMatG = cv.cuda_GpuMat(cuMat1.size(), cv.CV_8UC1)
cuMatR = cv.cuda_GpuMat(cuMat1.size(), cv.CV_8UC1)
self.assertTrue(
np.allclose(cv.cuda.merge(cv.cuda.split(cuMat1)), npMat1))
cv.cuda.split(cuMat1, [cuMatB, cuMatG, cuMatR])
cv.cuda.merge([cuMatB, cuMatG, cuMatR], cuMatDst)
self.assertTrue(np.allclose(cuMatDst.download(), npMat1))
def preprocess(files):
# copy image files
i_files = files.copy()
# create GPU frame to hold images
gpu_frame = cv.cuda_GpuMat()
for i in range(len(i_files)):
# load image (CPU)
screenshot = cv.imread(f'../../media/{i_files[i]}')
# fit screenshot to (GPU) frame
gpu_frame.upload(screenshot)
# translate colors to opencv (numpy.ndarray -> cv2.cuda_GpuMat)
screenshot = cv.cuda.cvtColor(gpu_frame, cv.COLOR_RGB2BGR)
screenshot = cv.cuda.cvtColor(screenshot, cv.COLOR_BGR2GRAY)
# inverted threshold @ 100
screenshot = cv.cuda.threshold(screenshot, 125, 255, cv.THRESH_BINARY)
# resize image
screenshot = cv.cuda.resize(screenshot[1], (200, 200))
# download image from GPU (cv2.cuda_GpuMat -> numpy.ndarray)
screenshot = screenshot.download()
# replace file name with new image
i_files[i] = screenshot
# output preprocessed images
return i_files
def thresholding(img):
#applying Canny edge detection along with dilating erode
#CPU CODE
# imgGray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
#CUDA CODE
img_mat = cv2.cuda_GpuMat()
img_mat.upload(img)
gray_mat = cv2.cuda.cvtColor(img_mat, cv2.COLOR_RGB2GRAY)
#CONTINUE CUDA#imgGray = gray_mat.download()
kernel = np.ones((5, 5))
#CPU CODE (GaussianBlur)
#imgBlur = cv2.GaussianBlur(imgGray, (5, 5), 0)
#CUDA CODE (GaussianBlur ==> bilateralFilter)
#CONTINUE CUDA#imgMat_src = cv2.cuda_GpuMat()
#CONTINUE CUDA#imgMat_src.upload(imgGray)
#CONTINUE CUDA#imgMat_dst = cv2.cuda.bilateralFilter(imgMat_src, 5, 5, 0)
imgBlur = cv2.cuda.bilateralFilter(gray_mat, 5, 5, 0)
#CONTINUE CUDA#imgBlur = imgMat_dst.download()
#CONTINUE CUDA#imgCanny = cv2.Canny(imgBlur, 50, 100)
cannyReady = cv2.cuda.createCannyEdgeDetector(50, 100)
imgCanny_mat = cannyReady.detect(imgBlur)
imgCanny = imgCanny_mat.download()
#imgClose = cv2.morphologyEx(imgCanny, cv2.MORPH_CLOSE, np.ones((10,10)))
imgDial = cv2.dilate(imgCanny, kernel, iterations=1)
imgErode = cv2.erode(imgDial, kernel, iterations=1)
imgColor = colorFilter(img)
combinedImage = cv2.bitwise_or(imgColor, imgErode)
#combing colorfilter image and edge image
return combinedImage, imgCanny, imgColor
def __init__(self, cam, gui=None):
super(ImageProcPythonCommand, self).__init__()
self._logger = getLogger(__name__)
self._logger.addHandler(NullHandler())
self._logger.setLevel(DEBUG)
self._logger.propagate = True
self.camera = cam
self.Line = Line_Notify(self.camera)
self.gui = gui
self.gsrc = cv2.cuda_GpuMat()
self.gtmpl = cv2.cuda_GpuMat()
self.gresult = cv2.cuda_GpuMat()
def test_cudaimgproc_cvtColor(self):
npMat = (np.random.random((128, 128, 3)) * 255).astype(np.uint8)
cuMat = cv.cuda_GpuMat()
cuMat.upload(npMat)
