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optimized sparse LK optical flow (tickets #1062 and #1210)

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This commit is contained in:
Vadim Pisarevsky
2011-07-11 23:03:05 +00:00
parent 442f6b4100
commit 21409de176
3 changed files with 493 additions and 628 deletions
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12
modules/imgproc/src/utils.cpp
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@@ -212,11 +212,17 @@ void cv::copyMakeBorder( InputArray _src, OutputArray _dst, int top, int bottom,
top, left, (int)src.elemSize(), borderType ); top, left, (int)src.elemSize(), borderType );
else else
{ {
double buf[4]; int cn = src.channels(), cn1 = cn;
scalarToRawData(value, buf, src.type()); AutoBuffer<double> buf(cn);
if( cn > 4 )
{
CV_Assert( value[0] == value[1] && value[0] == value[2] && value[0] == value[3] );
cn1 = 1;
}
scalarToRawData(value, buf, CV_MAKETYPE(src.depth(), cn1), cn);
copyMakeConstBorder_8u( src.data, src.step, src.size(), copyMakeConstBorder_8u( src.data, src.step, src.size(),
dst.data, dst.step, dst.size(), dst.data, dst.step, dst.size(),
top, left, (int)src.elemSize(), (uchar*)buf ); top, left, (int)src.elemSize(), (uchar*)(double*)buf );
} }
} }

1087
modules/video/src/lkpyramid.cpp
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File diff suppressed because it is too large Load Diff

22
modules/video/test/test_optflowpyrlk.cpp
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@@ -58,8 +58,8 @@ void CV_OptFlowPyrLKTest::run( int )
{ {
int code = cvtest::TS::OK; int code = cvtest::TS::OK;
const double success_error_level = 0.2; const double success_error_level = 0.3;
const int bad_points_max = 2; const int bad_points_max = 8;
/* test parameters */ /* test parameters */
double max_err = 0., sum_err = 0; double max_err = 0., sum_err = 0;
@@ -139,7 +139,7 @@ void CV_OptFlowPyrLKTest::run( int )
status = (char*)cvAlloc(n*sizeof(status[0])); status = (char*)cvAlloc(n*sizeof(status[0]));
/* calculate flow */ /* calculate flow */
cvCalcOpticalFlowPyrLK( imgI, imgJ, 0, 0, u, v2, n, cvSize( 20, 20 ), cvCalcOpticalFlowPyrLK( imgI, imgJ, 0, 0, u, v2, n, cvSize( 41, 41 ),
4, status, 0, cvTermCriteria( CV_TERMCRIT_ITER| 4, status, 0, cvTermCriteria( CV_TERMCRIT_ITER|
CV_TERMCRIT_EPS, 30, 0.01f ), 0 ); CV_TERMCRIT_EPS, 30, 0.01f ), 0 );
@@ -163,14 +163,6 @@ void CV_OptFlowPyrLKTest::run( int )
} }
pt_exceed += err > success_error_level; pt_exceed += err > success_error_level;
if( pt_exceed > bad_points_max )
{
ts->printf( cvtest::TS::LOG,
"The number of poorly tracked points is too big (>=%d)\n", pt_exceed );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
sum_err += err; sum_err += err;
pt_cmpd++; pt_cmpd++;
} }
@@ -186,6 +178,14 @@ void CV_OptFlowPyrLKTest::run( int )
} }
} }
} }
if( pt_exceed > bad_points_max )
{
ts->printf( cvtest::TS::LOG,
"The number of poorly tracked points is too big (>=%d)\n", pt_exceed );
code = cvtest::TS::FAIL_BAD_ACCURACY;
goto _exit_;
}
if( max_err > 1 ) if( max_err > 1 )
{ {