diff --git a/modules/gpu/doc/video.rst b/modules/gpu/doc/video.rst index 550b63188..b58e7bbae 100644 --- a/modules/gpu/doc/video.rst +++ b/modules/gpu/doc/video.rst @@ -204,10 +204,7 @@ Class used for calculating an optical flow. :: Size winSize; int maxLevel; int iters; - double derivLambda; bool useInitialFlow; - float minEigThreshold; - bool getMinEigenVals; void releaseMemory(); }; diff --git a/modules/gpu/include/opencv2/gpu/gpu.hpp b/modules/gpu/include/opencv2/gpu/gpu.hpp index 67500e2f8..58cdd4f86 100644 --- a/modules/gpu/include/opencv2/gpu/gpu.hpp +++ b/modules/gpu/include/opencv2/gpu/gpu.hpp @@ -1749,60 +1749,28 @@ inline GoodFeaturesToTrackDetector_GPU::GoodFeaturesToTrackDetector_GPU(int maxC class CV_EXPORTS PyrLKOpticalFlow { public: - PyrLKOpticalFlow() - { - winSize = Size(21, 21); - maxLevel = 3; - iters = 30; - useInitialFlow = false; - minEigThreshold = 1e-4f; - getMinEigenVals = false; - isDeviceArch11_ = !DeviceInfo().supports(FEATURE_SET_COMPUTE_12); - } + PyrLKOpticalFlow(); void sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts, GpuMat& status, GpuMat* err = 0); void dense(const GpuMat& prevImg, const GpuMat& nextImg, GpuMat& u, GpuMat& v, GpuMat* err = 0); + void releaseMemory(); + Size winSize; int maxLevel; int iters; bool useInitialFlow; - float minEigThreshold; - bool getMinEigenVals; - - void releaseMemory() - { - dx_calcBuf_.release(); - dy_calcBuf_.release(); - - prevPyr_.clear(); - nextPyr_.clear(); - - dx_buf_.release(); - dy_buf_.release(); - - uPyr_.clear(); - vPyr_.clear(); - } private: - void calcSharrDeriv(const GpuMat& src, GpuMat& dx, GpuMat& dy); - - void buildImagePyramid(const GpuMat& img0, vector& pyr, bool withBorder); - - GpuMat dx_calcBuf_; - GpuMat dy_calcBuf_; - vector prevPyr_; vector nextPyr_; - GpuMat dx_buf_; - GpuMat dy_buf_; + GpuMat buf_; - vector uPyr_; - vector vPyr_; + GpuMat uPyr_[2]; + GpuMat vPyr_[2]; bool isDeviceArch11_; }; diff --git a/modules/gpu/perf/perf_video.cpp b/modules/gpu/perf/perf_video.cpp index be2d8b13d..45a695452 100644 --- a/modules/gpu/perf/perf_video.cpp +++ b/modules/gpu/perf/perf_video.cpp @@ -156,15 +156,19 @@ INSTANTIATE_TEST_CASE_P(Video, GoodFeaturesToTrack, testing::Combine( IMPLEMENT_PARAM_CLASS(GraySource, bool) IMPLEMENT_PARAM_CLASS(Points, int) IMPLEMENT_PARAM_CLASS(WinSize, int) +IMPLEMENT_PARAM_CLASS(Levels, int) +IMPLEMENT_PARAM_CLASS(Iters, int) -GPU_PERF_TEST(PyrLKOpticalFlowSparse, cv::gpu::DeviceInfo, GraySource, Points, WinSize) +GPU_PERF_TEST(PyrLKOpticalFlowSparse, cv::gpu::DeviceInfo, GraySource, Points, WinSize, Levels, Iters) { cv::gpu::DeviceInfo devInfo = GET_PARAM(0); cv::gpu::setDevice(devInfo.deviceID()); bool useGray = GET_PARAM(1); int points = GET_PARAM(2); - int win_size = GET_PARAM(3); + int winSize = GET_PARAM(3); + int levels = GET_PARAM(4); + int iters = GET_PARAM(5); cv::Mat frame0_host = readImage("gpu/opticalflow/frame0.