├── .gitattributes ├── .gitignore ├── LICENSE ├── README.md ├── c++ └── pythoncuda │ ├── CMakeLists.txt │ ├── include │ └── opencv2 │ │ └── pythoncuda.hpp │ └── src │ ├── precomp.hpp │ └── pythoncuda.cpp └── python ├── common.py ├── cpu-opt_flow.py ├── extract-frame.py ├── gpu-opt_flow.py ├── output ├── cpu │ └── .gitignore └── gpu │ └── .gitignore ├── sparse-optical-flow.py └── video └── vtest.avi /.gitattributes: -------------------------------------------------------------------------------- 1 | # Auto detect text files and perform LF normalization 2 | * text=auto 3 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | *.png 2 | *.pyc 3 | *.avi 4 | *.mp4 5 | *.txt 6 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. We, the Free Software Foundation, use the 18 | GNU General Public License for most of our software; it applies also to 19 | any other work released this way by its authors. You can apply it to 20 | your programs, too. 21 | 22 | When we speak of free software, we are referring to freedom, not 23 | price. Our General Public Licenses are designed to make sure that you 24 | have the freedom to distribute copies of free software (and charge for 25 | them if you wish), that you receive source code or can get it if you 26 | want it, that you can change the software or use pieces of it in new 27 | free programs, and that you know you can do these things. 28 | 29 | To protect your rights, we need to prevent others from denying you 30 | these rights or asking you to surrender the rights. Therefore, you have 31 | certain responsibilities if you distribute copies of the software, or if 32 | you modify it: responsibilities to respect the freedom of others. 33 | 34 | For example, if you distribute copies of such a program, whether 35 | gratis or for a fee, you must pass on to the recipients the same 36 | freedoms that you received. You must make sure that they, too, receive 37 | or can get the source code. And you must show them these terms so they 38 | know their rights. 39 | 40 | Developers that use the GNU GPL protect your rights with two steps: 41 | (1) assert copyright on the software, and (2) offer you this License 42 | giving you legal permission to copy, distribute and/or modify it. 43 | 44 | For the developers' and authors' protection, the GPL clearly explains 45 | that there is no warranty for this free software. For both users' and 46 | authors' sake, the GPL requires that modified versions be marked as 47 | changed, so that their problems will not be attributed erroneously to 48 | authors of previous versions. 49 | 50 | Some devices are designed to deny users access to install or run 51 | modified versions of the software inside them, although the manufacturer 52 | can do so. This is fundamentally incompatible with the aim of 53 | protecting users' freedom to change the software. The systematic 54 | pattern of such abuse occurs in the area of products for individuals to 55 | use, which is precisely where it is most unacceptable. Therefore, we 56 | have designed this version of the GPL to prohibit the practice for those 57 | products. If such problems arise substantially in other domains, we 58 | stand ready to extend this provision to those domains in future versions 59 | of the GPL, as needed to protect the freedom of users. 60 | 61 | Finally, every program is threatened constantly by software patents. 62 | States should not allow patents to restrict development and use of 63 | software on general-purpose computers, but in those that do, we wish to 64 | avoid the special danger that patents applied to a free program could 65 | make it effectively proprietary. To prevent this, the GPL assures that 66 | patents cannot be used to render the program non-free. 67 | 68 | The precise terms and conditions for copying, distribution and 69 | modification follow. 70 | 71 | TERMS AND CONDITIONS 72 | 73 | 0. Definitions. 74 | 75 | "This License" refers to version 3 of the GNU General Public License. 76 | 77 | "Copyright" also means copyright-like laws that apply to other kinds of 78 | works, such as semiconductor masks. 79 | 80 | "The Program" refers to any copyrightable work licensed under this 81 | License. Each licensee is addressed as "you". "Licensees" and 82 | "recipients" may be individuals or organizations. 83 | 84 | To "modify" a work means to copy from or adapt all or part of the work 85 | in a fashion requiring copyright permission, other than the making of an 86 | exact copy. The resulting work is called a "modified version" of the 87 | earlier work or a work "based on" the earlier work. 88 | 89 | A "covered work" means either the unmodified Program or a work based 90 | on the Program. 91 | 92 | To "propagate" a work means to do anything with it that, without 93 | permission, would make you directly or secondarily liable for 94 | infringement under applicable copyright law, except executing it on a 95 | computer or modifying a private copy. Propagation includes copying, 96 | distribution (with or without modification), making available to the 97 | public, and in some countries other activities as well. 98 | 99 | To "convey" a work means any kind of propagation that enables other 100 | parties to make or receive copies. Mere interaction with a user through 101 | a computer network, with no transfer of a copy, is not conveying. 102 | 103 | An interactive user interface displays "Appropriate Legal Notices" 104 | to the extent that it includes a convenient and prominently visible 105 | feature that (1) displays an appropriate copyright notice, and (2) 106 | tells the user that there is no warranty for the work (except to the 107 | extent that warranties are provided), that licensees may convey the 108 | work under this License, and how to view a copy of this License. If 109 | the interface presents a list of user commands or options, such as a 110 | menu, a prominent item in the list meets this criterion. 111 | 112 | 1. Source Code. 113 | 114 | The "source code" for a work means the preferred form of the work 115 | for making modifications to it. "Object code" means any non-source 116 | form of a work. 117 | 118 | A "Standard Interface" means an interface that either is an official 119 | standard defined by a recognized standards body, or, in the case of 120 | interfaces specified for a particular programming language, one that 121 | is widely used among developers working in that language. 