self.assertTrue(np.allclose(cv.cuda.cvtColor(cuMat, cv.COLOR_BGR2HSV).download(),
cv.cvtColor(npMat, cv.COLOR_BGR2HSV)))
def test_cuda_interop(self):
npMat = (np.random.random((128, 128, 3)) * 255).astype(np.uint8)
cuMat = cv.cuda_GpuMat()
cuMat.upload(npMat)
self.assertTrue(cuMat.cudaPtr() != 0)
stream = cv.cuda_Stream()
self.assertTrue(stream.cudaPtr() != 0)
def flow_init(self):
self.is_first_image = True
self.image_prvs_gray = cv2.cuda_GpuMat(
(self.image_size[1], self.image_size[0]), cv2.CV_8U)
self.nvof = cv2.cuda_FarnebackOpticalFlow.create(numLevels=3,
pyrScale=0.5,
fastPyramids=False,
winSize=15,
numIters=3,
polyN=5,
polySigma=1.1,
flags=0)
self.flow_gpu = cv2.cuda_GpuMat(
(self.image_size[1], self.image_size[0]), cv2.CV_32FC2)
self.nvof.calc(self.image_prvs_gray, self.image_next_gray,
None) # only to speed up the first calculation
def colorFilter(img):
#applying color filter for specific color(considering yellow and white color)
#CUDA CODE
img_mat = cv2.cuda_GpuMat()
img_mat.upload(img)
hsv_mat = cv2.cuda.cvtColor(img_mat, cv2.COLOR_BGR2HSV)
hsv = hsv_mat.download()
#CPU CODE
# hsv = cv2.cvtColor(img,cv2.COLOR_BGR2HSV)
lowerYellow = np.array([18, 94, 140]) #yellow color range
upperYellow = np.array([48, 255, 255])
lowerWhite = np.array([0, 0, 200])
upperWhite = np.array([255, 255, 255])
maskedWhite = cv2.inRange(hsv, lowerWhite, upperWhite)
maskedYellow = cv2.inRange(hsv, lowerYellow, upperYellow)
combinedImage = cv2.bitwise_or(maskedWhite, maskedYellow)
#CONTINUE CUDA# hsv_mat => hsv
#CONTINUE CUDA# maskedWhite_mat = cv2.cuda.threshold(hsv_mat, lowerWhite, upperWhite)
#CONTINUE CUDA# maskedYellow_mat = cv2.cuda.threshold(hsv_mat, lowerYellow, upperYellow)
#CONTINUE CUDA# combine_mat = cv2.cuda.bitwise_or(maskedWhite_mat, maskedYellow_mat)
#CONTINUE CUDA# combinedImage = combine_mat.download()
return combinedImage
def test_cuda_filter_laplacian(self):
npMat = (np.random.random((200, 200)) * 255).astype(np.uint16)
gpuMat = cv.cuda_GpuMat()
gpuMat.upload(npMat)
gpuMat = cv.cuda.createLaplacianFilter(cv.CV_16UC1, -1, ksize=3).apply(gpuMat)
self.assertTrue(np.allclose(gpuMat.download(), cv.Laplacian(npMat, cv.CV_16UC1, ksize=3)))
def test_cuda_imgproc_cvtColor(self):
npMat = (np.random.random((200, 200, 3)) * 255).astype(np.uint8)
gpuMat = cv.cuda_GpuMat()
gpuMat.upload(npMat)
gpuMat2 = cv.cuda.cvtColor(gpuMat, cv.COLOR_BGR2HSV)
self.assertTrue(np.allclose(gpuMat2.download(), cv.cvtColor(npMat, cv.COLOR_BGR2HSV)))
def test_cudaarithm_arithmetic(self):
npMat1 = np.random.random((128, 128, 3)) - 0.5
npMat2 = np.random.random((128, 128, 3)) - 0.5
cuMat1 = cv.cuda_GpuMat()
cuMat2 = cv.cuda_GpuMat()
cuMat1.upload(npMat1)
cuMat2.upload(npMat2)
self.assertTrue(np.allclose(cv.cuda.add(cuMat1, cuMat2).download(),
cv.add(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.subtract(cuMat1, cuMat2).download(),
cv.subtract(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.multiply(cuMat1, cuMat2).download(),
cv.multiply(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.divide(cuMat1, cuMat2).download(),
