generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Modified sparse pyrlk optical flow to allow input of an image pyramid which thus allows caching of image pyramids on successive calls.

Browse Source 
Added unsigned char support for 1, 3, 4 channel images.
This commit is contained in:
Dan Moodie
2015-12-29 10:48:14 -05:00
parent 8d79285d02
commit 66738d748f
7 changed files with 818 additions and 213 deletions
Download Patch File Download Diff File Expand all files Collapse all files

62
modules/cudaoptflow/test/test_optflow.cpp
View File

@@ -167,33 +167,34 @@ INSTANTIATE_TEST_CASE_P(CUDA_OptFlow, BroxOpticalFlow, ALL_DEVICES);
namespace
{
IMPLEMENT_PARAM_CLASS(UseGray, bool)
IMPLEMENT_PARAM_CLASS(Chan, int)
IMPLEMENT_PARAM_CLASS(DataType, int)
}
PARAM_TEST_CASE(PyrLKOpticalFlow, cv::cuda::DeviceInfo, UseGray)
PARAM_TEST_CASE(PyrLKOpticalFlow, cv::cuda::DeviceInfo, Chan, DataType)
{
cv::cuda::DeviceInfo devInfo;
bool useGray;
int channels;
int dataType;
virtual void SetUp()
{
devInfo = GET_PARAM(0);
useGray = GET_PARAM(1);
channels = GET_PARAM(1);
dataType = GET_PARAM(2);
cv::cuda::setDevice(devInfo.deviceID());
}
};
CUDA_TEST_P(PyrLKOpticalFlow, Sparse)
{
cv::Mat frame0 = readImage("opticalflow/frame0.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
cv::Mat frame0 = readImage("opticalflow/frame0.png", channels == 1 ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
ASSERT_FALSE(frame0.empty());
cv::Mat frame1 = readImage("opticalflow/frame1.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
cv::Mat frame1 = readImage("opticalflow/frame1.png", channels == 1 ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
ASSERT_FALSE(frame1.empty());
cv::Mat gray_frame;
if (useGray)
if (channels == 1)
gray_frame = frame0;
else
cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
@@ -208,22 +209,32 @@ CUDA_TEST_P(PyrLKOpticalFlow, Sparse)
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> pyrLK =
cv::cuda::SparsePyrLKOpticalFlow::create();
cv::cuda::GpuMat d_nextPts;
cv::cuda::GpuMat d_status;
pyrLK->calc(loadMat(frame0), loadMat(frame1), d_pts, d_nextPts, d_status);
std::vector<cv::Point2f> nextPts(d_nextPts.cols);
cv::Mat nextPts_mat(1, d_nextPts.cols, CV_32FC2, (void*) &nextPts[0]);
d_nextPts.download(nextPts_mat);
std::vector<unsigned char> status(d_status.cols);
cv::Mat status_mat(1, d_status.cols, CV_8UC1, (void*) &status[0]);
d_status.download(status_mat);
std::vector<cv::Point2f> nextPts_gold;
std::vector<unsigned char> status_gold;
cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts_gold, status_gold, cv::noArray());
cv::cuda::GpuMat d_nextPts;
cv::cuda::GpuMat d_status;
cv::Mat converted0, converted1;
if(channels == 4)
{
cv::cvtColor(frame0, frame0, cv::COLOR_BGR2BGRA);
cv::cvtColor(frame1, frame1, cv::COLOR_BGR2BGRA);
}
frame0.convertTo(converted0, dataType);
frame1.convertTo(converted1, dataType);
pyrLK->calc(loadMat(converted0), loadMat(converted1), d_pts, d_nextPts, d_status);
std::vector<cv::Point2f> nextPts(d_nextPts.cols);
cv::Mat nextPts_mat(1, d_nextPts.cols, CV_32FC2, (void*)&nextPts[0]);
d_nextPts.download(nextPts_mat);
std::vector<unsigned char> status(d_status.cols);
cv::Mat status_mat(1, d_status.cols, CV_8UC1, (void*)&status[0]);
d_status.download(status_mat);
ASSERT_EQ(nextPts_gold.size(), nextPts.size());
ASSERT_EQ(status_gold.size(), status.size());
@@ -251,11 +262,16 @@ CUDA_TEST_P(PyrLKOpticalFlow, Sparse)
double bad_ratio = static_cast<double>(mistmatch) / nextPts.size();
ASSERT_LE(bad_ratio, 0.01);
}
INSTANTIATE_TEST_CASE_P(CUDA_OptFlow, PyrLKOpticalFlow, testing::Combine(
ALL_DEVICES,
testing::Values(UseGray(true), UseGray(false))));
testing::Values(Chan(1), Chan(3), Chan(4)),
testing::Values(DataType(CV_8U), DataType(CV_16U), DataType(CV_32S), DataType(CV_32F))));
//////////////////////////////////////////////////////
// FarnebackOpticalFlow
@@ -385,4 +401,4 @@ INSTANTIATE_TEST_CASE_P(CUDA_OptFlow, OpticalFlowDual_TVL1, testing::Combine(
ALL_DEVICES,
testing::Values(Gamma(0.0), Gamma(1.0))));
#endif // HAVE_CUDA
#endif // HAVE_CUDA