122 | 123 | The "System Libraries" of an executable work include anything, other 124 | than the work as a whole, that (a) is included in the normal form of 125 | packaging a Major Component, but which is not part of that Major 126 | Component, and (b) serves only to enable use of the work with that 127 | Major Component, or to implement a Standard Interface for which an 128 | implementation is available to the public in source code form. A 129 | "Major Component", in this context, means a major essential component 130 | (kernel, window system, and so on) of the specific operating system 131 | (if any) on which the executable work runs, or a compiler used to 132 | produce the work, or an object code interpreter used to run it. 133 | 134 | The "Corresponding Source" for a work in object code form means all 135 | the source code needed to generate, install, and (for an executable 136 | work) run the object code and to modify the work, including scripts to 137 | control those activities. However, it does not include the work's 138 | System Libraries, or general-purpose tools or generally available free 139 | programs which are used unmodified in performing those activities but 140 | which are not part of the work. For example, Corresponding Source 141 | includes interface definition files associated with source files for 142 | the work, and the source code for shared libraries and dynamically 143 | linked subprograms that the work is specifically designed to require, 144 | such as by intimate data communication or control flow between those 145 | subprograms and other parts of the work. 146 | 147 | The Corresponding Source need not include anything that users 148 | can regenerate automatically from other parts of the Corresponding 149 | Source. 150 | 151 | The Corresponding Source for a work in source code form is that 152 | same work. 153 | 154 | 2. Basic Permissions. 155 | 156 | All rights granted under this License are granted for the term of 157 | copyright on the Program, and are irrevocable provided the stated 158 | conditions are met. This License explicitly affirms your unlimited 159 | permission to run the unmodified Program. The output from running a 160 | covered work is covered by this License only if the output, given its 161 | content, constitutes a covered work. This License acknowledges your 162 | rights of fair use or other equivalent, as provided by copyright law. 163 | 164 | You may make, run and propagate covered works that you do not 165 | convey, without conditions so long as your license otherwise remains 166 | in force. You may convey covered works to others for the sole purpose 167 | of having them make modifications exclusively for you, or provide you 168 | with facilities for running those works, provided that you comply with 169 | the terms of this License in conveying all material for which you do 170 | not control copyright. Those thus making or running the covered works 171 | for you must do so exclusively on your behalf, under your direction 172 | and control, on terms that prohibit them from making any copies of 173 | your copyrighted material outside their relationship with you. 174 | 175 | Conveying under any other circumstances is permitted solely under 176 | the conditions stated below. Sublicensing is not allowed; section 10 177 | makes it unnecessary. 178 | 179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 180 | 181 | No covered work shall be deemed part of an effective technological 182 | measure under any applicable law fulfilling obligations under article 183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or 184 | similar laws prohibiting or restricting circumvention of such 185 | measures. 186 | 187 | When you convey a covered work, you waive any legal power to forbid 188 | circumvention of technological measures to the extent such circumvention 189 | is effected by exercising rights under this License with respect to 190 | the covered work, and you disclaim any intention to limit operation or 191 | modification of the work as a means of enforcing, against the work's 192 | users, your or third parties' legal rights to forbid circumvention of 193 | technological measures. 194 | 195 | 4. Conveying Verbatim Copies. 196 | 197 | You may convey verbatim copies of the Program's source code as you 198 | receive it, in any medium, provided that you conspicuously and 199 | appropriately publish on each copy an appropriate copyright notice; 200 | keep intact all notices stating that this License and any 201 | non-permissive terms added in accord with section 7 apply to the code; 202 | keep intact all notices of the absence of any warranty; and give all 203 | recipients a copy of this License along with the Program. 204 | 205 | You may charge any price or no price for each copy that you convey, 206 | and you may offer support or warranty protection for a fee. 207 | 208 | 5. Conveying Modified Source Versions. 209 | 210 | You may convey a work based on the Program, or the modifications to 211 | produce it from the Program, in the form of source code under the 212 | terms of section 4, provided that you also meet all of these conditions: 213 | 214 | a) The work must carry prominent notices stating that you modified 215 | it, and giving a relevant date. 216 | 217 | b) The work must carry prominent notices stating that it is 218 | released under this License and any conditions added under section 219 | 7. This requirement modifies the requirement in section 4 to 220 | "keep intact all notices". 221 | 222 | c) You must license the entire work, as a whole, under this 223 | License to anyone who comes into possession of a copy. This 224 | License will therefore apply, along with any applicable section 7 225 | additional terms, to the whole of the work, and all its parts, 226 | regardless of how they are packaged. This License gives no 227 | permission to license the work in any other way, but it does not 228 | invalidate such permission if you have separately received it. 229 | 230 | d) If the work has interactive user interfaces, each must display 231 | Appropriate Legal Notices; however, if the Program has interactive 232 | interfaces that do not display Appropriate Legal Notices, your 233 | work need not make them do so. 234 | 235 | A compilation of a covered work with other separate and independent 236 | works, which are not by their nature extensions of the covered work, 237 | and which are not combined with it such as to form a larger program, 238 | in or on a volume of a storage or distribution medium, is called an 239 | "aggregate" if the compilation and its resulting copyright are not 240 | used to limit the access or legal rights of the compilation's users 241 | beyond what the individual works permit. Inclusion of a covered work 242 | in an aggregate does not cause this License to apply to the other 243 | parts of the aggregate. 244 | 245 | 6. Conveying Non-Source Forms. 246 | 247 | You may convey a covered work in object code form under the terms 248 | of sections 4 and 5, provided that you also convey the 249 | machine-readable Corresponding Source under the terms of this License, 250 | in one of these ways: 251 | 252 | a) Convey the object code in, or embodied in, a physical product 253 | (including a physical distribution medium), accompanied by the 254 | Corresponding Source fixed on a durable physical medium 255 | customarily used for software interchange. 