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Wrap SparseOptFlow class around PyrLK optical flow computation

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This commit is contained in:
alcinos
2016-01-28 18:45:52 +01:00
parent 9b70c44f00
commit e22b838af8
3 changed files with 107 additions and 51 deletions
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12
modules/cudaoptflow/src/pyrlk.cpp
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@@ -47,9 +47,9 @@ using namespace cv::cuda;
#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER) #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
Ptr<SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<SparsePyrLKOpticalFlow>(); } Ptr<cv::cuda::SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<SparsePyrLKOpticalFlow>(); }
Ptr<DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<DensePyrLKOpticalFlow>(); } Ptr<cv::cuda::DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<DensePyrLKOpticalFlow>(); }
#else /* !defined (HAVE_CUDA) */ #else /* !defined (HAVE_CUDA) */
@@ -283,7 +283,7 @@ namespace
vPyr[idx].copyTo(v, stream); vPyr[idx].copyTo(v, stream);
} }
class SparsePyrLKOpticalFlowImpl : public SparsePyrLKOpticalFlow, private PyrLKOpticalFlowBase class SparsePyrLKOpticalFlowImpl : public cv::cuda::SparsePyrLKOpticalFlow, private PyrLKOpticalFlowBase
{ {
public: public:
SparsePyrLKOpticalFlowImpl(Size winSize, int maxLevel, int iters, bool useInitialFlow) : SparsePyrLKOpticalFlowImpl(Size winSize, int maxLevel, int iters, bool useInitialFlow) :
@@ -366,14 +366,14 @@ namespace
}; };
} }
Ptr<SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow) Ptr<cv::cuda::SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
{ {
return makePtr<SparsePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow); return makePtr<SparsePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow);
} }
Ptr<DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow) Ptr<cv::cuda::DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
{ {
return makePtr<DensePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow); return makePtr<DensePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow);
} }
#endif /* !defined (HAVE_CUDA) */ #endif /* !defined (HAVE_CUDA) */

34
modules/video/include/opencv2/video/tracking.hpp
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@@ -585,6 +585,40 @@ public:
}; };
/** @brief Class used for calculating a sparse optical flow.
The class can calculate an optical flow for a sparse feature set using the
iterative Lucas-Kanade method with pyramids.
@sa calcOpticalFlowPyrLK
*/
class CV_EXPORTS SparsePyrLKOpticalFlow : public SparseOpticalFlow
{
public:
virtual Size getWinSize() const = 0;
virtual void setWinSize(Size winSize) = 0;
virtual int getMaxLevel() const = 0;
virtual void setMaxLevel(int maxLevel) = 0;
virtual TermCriteria getTermCriteria() const = 0;
virtual void setTermCriteria(TermCriteria& crit) = 0;
virtual int getFlags() const = 0;
virtual void setFlags(int flags) = 0;
virtual double getMinEigThreshold() const = 0;
virtual void setMinEigThreshold(double minEigThreshold) = 0;
static Ptr<SparsePyrLKOpticalFlow> create(
Size winSize = Size(21, 21),
int maxLevel = 3, TermCriteria crit =
TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01),
int flags = 0,
double minEigThreshold = 1e-4);
};
//! @} video_track //! @} video_track