cv.divide(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.absdiff(cuMat1, cuMat2).download(),
cv.absdiff(npMat1, npMat2)))
self.assertTrue(np.allclose(cv.cuda.compare(cuMat1, cuMat2, cv.CMP_GE).download(),
cv.compare(npMat1, npMat2, cv.CMP_GE)))
self.assertTrue(np.allclose(cv.cuda.abs(cuMat1).download(),
np.abs(npMat1)))
self.assertTrue(np.allclose(cv.cuda.sqrt(cv.cuda.sqr(cuMat1)).download(),
cv.cuda.abs(cuMat1).download()))
self.assertTrue(np.allclose(cv.cuda.log(cv.cuda.exp(cuMat1)).download(),
npMat1))
self.assertTrue(np.allclose(cv.cuda.pow(cuMat1, 2).download(),
cv.pow(npMat1, 2)))
def test_cudaimgproc(self):
npC1 = (np.random.random((128, 128)) * 255).astype(np.uint8)
npC3 = (np.random.random((128, 128, 3)) * 255).astype(np.uint8)
npC4 = (np.random.random((128, 128, 4)) * 255).astype(np.uint8)
cuC1 = cv.cuda_GpuMat()
cuC3 = cv.cuda_GpuMat()
cuC4 = cv.cuda_GpuMat()
cuC1.upload(npC1)
cuC3.upload(npC3)
cuC4.upload(npC4)
cv.cuda.cvtColor(cuC3, cv.COLOR_RGB2HSV)
cv.cuda.demosaicing(cuC1, cv.cuda.COLOR_BayerGR2BGR_MHT)
cv.cuda.gammaCorrection(cuC3)
cv.cuda.alphaComp(cuC4, cuC4, cv.cuda.ALPHA_XOR)
cv.cuda.calcHist(cuC1)
cv.cuda.equalizeHist(cuC1)
cv.cuda.evenLevels(3, 0, 255)
cv.cuda.meanShiftFiltering(cuC4, 10, 5)
cv.cuda.meanShiftProc(cuC4, 10, 5)
cv.cuda.bilateralFilter(cuC3, 3, 16, 3)
cv.cuda.blendLinear
cv.cuda.meanShiftSegmentation(cuC4, 10, 5, 5).download()
clahe = cv.cuda.createCLAHE()
clahe.apply(cuC1, cv.cuda_Stream.Null());
histLevels = cv.cuda.histEven(cuC3, 20, 0, 255)
cv.cuda.histRange(cuC1, histLevels)
detector = cv.cuda.createCannyEdgeDetector(0, 100)
detector.detect(cuC1)
detector = cv.cuda.createHoughLinesDetector(3, np.pi / 180, 20)
detector.detect(cuC1)
detector = cv.cuda.createHoughSegmentDetector(3, np.pi / 180, 20, 5)
detector.detect(cuC1)
detector = cv.cuda.createHoughCirclesDetector(3, 20, 10, 10, 20, 100)
detector.detect(cuC1)
detector = cv.cuda.createGeneralizedHoughBallard()
#BUG: detect accept only Mat!
#Even if generate_gpumat_decls is set to True, it only wraps overload CUDA functions.
#The problem is that Mat and GpuMat are not fully compatible to enable system-wide overloading
#detector.detect(cuC1, cuC1, cuC1)
detector = cv.cuda.createGeneralizedHoughGuil()
#BUG: same as above..
#detector.detect(cuC1, cuC1, cuC1)
detector = cv.cuda.createHarrisCorner(cv.CV_8UC1, 15, 5, 1)
detector.compute(cuC1)
detector = cv.cuda.createMinEigenValCorner(cv.CV_8UC1, 15, 5, 1)
detector.compute(cuC1)
detector = cv.cuda.createGoodFeaturesToTrackDetector(cv.CV_8UC1)
detector.detect(cuC1)
matcher = cv.cuda.createTemplateMatching(cv.CV_8UC1, cv.TM_CCOEFF_NORMED)
matcher.match(cuC3, cuC3)
self.assertTrue(True) #It is sufficient that no exceptions have been there
def test_cuda_upload_download(self):
npMat = (np.random.random((200, 200, 3)) * 255).astype(np.uint8)
gpuMat = cv.cuda_GpuMat()
gpuMat.upload(npMat)
self.assertTrue(np.allclose(gpuMat.download(), npMat))