256 | 257 | b) Convey the object code in, or embodied in, a physical product 258 | (including a physical distribution medium), accompanied by a 259 | written offer, valid for at least three years and valid for as 260 | long as you offer spare parts or customer support for that product 261 | model, to give anyone who possesses the object code either (1) a 262 | copy of the Corresponding Source for all the software in the 263 | product that is covered by this License, on a durable physical 264 | medium customarily used for software interchange, for a price no 265 | more than your reasonable cost of physically performing this 266 | conveying of source, or (2) access to copy the 267 | Corresponding Source from a network server at no charge. 268 | 269 | c) Convey individual copies of the object code with a copy of the 270 | written offer to provide the Corresponding Source. This 271 | alternative is allowed only occasionally and noncommercially, and 272 | only if you received the object code with such an offer, in accord 273 | with subsection 6b. 274 | 275 | d) Convey the object code by offering access from a designated 276 | place (gratis or for a charge), and offer equivalent access to the 277 | Corresponding Source in the same way through the same place at no 278 | further charge. You need not require recipients to copy the 279 | Corresponding Source along with the object code. If the place to 280 | copy the object code is a network server, the Corresponding Source 281 | may be on a different server (operated by you or a third party) 282 | that supports equivalent copying facilities, provided you maintain 283 | clear directions next to the object code saying where to find the 284 | Corresponding Source. Regardless of what server hosts the 285 | Corresponding Source, you remain obligated to ensure that it is 286 | available for as long as needed to satisfy these requirements. 287 | 288 | e) Convey the object code using peer-to-peer transmission, provided 289 | you inform other peers where the object code and Corresponding 290 | Source of the work are being offered to the general public at no 291 | charge under subsection 6d. 292 | 293 | A separable portion of the object code, whose source code is excluded 294 | from the Corresponding Source as a System Library, need not be 295 | included in conveying the object code work. 296 | 297 | A "User Product" is either (1) a "consumer product", which means any 298 | tangible personal property which is normally used for personal, family, 299 | or household purposes, or (2) anything designed or sold for incorporation 300 | into a dwelling. In determining whether a product is a consumer product, 301 | doubtful cases shall be resolved in favor of coverage. For a particular 302 | product received by a particular user, "normally used" refers to a 303 | typical or common use of that class of product, regardless of the status 304 | of the particular user or of the way in which the particular user 305 | actually uses, or expects or is expected to use, the product. A product 306 | is a consumer product regardless of whether the product has substantial 307 | commercial, industrial or non-consumer uses, unless such uses represent 308 | the only significant mode of use of the product. 309 | 310 | "Installation Information" for a User Product means any methods, 311 | procedures, authorization keys, or other information required to install 312 | and execute modified versions of a covered work in that User Product from 313 | a modified version of its Corresponding Source. The information must 314 | suffice to ensure that the continued functioning of the modified object 315 | code is in no case prevented or interfered with solely because 316 | modification has been made. 317 | 318 | If you convey an object code work under this section in, or with, or 319 | specifically for use in, a User Product, and the conveying occurs as 320 | part of a transaction in which the right of possession and use of the 321 | User Product is transferred to the recipient in perpetuity or for a 322 | fixed term (regardless of how the transaction is characterized), the 323 | Corresponding Source conveyed under this section must be accompanied 324 | by the Installation Information. But this requirement does not apply 325 | if neither you nor any third party retains the ability to install 326 | modified object code on the User Product (for example, the work has 327 | been installed in ROM). 328 | 329 | The requirement to provide Installation Information does not include a 330 | requirement to continue to provide support service, warranty, or updates 331 | for a work that has been modified or installed by the recipient, or for 332 | the User Product in which it has been modified or installed. Access to a 333 | network may be denied when the modification itself materially and 334 | adversely affects the operation of the network or violates the rules and 335 | protocols for communication across the network. 336 | 337 | Corresponding Source conveyed, and Installation Information provided, 338 | in accord with this section must be in a format that is publicly 339 | documented (and with an implementation available to the public in 340 | source code form), and must require no special password or key for 341 | unpacking, reading or copying. 342 | 343 | 7. Additional Terms. 344 | 345 | "Additional permissions" are terms that supplement the terms of this 346 | License by making exceptions from one or more of its conditions. 347 | Additional permissions that are applicable to the entire Program shall 348 | be treated as though they were included in this License, to the extent 349 | that they are valid under applicable law. If additional permissions 350 | apply only to part of the Program, that part may be used separately 351 | under those permissions, but the entire Program remains governed by 352 | this License without regard to the additional permissions. 353 | 354 | When you convey a copy of a covered work, you may at your option 355 | remove any additional permissions from that copy, or from any part of 356 | it. (Additional permissions may be written to require their own 357 | removal in certain cases when you modify the work.) You may place 358 | additional permissions on material, added by you to a covered work, 359 | for which you have or can give appropriate copyright permission. 