I want to calculate the dense optical flow on gpu by opencv.
OpenCV Error: Gpu API call (invalid device function) in call_resize_linear_glob, file /usr/local/tools/tempfiles/opencv-2.4.11/modules/gpu/src/cuda/resize.cu, line 233
terminate called after throwing an instance of 'cv::Exception'
what(): /usr/local/tools/tempfiles/opencv-2.4.11/modules/gpu/src/cuda/resize.cu:233: error: (-217) invalid device function in function call_resize_linear_glob
compile command:
sudo g++ -o gpuOpticalFlowTest gpuOpticalFlowTest.cpp -lopencv_video -lopencv_core -lopencv_imgproc -lopencv_objdetect -lopencv_highgui -lopencv_gpu
#include <stdio.h>
#include <iostream>
#include "opencv2/opencv.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/video/background_segm.hpp"
#include "opencv2/gpu/gpu.hpp"
#ifdef _DEBUG
#pragma comment(lib, "opencv_core247d.lib")
#pragma comment(lib, "opencv_imgproc247d.lib") //MAT processing
#pragma comment(lib, "opencv_objdetect247d.lib") //HOGDescriptor
#pragma comment(lib, "opencv_gpu247d.lib")
//#pragma comment(lib, "opencv_features2d247d.lib")
#pragma comment(lib, "opencv_highgui247d.lib")
#pragma comment(lib, "opencv_ml247d.lib")
//#pragma comment(lib, "opencv_stitching247d.lib");
//#pragma comment(lib, "opencv_nonfree247d.lib");
#pragma comment(lib, "opencv_video247d.lib")
#else
#pragma comment(lib, "opencv_core247.lib")
#pragma comment(lib, "opencv_imgproc247.lib")
#pragma comment(lib, "opencv_objdetect247.lib")
#pragma comment(lib, "opencv_gpu247.lib")
//#pragma comment(lib, "opencv_features2d247.lib")
#pragma comment(lib, "opencv_highgui247.lib")
#pragma comment(lib, "opencv_ml247.lib")
//#pragma comment(lib, "opencv_stitching247.lib");
//#pragma comment(lib, "opencv_nonfree247.lib");
#pragma comment(lib, "opencv_video247d.lib")
#endif
using namespace cv;
using namespace std;
void drawOptFlowMap_gpu (const Mat& flow_x, const Mat& flow_y, Mat& cflowmap, int step, const Scalar& color) {
for(int y = 0; y < cflowmap.rows; y += step) {
for(int x = 0; x < cflowmap.cols; x += step) {
Point2f fxy;
fxy.x = cvRound( flow_x.at< float >(y, x) + x );
fxy.y = cvRound( flow_y.at< float >(y, x) + y );
line(cflowmap, Point(x,y), Point(fxy.x, fxy.y), color);
circle(cflowmap, Point(fxy.x, fxy.y), 1, color, -1);
}
}
}
int main() {
//resize scale
int s=4;
unsigned long AAtime=0, BBtime=0;
//variables
Mat GetImg, flow_x, flow_y, next, prvs;
//gpu variable
gpu::GpuMat prvs_gpu, next_gpu, flow_x_gpu, flow_y_gpu;
gpu::GpuMat prvs_gpu_o, next_gpu_o;
gpu::GpuMat prvs_gpu_c, next_gpu_c;
//file name
char fileName[100] = "./mm2.avi";
//video file open
VideoCapture stream1(fileName); //0 is the id of video device.0 if you have only one camera
if(!(stream1.read(GetImg))) //get one frame form video
return 0;
//////////////////////////////////////////////////////////////////////////////////////////////
//resize(GetImg, prvs, Size(GetImg.size().width/s, GetImg.size().height/s) );
//cvtColor(prvs, prvs, CV_BGR2GRAY);
//prvs_gpu.upload(prvs);
//////////////////////////////////////////////////////////////////////////////////////////////
//gpu upload, resize, color convert
prvs_gpu_o.upload(GetImg);
gpu::resize(prvs_gpu_o, prvs_gpu_c, Size(GetImg.size().width/s, GetImg.size().height/s) );
gpu::cvtColor(prvs_gpu_c, prvs_gpu, CV_BGR2GRAY);
/////////////////////////////////////////////////////////////////////////////////////////////
//dense optical flow
gpu::FarnebackOpticalFlow fbOF;
//unconditional loop
while (true) {
if(!(stream1.read(GetImg))) //get one frame form video
break;
///////////////////////////////////////////////////////////////////
//resize(GetImg, next, Size(GetImg.size().width/s, GetImg.size().height/s) );
//cvtColor(next, next, CV_BGR2GRAY);
//next_gpu.upload(next);
///////////////////////////////////////////////////////////////////
//gpu upload, resize, color convert
next_gpu_o.upload(GetImg);
gpu::resize(next_gpu_o, next_gpu_c, Size(GetImg.size().width/s, GetImg.size().height/s) );
gpu::cvtColor(next_gpu_c, next_gpu, CV_BGR2GRAY);
///////////////////////////////////////////////////////////////////
AAtime = getTickCount();
//dense optical flow
fbOF.operator()(prvs_gpu, next_gpu, flow_x_gpu, flow_y_gpu);
//fbOF(prvs_gpu, next_gpu, flow_x_gpu, flow_y_gpu);
BBtime = getTickCount();
float pt = (BBtime - AAtime)/getTickFrequency();
float fpt = 1/pt;
printf("%.2lf / %.2lf \n", pt, fpt );
//copy for vector flow drawing
Mat cflow;
resize(GetImg, cflow, Size(GetImg.size().width/s, GetImg.size().height/s) );
flow_x_gpu.download( flow_x );
flow_y_gpu.download( flow_y );
drawOptFlowMap_gpu(flow_x, flow_y, cflow, 10 , CV_RGB(0, 255, 0) );
imshow("OpticalFlowFarneback", cflow);
///////////////////////////////////////////////////////////////////
//Display gpumat
next_gpu.download( next );
prvs_gpu.download( prvs );
imshow("next", next );
imshow("prvs", prvs );
//prvs mat update
prvs_gpu = next_gpu.clone();
if (waitKey(5) >= 0)
break;
}
}
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