#include "diploma.hpp"

#include "track.hpp"

using namespace cv::cuda;

void cuda_orb(char *fileName) {

cv::VideoCapture cap(fileName);

if(!cap.isOpened()) {

std::cout << "[ERROR] bad video file" << std::endl;

return;

}

std::cout << "[INFO] ORB on CUDA" << std::endl;

cv::Mat mFrame;

GpuMat frame, descriptors;

std::vector<cv::KeyPoint> keypoints;

cv::Ptr<cv::cuda::ORB> orb = cv::cuda::ORB::create(30);

int nFrames = 50;

int nWinSize = 11;

auto pTracker = std::make_unique<Track::FeatureTracker>(nFrames, nWinSize);

while(cap.read(mFrame)) {

cv::cvtColor(mFrame, mFrame, cv::COLOR_RGB2GRAY);

frame.upload(mFrame);

keypoints.clear();

uint64_t t0 = cv::getTickCount();

orb->detectAndCompute(frame, GpuMat(), keypoints, descriptors);

uint64_t t1 = cv::getTickCount();

double timegap = (t1*1.0 - t0) / cv::getTickFrequency();

if(descriptors.empty()) {

std::cout << "[WARNING] no descriptors" << std::endl;

continue;

}

if(pTracker->empty()) {

std::vector<cv::Point2f> vfKeypoints;

for(auto p : keypoints)

vfKeypoints.emplace_back(p.pt.x, p.pt.y);

// init the tracker with it

pTracker->init(vfKeypoints, mFrame);

continue;

}

// if there are NFRAMES steps

if(pTracker->ready()) {

// drawing paths

auto steps = pTracker->getSteps();

std::cout << std::endl << "number of tracks: " << steps.size() << std::endl;

// initialize next path search

std::vector<cv::Point2f> vfKeypoints;

for(auto p : keypoints)

vfKeypoints.emplace_back(p.pt.x, p.pt.y);

pTracker->init(vfKeypoints, mFrame);

} else {

pTracker->makeStep(mFrame);

}

std::cout << "elapsed time: " << timegap << "; featured found: " << keypoints.size();

}

}