360 | 361 | Notwithstanding any other provision of this License, for material you 362 | add to a covered work, you may (if authorized by the copyright holders of 363 | that material) supplement the terms of this License with terms: 364 | 365 | a) Disclaiming warranty or limiting liability differently from the 366 | terms of sections 15 and 16 of this License; or 367 | 368 | b) Requiring preservation of specified reasonable legal notices or 369 | author attributions in that material or in the Appropriate Legal 370 | Notices displayed by works containing it; or 371 | 372 | c) Prohibiting misrepresentation of the origin of that material, or 373 | requiring that modified versions of such material be marked in 374 | reasonable ways as different from the original version; or 375 | 376 | d) Limiting the use for publicity purposes of names of licensors or 377 | authors of the material; or 378 | 379 | e) Declining to grant rights under trademark law for use of some 380 | trade names, trademarks, or service marks; or 381 | 382 | f) Requiring indemnification of licensors and authors of that 383 | material by anyone who conveys the material (or modified versions of 384 | it) with contractual assumptions of liability to the recipient, for 385 | any liability that these contractual assumptions directly impose on 386 | those licensors and authors. 387 | 388 | All other non-permissive additional terms are considered "further 389 | restrictions" within the meaning of section 10. If the Program as you 390 | received it, or any part of it, contains a notice stating that it is 391 | governed by this License along with a term that is a further 392 | restriction, you may remove that term. If a license document contains 393 | a further restriction but permits relicensing or conveying under this 394 | License, you may add to a covered work material governed by the terms 395 | of that license document, provided that the further restriction does 396 | not survive such relicensing or conveying. 397 | 398 | If you add terms to a covered work in accord with this section, you 399 | must place, in the relevant source files, a statement of the 400 | additional terms that apply to those files, or a notice indicating 401 | where to find the applicable terms. 402 | 403 | Additional terms, permissive or non-permissive, may be stated in the 404 | form of a separately written license, or stated as exceptions; 405 | the above requirements apply either way. 406 | 407 | 8. Termination. 408 | 409 | You may not propagate or modify a covered work except as expressly 410 | provided under this License. Any attempt otherwise to propagate or 411 | modify it is void, and will automatically terminate your rights under 412 | this License (including any patent licenses granted under the third 413 | paragraph of section 11). 414 | 415 | However, if you cease all violation of this License, then your 416 | license from a particular copyright holder is reinstated (a) 417 | provisionally, unless and until the copyright holder explicitly and 418 | finally terminates your license, and (b) permanently, if the copyright 419 | holder fails to notify you of the violation by some reasonable means 420 | prior to 60 days after the cessation. 421 | 422 | Moreover, your license from a particular copyright holder is 423 | reinstated permanently if the copyright holder notifies you of the 424 | violation by some reasonable means, this is the first time you have 425 | received notice of violation of this License (for any work) from that 426 | copyright holder, and you cure the violation prior to 30 days after 427 | your receipt of the notice. 428 | 429 | Termination of your rights under this section does not terminate the 430 | licenses of parties who have received copies or rights from you under 431 | this License. If your rights have been terminated and not permanently 432 | reinstated, you do not qualify to receive new licenses for the same 433 | material under section 10. 434 | 435 | 9. Acceptance Not Required for Having Copies. 436 | 437 | You are not required to accept this License in order to receive or 438 | run a copy of the Program. Ancillary propagation of a covered work 439 | occurring solely as a consequence of using peer-to-peer transmission 440 | to receive a copy likewise does not require acceptance. However, 441 | nothing other than this License grants you permission to propagate or 442 | modify any covered work. These actions infringe copyright if you do 443 | not accept this License. Therefore, by modifying or propagating a 444 | covered work, you indicate your acceptance of this License to do so. 445 | 446 | 10. Automatic Licensing of Downstream Recipients. 447 | 448 | Each time you convey a covered work, the recipient automatically 449 | receives a license from the original licensors, to run, modify and 450 | propagate that work, subject to this License. You are not responsible 451 | for enforcing compliance by third parties with this License. 452 | 453 | An "entity transaction" is a transaction transferring control of an 454 | organization, or substantially all assets of one, or subdividing an 455 | organization, or merging organizations. If propagation of a covered 456 | work results from an entity transaction, each party to that 457 | transaction who receives a copy of the work also receives whatever 458 | licenses to the work the party's predecessor in interest had or could 459 | give under the previous paragraph, plus a right to possession of the 460 | Corresponding Source of the work from the predecessor in interest, if 461 | the predecessor has it or can get it with reasonable efforts. 462 | 463 | You may not impose any further restrictions on the exercise of the 464 | rights granted or affirmed under this License. For example, you may 465 | not impose a license fee, royalty, or other charge for exercise of 466 | rights granted under this License, and you may not initiate litigation 467 | (including a cross-claim or counterclaim in a lawsuit) alleging that 468 | any patent claim is infringed by making, using, selling, offering for 469 | sale, or importing the Program or any portion of it. 470 | 471 | 11. Patents. 472 | 473 | A "contributor" is a copyright holder who authorizes use under this 474 | License of the Program or a work on which the Program is based. The 475 | work thus licensed is called the contributor's "contributor version". 476 | 477 | A contributor's "essential patent claims" are all patent claims 478 | owned or controlled by the contributor, whether already acquired or 479 | hereafter acquired, that would be infringed by some manner, permitted 480 | by this License, of making, using, or selling its contributor version, 481 | but do not include claims that would be infringed only as a 482 | consequence of further modification of the contributor version. For 483 | purposes of this definition, "control" includes the right to grant 484 | patent sublicenses in a manner consistent with the requirements of 485 | this License. 486 | 487 | Each contributor grants you a non-exclusive, worldwide, royalty-free 488 | patent license under the contributor's essential patent claims, to 489 | make, use, sell, offer for sale, import and otherwise run, modify and 490 | propagate the contents of its contributor version. 491 | 492 | In the following three paragraphs, a "patent license" is any express 493 | agreement or commitment, however denominated, not to enforce a patent 494 | (such as an express permission to practice a patent or covenant not to 495 | sue for patent infringement). To "grant" such a patent license to a 496 | party means to make such an agreement or commitment not to enforce a 497 | patent against the party. 