} // cv } // cv

112
modules/video/src/lkpyramid.cpp
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@@ -837,10 +837,11 @@ int cv::buildOpticalFlowPyramid(InputArray _img, OutputArrayOfArrays pyramid, Si
return maxLevel; return maxLevel;
} }
#ifdef HAVE_OPENCL
namespace cv namespace cv
{ {
class PyrLKOpticalFlow namespace
{
class SparsePyrLKOpticalFlowImpl : public SparsePyrLKOpticalFlow
{ {
struct dim3 struct dim3
{ {
@@ -848,17 +849,40 @@ namespace cv
dim3() : x(0), y(0), z(0) { } dim3() : x(0), y(0), z(0) { }
}; };
public: public:
PyrLKOpticalFlow() SparsePyrLKOpticalFlowImpl(Size winSize_ = Size(21,21),
int maxLevel_ = 3,
TermCriteria criteria_ = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01),
int flags_ = 0,
double minEigThreshold_ = 1e-4) :
winSize(winSize_), maxLevel(maxLevel_), criteria(criteria_), flags(flags_), minEigThreshold(minEigThreshold_)
#ifdef HAVE_OPENCL
, iters(criteria_.maxCount), derivLambda(criteria_.epsilon), useInitialFlow(0 != (flags_ & OPTFLOW_LK_GET_MIN_EIGENVALS)), waveSize(0)
#endif
{ {
winSize = Size(21, 21);
maxLevel = 3;
iters = 30;
derivLambda = 0.5;
useInitialFlow = false;
waveSize = 0;
} }
virtual Size getWinSize() const {return winSize;}
virtual void setWinSize(Size winSize_){winSize = winSize_;}
virtual int getMaxLevel() const {return maxLevel;}
virtual void setMaxLevel(int maxLevel_){maxLevel = maxLevel_;}
virtual TermCriteria getTermCriteria() const {return criteria;}
virtual void setTermCriteria(TermCriteria& crit_){criteria=crit_;}
virtual int getFlags() const {return flags; }
virtual void setFlags(int flags_){flags=flags_;}
virtual double getMinEigThreshold() const {return minEigThreshold;}
virtual void setMinEigThreshold(double minEigThreshold_){minEigThreshold=minEigThreshold_;}
virtual void calc(InputArray prevImg, InputArray nextImg,
InputArray prevPts, InputOutputArray nextPts,
OutputArray status,
OutputArray err = cv::noArray());
private:
#ifdef HAVE_OPENCL
bool checkParam() bool checkParam()
{ {
iters = std::min(std::max(iters, 0), 100); iters = std::min(std::max(iters, 0), 100);
@@ -930,14 +954,17 @@ namespace cv
} }
return true; return true;
} }
#endif
Size winSize; Size winSize;
int maxLevel; int maxLevel;
TermCriteria criteria;
int flags;
double minEigThreshold;
#ifdef HAVE_OPENCL
int iters; int iters;
double derivLambda; double derivLambda;
bool useInitialFlow; bool useInitialFlow;
private:
int waveSize; int waveSize;
bool initWaveSize() bool initWaveSize()
{ {
@@ -1017,15 +1044,11 @@ namespace cv
{ {
return (cv::ocl::Device::TYPE_CPU == cv::ocl::Device::getDefault().type()); return (cv::ocl::Device::TYPE_CPU == cv::ocl::Device::getDefault().type());
} }
};
static bool ocl_calcOpticalFlowPyrLK(InputArray _prevImg, InputArray _nextImg, bool ocl_calcOpticalFlowPyrLK(InputArray _prevImg, InputArray _nextImg,
InputArray _prevPts, InputOutputArray _nextPts, InputArray _prevPts, InputOutputArray _nextPts,
OutputArray _status, OutputArray _err, OutputArray _status, OutputArray _err)
Size winSize, int maxLevel,
TermCriteria criteria,
int flags/*, double minEigThreshold*/ )
{ {
if (0 != (OPTFLOW_LK_GET_MIN_EIGENVALS & flags)) if (0 != (OPTFLOW_LK_GET_MIN_EIGENVALS & flags))
return false; return false;
@@ -1045,7 +1068,6 @@ namespace cv
if ((1 != _prevPts.size().height) && (1 != _prevPts.size().width)) if ((1 != _prevPts.size().height) && (1 != _prevPts.size().width))
