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fixed the cuda optical flow error normalization factor

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texture channels were not considered correctly, nor was the cuda texture
normalization
This commit is contained in:
Andreas Franek 2016-07-04 16:13:31 +02:00
parent bbc327aaed
commit 8d43e2b945
1 changed files with 15 additions and 3 deletions
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18
modules/cudaoptflow/src/cuda/pyrlk.cu
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@ -344,6 +344,18 @@ namespace pyrlk
return ret;
}
template <typename T>
struct DenormalizationFactor
{
static const float factor = 1.0;
};
template <>
struct DenormalizationFactor<uchar>
{
static const float factor = 255.0;
};
template <int cn, int PATCH_X, int PATCH_Y, bool calcErr, typename T>
__global__ void sparseKernel(const float2* prevPts, float2* nextPts, uchar* status, float* err, const int level, const int rows, const int cols)
{
@ -532,7 +544,7 @@ namespace pyrlk
nextPts[blockIdx.x] = nextPt;
if (calcErr)
err[blockIdx.x] = static_cast<float>(errval) / (cn * c_winSize_x * c_winSize_y);
err[blockIdx.x] = static_cast<float>(errval) / (::min(cn, 3) * c_winSize_x * c_winSize_y) * DenormalizationFactor<T>::factor;
}
}
@ -725,7 +737,7 @@ namespace pyrlk
nextPts[blockIdx.x] = nextPt;
if (calcErr)
err[blockIdx.x] = static_cast<float>(errval) / (3 * c_winSize_x * c_winSize_y);
err[blockIdx.x] = static_cast<float>(errval) / (::min(cn, 3)*c_winSize_x * c_winSize_y);
}
} // __global__ void sparseKernel_
@ -1109,4 +1121,4 @@ namespace pyrlk
template class pyrLK_caller<float, 4>;
}
#endif /* CUDA_DISABLER */
#endif /* CUDA_DISABLER */