498 | 499 | If you convey a covered work, knowingly relying on a patent license, 500 | and the Corresponding Source of the work is not available for anyone 501 | to copy, free of charge and under the terms of this License, through a 502 | publicly available network server or other readily accessible means, 503 | then you must either (1) cause the Corresponding Source to be so 504 | available, or (2) arrange to deprive yourself of the benefit of the 505 | patent license for this particular work, or (3) arrange, in a manner 506 | consistent with the requirements of this License, to extend the patent 507 | license to downstream recipients. "Knowingly relying" means you have 508 | actual knowledge that, but for the patent license, your conveying the 509 | covered work in a country, or your recipient's use of the covered work 510 | in a country, would infringe one or more identifiable patents in that 511 | country that you have reason to believe are valid. 512 | 513 | If, pursuant to or in connection with a single transaction or 514 | arrangement, you convey, or propagate by procuring conveyance of, a 515 | covered work, and grant a patent license to some of the parties 516 | receiving the covered work authorizing them to use, propagate, modify 517 | or convey a specific copy of the covered work, then the patent license 518 | you grant is automatically extended to all recipients of the covered 519 | work and works based on it. 520 | 521 | A patent license is "discriminatory" if it does not include within 522 | the scope of its coverage, prohibits the exercise of, or is 523 | conditioned on the non-exercise of one or more of the rights that are 524 | specifically granted under this License. You may not convey a covered 525 | work if you are a party to an arrangement with a third party that is 526 | in the business of distributing software, under which you make payment 527 | to the third party based on the extent of your activity of conveying 528 | the work, and under which the third party grants, to any of the 529 | parties who would receive the covered work from you, a discriminatory 530 | patent license (a) in connection with copies of the covered work 531 | conveyed by you (or copies made from those copies), or (b) primarily 532 | for and in connection with specific products or compilations that 533 | contain the covered work, unless you entered into that arrangement, 534 | or that patent license was granted, prior to 28 March 2007. 535 | 536 | Nothing in this License shall be construed as excluding or limiting 537 | any implied license or other defenses to infringement that may 538 | otherwise be available to you under applicable patent law. 539 | 540 | 12. No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # python-opencv-cuda 2 | 3 | ## Solution 4 | 1. Create custom opencv_contrib module 5 | 2. Write C++ code to wrap the OpenCV CUDA method 6 | 3. Using OpenCV python bindings, expose your custom method 7 | 4. Build opencv with opencv_contrib 8 | 5. Run python code to test 9 | 10 | ## Steps to create the build 11 | ### Unzip the source: 12 | 1. opencv source code: https://github.com/opencv/opencv/archive/3.4.2.zip 13 | 2. opencv_contrib source code: https://github.com/opencv/opencv_contrib/archive/3.4.2.zip 14 | 15 | ### Create custom module 16 | 1. Copy the folder named "pythoncuda" (inside c++ folder) to: opencv_contrib/modules 17 | 18 | ### Build opencv using following cmake command 19 | 1. create build directory inside the opencv folder, cd to the build directory 20 | 2. cmake (I used anaconda3 with environment named as: tensorflow_p36 (with python 3.6)) 21 | ``` 22 | cmake \ 23 | -DCMAKE_BUILD_TYPE=RELEASE \ 24 | -DWITH_CUDA=ON \ 25 | -DCMAKE_INSTALL_PREFIX="/home/$USER/anaconda3/envs/tensorflow_p36" \ 26 | -DOPENCV_EXTRA_MODULES_PATH="../../opencv_contrib-3.4.2/modules" \ 27 | -DINSTALL_PYTHON_EXAMPLES=OFF \ 28 | -DINSTALL_C_EXAMPLES=OFF \ 29 | -DBUILD_SHARED_LIBS=OFF \ 30 | -DBUILD_DOCS=OFF \ 31 | -DBUILD_TESTS=OFF \ 32 | -DBUILD_EXAMPLES=OFF \ 33 | -DBUILD_PERF_TESTS=OFF \ 34 | -DBUILD_opencv_dnn=OFF \ 35 | -DTINYDNN_USE_NNPACK=OFF \ 36 | -DTINYDNN_USE_TBB=ON \ 37 | -DTINYDNN_USE_OMP=ON \ 38 | -DENABLE_FAST_MATH=ON \ 39 | -DWITH_OPENMP=ON \ 40 | -DWITH_TBB=ON \ 41 | -DWITH_JPEG=OFF \ 42 | -DWITH_IPP=OFF \ 43 | -DMKL_WITH_TBB=ON \ 44 | -DMKL_WITH_OPENMP=ON \ 45 | -DBUILD_opencv_python2=OFF \ 46 | -DPYTHON_EXECUTABLE="/home/$USER/anaconda3/envs/tensorflow_p36/bin/python" \ 47 | -DPYTHON_LIBRARY="/home/$USER/anaconda3/envs/tensorflow_p36/lib/python3.6" \ 48 | -DPYTHON3_LIBRARY="/home/$USER/anaconda3/envs/tensorflow_p36/lib/python3.6" \ 49 | -DPYTHON3_EXECUTABLE="/home/$USER/anaconda3/envs/tensorflow_p36/bin/python" \ 50 | -DPYTHON3_INCLUDE_DIR="/home/$USER/anaconda3/envs/tensorflow_p36/include/python3.6m" \ 51 | -DPYTHON3_INCLUDE_DIR2="/home/$USER/anaconda3/envs/tensorflow_p36/include" \ 52 | -DPYTHON3_NUMPY_INCLUDE_DIRS="/home/$USER/anaconda3/envs/tensorflow_p36/lib/python3.6/site-packages/numpy/core/include" \ 53 | -DPYTHON3_INCLUDE_PATH="/home/$USER/anaconda3/envs/tensorflow_p36/include/python3.6m" \ 54 | -DPYTHON3_LIBRARIES="/home/$USER/anaconda3/envs/tensorflow_p36/lib/libpython3.6m.so" \ 55 | .. 56 | ``` 57 | 2. ``` make ``` 58 | 3. ``` sudo make install ``` 59 | 4. ``` sudo ldconfig ``` 60 | 61 | ### Test the code 62 | 1. Activate conda environment 63 | 2. Go to folder: python/ and execute the cpu-opt_flow.py and gpu-opt_flow.py python files 64 | ``` 65 | python cpu-opt_flow.py 66 | python gpu-opt_flow.py 67 | ``` 68 | 69 | ### Output at my end: 70 | ``` total time in optical flow CPU processing: 74.15 sec, for: 794 frames. FPS: 10.71 ``` 71 | 72 | ``` total time in optical flow GPU processing: 21.98 sec, for: 794 frames. FPS: 36.12 ``` 73 | 74 | ### Harware configuration: 75 | * CPU - i7 7th Gen 76 | * GPU - [NVIDIA TITAN Xp](https://www.nvidia.com/en-us/titan/titan-xp) 77 | * RAM - 32 GB 78 | -------------------------------------------------------------------------------- /c++/pythoncuda/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | set(the_description "access opencv cuda methods from Python") 2 | 3 | ocv_define_module(pythoncuda opencv_core opencv_imgproc opencv_tracking opencv_cudaoptflow opencv_cudaarithm opencv_cudaimgproc WRAP python) -------------------------------------------------------------------------------- /c++/pythoncuda/include/opencv2/pythoncuda.hpp: -------------------------------------------------------------------------------- 1 | /*M/////////////////////////////////////////////////////////////////////////////////////// 2 | // 3 | // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 | // 5 | // By downloading, copying, installing or using the software you agree to this license. 6 | // If you do not agree to this license, do not download, install, 7 | // copy or use the software. 