return false; return false;
size_t npoints = _prevPts.total(); size_t npoints = _prevPts.total();
bool useInitialFlow = (0 != (flags & OPTFLOW_USE_INITIAL_FLOW));
if (useInitialFlow) if (useInitialFlow)
{ {
if (_nextPts.empty() || _nextPts.type() != CV_32FC2 || (!_prevPts.isContinuous())) if (_nextPts.empty() || _nextPts.type() != CV_32FC2 || (!_prevPts.isContinuous()))
@@ -1060,14 +1082,7 @@ namespace cv
_nextPts.create(_prevPts.size(), _prevPts.type()); _nextPts.create(_prevPts.size(), _prevPts.type());
} }
PyrLKOpticalFlow opticalFlow; if (!checkParam())
opticalFlow.winSize = winSize;
opticalFlow.maxLevel = maxLevel;
opticalFlow.iters = criteria.maxCount;
opticalFlow.derivLambda = criteria.epsilon;
opticalFlow.useInitialFlow = useInitialFlow;
if (!opticalFlow.checkParam())
return false; return false;
UMat umatErr; UMat umatErr;
@@ -1082,28 +1097,19 @@ namespace cv
_status.create((int)npoints, 1, CV_8UC1); _status.create((int)npoints, 1, CV_8UC1);
UMat umatNextPts = _nextPts.getUMat(); UMat umatNextPts = _nextPts.getUMat();
UMat umatStatus = _status.getUMat(); UMat umatStatus = _status.getUMat();
return opticalFlow.sparse(_prevImg.getUMat(), _nextImg.getUMat(), _prevPts.getUMat(), umatNextPts, umatStatus, umatErr); return sparse(_prevImg.getUMat(), _nextImg.getUMat(), _prevPts.getUMat(), umatNextPts, umatStatus, umatErr);
} }
#endif
}; };
#endif
void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg, void SparsePyrLKOpticalFlowImpl::calc( InputArray _prevImg, InputArray _nextImg,
InputArray _prevPts, InputOutputArray _nextPts, InputArray _prevPts, InputOutputArray _nextPts,
OutputArray _status, OutputArray _err, OutputArray _status, OutputArray _err)
Size winSize, int maxLevel,
TermCriteria criteria,
int flags, double minEigThreshold )
{ {
#ifdef HAVE_OPENCL CV_OCL_RUN(ocl::useOpenCL() &&
bool use_opencl = ocl::useOpenCL() && (_prevImg.isUMat() || _nextImg.isUMat()) &&
(_prevImg.isUMat() || _nextImg.isUMat()) && ocl::Image2D::isFormatSupported(CV_32F, 1, false),
ocl::Image2D::isFormatSupported(CV_32F, 1, false); ocl_calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err))
if ( use_opencl && ocl_calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err, winSize, maxLevel, criteria, flags/*, minEigThreshold*/))
{
CV_IMPL_ADD(CV_IMPL_OCL);
return;
}
#endif
Mat prevPtsMat = _prevPts.getMat(); Mat prevPtsMat = _prevPts.getMat();
const int derivDepth = DataType<cv::detail::deriv_type>::depth; const int derivDepth = DataType<cv::detail::deriv_type>::depth;
@@ -1262,6 +1268,22 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
} }
} }
} // namespace
} // namespace cv
cv::Ptr<cv::SparsePyrLKOpticalFlow> cv::SparsePyrLKOpticalFlow::create(Size winSize, int maxLevel, TermCriteria crit, int flags, double minEigThreshold){
return makePtr<SparsePyrLKOpticalFlowImpl>(winSize,maxLevel,crit,flags,minEigThreshold);
}
void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
InputArray _prevPts, InputOutputArray _nextPts,
OutputArray _status, OutputArray _err,
Size winSize, int maxLevel,
TermCriteria criteria,
int flags, double minEigThreshold )
{
Ptr<cv::SparsePyrLKOpticalFlow> optflow = cv::SparsePyrLKOpticalFlow::create(winSize,maxLevel,criteria,flags,minEigThreshold);
optflow->calc(_prevImg,_nextImg,_prevPts,_nextPts,_status,_err);
}
namespace cv namespace cv
{ {