8 | // 9 | // 10 | // License Agreement 11 | // For Open Source Computer Vision Library 12 | // 13 | // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 | // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 | // Third party copyrights are property of their respective owners. 16 | // 17 | // Redistribution and use in source and binary forms, with or without modification, 18 | // are permitted provided that the following conditions are met: 19 | // 20 | // * Redistribution's of source code must retain the above copyright notice, 21 | // this list of conditions and the following disclaimer. 22 | // 23 | // * Redistribution's in binary form must reproduce the above copyright notice, 24 | // this list of conditions and the following disclaimer in the documentation 25 | // and/or other materials provided with the distribution. 26 | // 27 | // * The name of the copyright holders may not be used to endorse or promote products 28 | // derived from this software without specific prior written permission. 29 | // 30 | // This software is provided by the copyright holders and contributors "as is" and 31 | // any express or implied warranties, including, but not limited to, the implied 32 | // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 | // In no event shall the Intel Corporation or contributors be liable for any direct, 34 | // indirect, incidental, special, exemplary, or consequential damages 35 | // (including, but not limited to, procurement of substitute goods or services; 36 | // loss of use, data, or profits; or business interruption) however caused 37 | // and on any theory of liability, whether in contract, strict liability, 38 | // or tort (including negligence or otherwise) arising in any way out of 39 | // the use of this software, even if advised of the possibility of such damage. 40 | // 41 | //M*/ 42 | //################################################################################ 43 | // 44 | // Created by Neeraj Gulia 45 | // 46 | //################################################################################ 47 | 48 | #ifndef __OPENCV_PYTHONCUDA_HPP__ 49 | #define __OPENCV_PYTHONCUDA_HPP__ 50 | 51 | #include "opencv2/core.hpp" 52 | #include "opencv2/imgproc.hpp" 53 | #include 54 | 55 | namespace cv 56 | { 57 | namespace pythoncuda 58 | { 59 | CV_EXPORTS_W void cpuOpticalFlowFarneback( InputArray prev, InputArray next, InputOutputArray flow, 60 | double pyr_scale, int levels, int winsize, 61 | int iterations, int poly_n, double poly_sigma, 62 | int flags ); 63 | 64 | CV_EXPORTS_W void gpuOpticalFlowFarneback( InputArray prev, InputArray next, InputOutputArray flow, 65 | double pyr_scale, int levels, int winsize, 66 | int iterations, int poly_n, double poly_sigma, 67 | int flags ); 68 | 69 | CV_EXPORTS_W void cpuOpticalFlowPyrLK( InputArray prevImg, InputArray nextImg, 70 | InputArray prevPts, InputOutputArray nextPts, 71 | OutputArray status, OutputArray err, 72 | Size winSize = Size(21,21), int maxLevel = 3, 73 | TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01), 74 | int flags = 0, double minEigThreshold = 1e-4 ); 75 | 76 | CV_EXPORTS_W void gpuOpticalFlowPyrLK( InputArray prevImg, InputArray nextImg, 77 | InputArray prevPts, InputOutputArray nextPts, 78 | OutputArray status, OutputArray err, 79 | Size winSize = Size(21,21), int maxLevel = 3, int iterations = 30); 80 | } 81 | } 82 | #endif /* __OPENCV_PYTHONCUDA_HPP__ */ 83 | -------------------------------------------------------------------------------- /c++/pythoncuda/src/precomp.hpp: -------------------------------------------------------------------------------- 1 | /*M/////////////////////////////////////////////////////////////////////////////////////// 2 | // 3 | // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 | // 5 | // By downloading, copying, installing or using the software you agree to this license. 6 | // If you do not agree to this license, do not download, install, 7 | // copy or use the software. 8 | // 9 | // 10 | // License Agreement 11 | // For Open Source Computer Vision Library 12 | // 13 | // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 | // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 | // Third party copyrights are property of their respective owners. 16 | // 17 | // Redistribution and use in source and binary forms, with or without modification, 18 | // are permitted provided that the following conditions are met: 19 | // 20 | // * Redistribution's of source code must retain the above copyright notice, 21 | // this list of conditions and the following disclaimer. 22 | // 23 | // * Redistribution's in binary form must reproduce the above copyright notice, 24 | // this list of conditions and the following disclaimer in the documentation 25 | // and/or other materials provided with the distribution. 26 | // 27 | // * The name of the copyright holders may not be used to endorse or promote products 28 | // derived from this software without specific prior written permission. 29 | // 30 | // This software is provided by the copyright holders and contributors "as is" and 31 | // any express or implied warranties, including, but not limited to, the implied 32 | // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 | // In no event shall the Intel Corporation or contributors be liable for any direct, 34 | // indirect, incidental, special, exemplary, or consequential damages 35 | // (including, but not limited to, procurement of substitute goods or services; 36 | // loss of use, data, or profits; or business interruption) however caused 37 | // and on any theory of liability, whether in contract, strict liability, 38 | // or tort (including negligence or otherwise) arising in any way out of 39 | // the use of this software, even if advised of the possibility of such damage. 40 | // 41 | //M*/ 42 | //################################################################################ 43 | // 44 | // Created by Neeraj Gulia 45 | // 46 | //################################################################################ 47 | 48 | #ifndef __OPENCV_PYTHONCUDA_PRECOMP_HPP__ 49 | #define __OPENCV_PYTHONCUDA_PRECOMP_HPP__ 50 | 51 | #include "opencv2/core.hpp" 52 | #include "opencv2/imgproc.hpp" 53 | #include "opencv2/video/tracking.hpp" 54 | #include "opencv2/cudaoptflow.hpp" 55 | #include "opencv2/cudaarithm.hpp" 56 | #include "opencv2/core/cuda.hpp" 57 | #include "opencv2/cudaimgproc.hpp" 58 | 59 | #endif 60 | -------------------------------------------------------------------------------- /c++/pythoncuda/src/pythoncuda.cpp: -------------------------------------------------------------------------------- 1 | /*M/////////////////////////////////////////////////////////////////////////////////////// 2 | // 3 | // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 | // 5 | // By downloading, copying, installing or using the software you agree to this license. 6 | // If you do not agree to this license, do not download, install, 7 | // copy or use the software. 8 | // 9 | // 10 | // License Agreement 11 | // For Open Source Computer Vision Library 12 | // 13 | // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 | // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 | // Third party copyrights are property of their respective owners. 16 | // 17 | // Redistribution and use in source and binary forms, with or without modification, 18 | // are permitted provided that the following conditions are met: 19 | // 20 | // * Redistribution's of source code must retain the above copyright notice, 21 | // this list of conditions and the following disclaimer. 22 | // 23 | // * Redistribution's in binary form must reproduce the above copyright notice, 24 | // this list of conditions and the following disclaimer in the documentation 25 | // and/or other materials provided with the distribution. 26 | // 27 | // * The name of the copyright holders may not be used to endorse or promote products 28 | // derived from this software without specific prior written permission. 29 | // 30 | // This software is provided by the copyright holders and contributors "as is" and 31 | // any express or implied warranties, including, but not limited to, the implied 32 | // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 | // In no event shall the Intel Corporation or contributors be liable for any direct, 34 | // indirect, incidental, special, exemplary, or consequential damages 35 | // (including, but not limited to, procurement of substitute goods or services; 36 | // loss of use, data, or profits; or business interruption) however caused 37 | // and on any theory of liability, whether in contract, strict liability, 38 | // or tort (including negligence or otherwise) arising in any way out of 39 | // the use of this software, even if advised of the possibility of such damage. 40 | // 41 | //M*/ 42 | //################################################################################ 43 | // 44 | // Created by Neeraj Gulia 45 | // 46 | //################################################################################ 47 | 48 | #include "precomp.hpp" 49 | 50 | namespace cv 51 | { 52 | namespace pythoncuda 53 | { 54 | 55 | CV_EXPORTS_W void cpuOpticalFlowFarneback( InputArray prev, InputArray next, InputOutputArray flow, 56 | double pyr_scale, int levels, int winsize, 57 | int iterations, int poly_n, double poly_sigma, int flags ) 58 | { 59 | cv::calcOpticalFlowFarneback(prev, next, flow, pyr_scale, levels, winsize, 60 | iterations, poly_n, poly_sigma, flags); 61 | } 62 | 63 | CV_EXPORTS_W void gpuOpticalFlowFarneback( InputArray prev, InputArray next, InputOutputArray flow, 64 | double pyr_scale, int levels, int winsize, 65 | int iterations, int poly_n, double poly_sigma, int flags ) 66 | { 67 | cv::Ptr farn = cv::cuda::FarnebackOpticalFlow::create(); 68 | farn->setPyrScale(pyr_scale); 69 | farn->setNumLevels(levels); 70 | farn->setFastPyramids(false); 71 | farn->setWinSize(winsize); 72 | farn->setNumIters(iterations); 73 | farn->setPolyN(poly_n); 74 | farn->setPolySigma(poly_sigma); 75 | farn->setFlags(flags); 76 | 77 | cv::cuda::GpuMat d_flow, d_prev, d_next; 78 | d_prev.upload(prev); 79 | d_next.upload(next); 80 | farn->calc(d_prev, d_next, d_flow); 81 | d_flow.download(flow); 82 | } 83 | 84 | CV_EXPORTS_W void cpuOpticalFlowPyrLK( InputArray prevImg, InputArray nextImg, 85 | InputArray prevPts, InputOutputArray nextPts, 86 | OutputArray status, OutputArray err, 87 | Size winSize = Size(21,21), int maxLevel = 3, 88 | TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01), 89 | int flags = 0, double minEigThreshold = 1e-4 ) 90 | { 91 | cv::calcOpticalFlowPyrLK(prevImg, nextImg, prevPts, nextPts, status, err, 92 | winSize, maxLevel, criteria, flags, minEigThreshold ); 93 | } 94 | 95 | CV_EXPORTS_W void gpuOpticalFlowPyrLK( InputArray prevImg, InputArray nextImg, 96 | InputArray prevPts, InputOutputArray nextPts, 97 | OutputArray status, OutputArray err, 98 | Size winSize = Size(21,21), int maxLevel = 3, int iterations = 30) 99 | { 100 | Ptr d_pyrLK_sparse = cuda::SparsePyrLKOpticalFlow::create(winSize, maxLevel, iterations); 101 | const cv::cuda::GpuMat d_prevImg(prevImg); 102 | const cv::cuda::GpuMat d_nextImg(nextImg); 103 | const cv::cuda::GpuMat d_err; 104 | const cv::cuda::GpuMat d_pts(prevPts.getMat().reshape(2, 1)); //convert rows to 1 105 | cv::cuda::GpuMat d_nextPts; 106 | cv::cuda::GpuMat d_status; 107 | 108 | d_pyrLK_sparse->calc(d_prevImg, d_nextImg, d_pts, d_nextPts, d_status, d_err); 109 | cv::Mat& nextPtsRef = nextPts.getMatRef(); 110 | d_nextPts.download(nextPtsRef); 111 | nextPtsRef = nextPtsRef.t(); //revert the matrix to its actual shape 112 | d_status.download(status); 113 | d_err.download(err); 114 | } 115 | } 116 | } 117 | -------------------------------------------------------------------------------- /python/common.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import cv2 3 | import os 4 | from time import time 5 | 6 | def draw_flow(img, flow, step=16): 7 | h, w = img.shape[:2] 8 | y, x = np.mgrid[step/2:h:step, step/2:w:step].reshape(2,-1).astype(int) 9 | fx, fy = flow[y,x].T 10 | lines = np.vstack([x, y, x+fx, y+fy]).T.reshape(-1, 2, 2) 11 | lines = np.int32(lines + 0.5) 12 | vis = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR) 13 | cv2.polylines(vis, lines, 0, (0, 255, 0)) 14 | for (x1, y1), (_x2, _y2) in lines: 15 | cv2.circle(vis, (x1, y1), 1, (0, 255, 0), -1) 16 | return vis 17 | 18 | def draw_str(dst, target, s): 19 | x, y = target 20 | cv2.putText(dst, s, (x+1, y+1), cv2.FONT_HERSHEY_PLAIN, 1.0, (0, 0, 0), thickness = 2, lineType=cv2.LINE_AA) 21 | cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255), lineType=cv2.LINE_AA) 22 | 23 | def draw_hsv(flow): 24 | h, w = flow.shape[:2] 25 | fx, fy = flow[:,:,0], flow[:,:,1] 26 | ang = np.arctan2(fy, fx) + np.pi 27 | v = np.sqrt(fx*fx+fy*fy) 28 | hsv = np.zeros((h, w, 3), np.uint8) 29 | hsv[...,0] = ang*(180/np.pi/2) 30 | hsv[...,1] = 255 31 | hsv[...,2] = np.minimum(v*4, 255) 32 | bgr = cv2.cvtColor(hsv, cv2.COLOR_HSV2BGR) 33 | return bgr 34 | 35 | 36 | def warp_flow(img, flow): 37 | h, w = flow.shape[:2] 38 | flow = -flow 39 | flow[:,:,0] += np.arange(w) 40 | flow[:,:,1] += np.arange(h)[:,np.newaxis] 41 | res = cv2.remap(img, flow, None, cv2.INTER_LINEAR) 42 | return res 43 | 44 | def findOpticalFlow(inputVideo, outputVideo, useCuda = False, printFrames = False): 45 | cap = cv2.VideoCapture(inputVideo) 46 | # Define the codec and create VideoWriter object 47 | ret, prev = cap.read() 48 | # codec = cv2.VideoWriter_fourcc(*'XVID') #cv2.VideoWriter_fourcc('M','J','P','G') 49 | # fps = cap.get(cv2.CAP_PROP_FPS) 50 | # print('framerate: ', fps) 51 | # out = cv2.VideoWriter(outputVideo, codec, fps, (prev.shape[0], prev.shape[1])) 52 | g_prev = cv2.cvtColor(prev, cv2.COLOR_BGR2GRAY) 53 | count = 1 54 | start = time() 55 | while(cap.isOpened()): 56 | ret, next = cap.read() 57 | if ret==True: 58 | g_next = cv2.cvtColor(next, cv2.COLOR_BGR2GRAY) 59 | if useCuda: 60 | flow = cv2.pythoncuda.gpuOpticalFlowFarneback(g_prev, g_next, None, 0.5, 3, 15, 3, 5, 1.2, 0) 61 | outputFile = 'output/gpu/gpu_frame_{}.png'.format(count) 62 | else: 63 | flow = cv2.pythoncuda.cpuOpticalFlowFarneback(g_prev, g_next, None, 0.5, 3, 15, 3, 5, 1.2, 0) 64 | outputFile = 'output/cpu/cpu_frame_{}.png'.format(count) 65 | 66 | output = draw_flow(g_prev, flow) 67 | cv2.imwrite(outputFile, output) 68 | g_prev = g_next 69 | if printFrames: 70 | print('frame: ', count) 71 | count += 1 72 | else: 73 | break 74 | cap.release() 75 | count -= 1 76 | # out.release() 77 | totaltime = time() - start 78 | speed = count/totaltime 79 | if useCuda: 80 | print('total time in optical flow GPU processing: {:0.4f} sec, for: {} frames. FPS: {:0.2f}'.format(totaltime, count, speed)) 81 | else: 82 | print('total time in optical flow CPU processing: {:0.4f} sec, for: {} frames. FPS: {:0.2f}'.format(totaltime, count, speed)) -------------------------------------------------------------------------------- /python/cpu-opt_flow.py: -------------------------------------------------------------------------------- 1 | import common as cm 2 | 3 | if __name__ == '__main__': 4 | cm.findOpticalFlow('video/vtest.avi', 'video/cpu_output.avi', False, False) -------------------------------------------------------------------------------- /python/extract-frame.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import os 3 | 4 | vidcap = cv2.VideoCapture('video/vtest.avi') 5 | success,image = vidcap.read() 6 | count = 1 # start from the 1 instead of 0 7 | directoryname = 'images/' 8 | while success and count < 10: 9 | cv2.imwrite(os.path.join(directoryname, "frame%d.png" % count), image) # save frame as JPEG file 10 | success,image = vidcap.read() 11 | print('Read a new frame: ', success) 12 | count += 1 13 | 14 | print(count-1, + ' frames extracted successfully') 15 | -------------------------------------------------------------------------------- /python/gpu-opt_flow.py: -------------------------------------------------------------------------------- 1 | import common as cm 2 | 3 | if __name__ == '__main__': 4 | cm.findOpticalFlow('video/vtest.avi', 'video/cpu_output.avi', True, False) -------------------------------------------------------------------------------- /python/output/cpu/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeerajGulia/python-opencv-cuda/1b18a07d6bebd58893ce591e201706d1962e2ae2/python/output/cpu/.gitignore -------------------------------------------------------------------------------- /python/output/gpu/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeerajGulia/python-opencv-cuda/1b18a07d6bebd58893ce591e201706d1962e2ae2/python/output/gpu/.gitignore -------------------------------------------------------------------------------- /python/sparse-optical-flow.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import cv2 3 | from common import draw_str 4 | from time import time 5 | from sys import maxsize 6 | 7 | iterations = 10 8 | lk_params = dict( winSize = (15, 15), 9 | maxLevel = 2, 10 | criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, iterations, 0.03)) 11 | 12 | feature_params = dict( maxCorners = 500, 13 | qualityLevel = 0.3, 14 | minDistance = 7, 15 | blockSize = 7 ) 16 | 17 | class App: 18 | def __init__(self, video_src, runat = 'cpu', limit = 0): 19 | self.track_len = 10 20 | self.detect_interval = 5 21 | self.tracks = [] 22 | self.cam = cv2.VideoCapture(video_src) 23 | self.frame_idx = 0 24 | self.runat = runat 25 | if limit == 0: 26 | limit = maxsize 27 | self.frames_limit = limit 28 | 29 | def run(self): 30 | start = time() 31 | while True and self.frame_idx < self.frames_limit: 32 | _ret, frame = self.cam.read() 33 | if _ret == True: 34 | frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) 35 | vis = frame.copy() 36 | 37 | if len(self.tracks) > 0: 38 | img0, img1 = self.prev_gray, frame_gray 39 | p0 = np.float32([tr[-1] for tr in self.tracks]).reshape(-1, 1, 2) 40 | if self.runat == 'gpu': 41 | p1, _st, _err = cv2.pythoncuda.gpuOpticalFlowPyrLK(img0, img1, p0, lk_params["winSize"], lk_params["maxLevel"], iterations) 42 | p0r, _st, _err = cv2.pythoncuda.gpuOpticalFlowPyrLK(img1, img0, p1, lk_params["winSize"], lk_params["maxLevel"], iterations) 43 | else: 44 | p1, _st, _err = cv2.pythoncuda.cpuOpticalFlowPyrLK(img0, img1, p0, None, **lk_params) 45 | p0r, _st, _err = cv2.pythoncuda.cpuOpticalFlowPyrLK(img1, img0, p1, None, **lk_params) 46 | d = abs(p0-p0r).reshape(-1, 2).max(-1) 47 | good = d < 1 48 | new_tracks = [] 49 | for tr, (x, y), good_flag in zip(self.tracks, p1.reshape(-1, 2), good): 50 | if not good_flag: 51 | continue 52 | tr.append((x, y)) 53 | if len(tr) > self.track_len: 54 | del tr[0] 55 | new_tracks.append(tr) 56 | cv2.circle(vis, (x, y), 2, (0, 255, 0), -1) 57 | self.tracks = new_tracks 58 | cv2.polylines(vis, [np.int32(tr) for tr in self.tracks], False, (0, 255, 0)) 59 | draw_str(vis, (20, 20), 'track count: %d' % len(self.tracks)) 60 | 61 | if self.frame_idx % self.detect_interval == 0: 62 | mask = np.zeros_like(frame_gray) 63 | mask[:] = 255 64 | for x, y in [np.int32(tr[-1]) for tr in self.tracks]: 65 | cv2.circle(mask, (x, y), 5, 0, -1) 66 | p = cv2.goodFeaturesToTrack(frame_gray, mask = mask, **feature_params) 67 | if p is not None: 68 | for x, y in np.float32(p).reshape(-1, 2): 69 | self.tracks.append([(x, y)]) 70 | 71 | 72 | self.frame_idx += 1 73 | self.prev_gray = frame_gray 74 | if self.runat == 'gpu': 75 | outputFile = 'output/gpu/gpu_frame_{}.png'.format(self.frame_idx) 76 | else: 77 | outputFile = 'output/cpu/cpu_frame_{}.png'.format(self.frame_idx) 78 | cv2.imwrite(outputFile, vis) 79 | print('frame: ', self.frame_idx) 80 | else: 81 | break 82 | 83 | totaltime = time() - start 84 | speed = self.frame_idx/totaltime 85 | 86 | if self.runat == 'gpu': 87 | print('total time in optical flow GPU processing: {:0.4f} sec, for: {} frames. FPS: {:0.2f}'.format(totaltime, self.frame_idx, speed)) 88 | else: 89 | print('total time in optical flow CPU processing: {:0.4f} sec, for: {} frames. FPS: {:0.2f}'.format(totaltime, self.frame_idx, speed)) 90 | 91 | def main(): 92 | import sys 93 | exit = False 94 | try: 95 | runat = sys.argv[1].lower() 96 | if runat != 'gpu' and runat != 'cpu': 97 | print('Please mention "gpu" or "cpu"') 98 | exit = True 99 | except: 100 | runat = 'cpu' 101 | try: 102 | limit = int(sys.argv[2]) 103 | except: 104 | limit = 0 105 | if not exit: 106 | print('run at: {}, limit: {}'.format(runat, limit)) 107 | App('video/vtest.avi', runat, limit).run() 108 | 109 | if __name__ == '__main__': 110 | main() 111 | -------------------------------------------------------------------------------- /python/video/vtest.avi: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/NeerajGulia/python-opencv-cuda/1b18a07d6bebd58893ce591e201706d1962e2ae2/python/video/vtest.avi --------------------------------------------------------------------------------