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR); ASSERT_FALSE(frame0_host.empty()); @@ -184,7 +188,9 @@ GPU_PERF_TEST(PyrLKOpticalFlowSparse, cv::gpu::DeviceInfo, GraySource, Points, W detector(cv::gpu::GpuMat(gray_frame), pts); cv::gpu::PyrLKOpticalFlow pyrLK; - pyrLK.winSize = cv::Size(win_size, win_size); + pyrLK.winSize = cv::Size(winSize, winSize); + pyrLK.maxLevel = levels - 1; + pyrLK.iters = iters; cv::gpu::GpuMat frame0(frame0_host); cv::gpu::GpuMat frame1(frame1_host); @@ -203,14 +209,13 @@ INSTANTIATE_TEST_CASE_P(Video, PyrLKOpticalFlowSparse, testing::Combine( ALL_DEVICES, testing::Values(GraySource(true), GraySource(false)), testing::Values(Points(1000), Points(2000), Points(4000), Points(8000)), - testing::Values(WinSize(17), WinSize(21)))); + testing::Values(WinSize(9), WinSize(13), WinSize(17), WinSize(21)), + testing::Values(Levels(1), Levels(2), Levels(3)), + testing::Values(Iters(1), Iters(10), Iters(30)))); ////////////////////////////////////////////////////// // PyrLKOpticalFlowDense -IMPLEMENT_PARAM_CLASS(Levels, int) -IMPLEMENT_PARAM_CLASS(Iters, int) - GPU_PERF_TEST(PyrLKOpticalFlowDense, cv::gpu::DeviceInfo, WinSize, Levels, Iters) { cv::gpu::DeviceInfo devInfo = GET_PARAM(0); diff --git a/modules/gpu/perf_cpu/perf_video.cpp b/modules/gpu/perf_cpu/perf_video.cpp index 60528b3d9..efd3955f2 100644 --- a/modules/gpu/perf_cpu/perf_video.cpp +++ b/modules/gpu/perf_cpu/perf_video.cpp @@ -34,12 +34,16 @@ INSTANTIATE_TEST_CASE_P(Video, GoodFeaturesToTrack, testing::Combine( IMPLEMENT_PARAM_CLASS(GraySource, bool) IMPLEMENT_PARAM_CLASS(Points, int) IMPLEMENT_PARAM_CLASS(WinSize, int) +IMPLEMENT_PARAM_CLASS(Levels, int) +IMPLEMENT_PARAM_CLASS(Iters, int) -GPU_PERF_TEST(PyrLKOpticalFlowSparse, cv::gpu::DeviceInfo, GraySource, Points, WinSize) +GPU_PERF_TEST(PyrLKOpticalFlowSparse, cv::gpu::DeviceInfo, GraySource, Points, WinSize, Levels, Iters) { bool useGray = GET_PARAM(1); int points = GET_PARAM(2); int win_size = GET_PARAM(3); + int levels = GET_PARAM(4); + int iters = GET_PARAM(5); cv::Mat frame0 = readImage("gpu/opticalflow/frame0.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR); ASSERT_FALSE(frame0.empty()); @@ -59,11 +63,17 @@ GPU_PERF_TEST(PyrLKOpticalFlowSparse, cv::gpu::DeviceInfo, GraySource, Points, W cv::Mat nextPts; cv::Mat status; - cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(), cv::Size(win_size, win_size)); + cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(), + cv::Size(win_size, win_size), levels - 1, + cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, iters, 0.01)); + + declare.time(20.0); TEST_CYCLE() { - cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(), cv::Size(win_size, win_size)); + cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(), + cv::Size(win_size, win_size), levels - 1, + cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, iters, 0.01)); } } @@ -71,7 +81,9 @@ INSTANTIATE_TEST_CASE_P(Video, PyrLKOpticalFlowSparse, testing::Combine( ALL_DEVICES, testing::Values(GraySource(true), GraySource(false)), testing::Values(Points(1000), Points(2000), Points(4000), Points(8000)), - testing::Values(WinSize(17), WinSize(21)))); + testing::Values(WinSize(9), WinSize(13), WinSize(17), WinSize(21)), + testing::Values(Levels(1), Levels(2), Levels(3)), + testing::Values(Iters(1), Iters(10), Iters(30)))); ////////////////////////////////////////////////////// // FarnebackOpticalFlowTest @@ -100,6 +112,7 @@ GPU_PERF_TEST_1(FarnebackOpticalFlowTest, cv::gpu::DeviceInfo) TEST_CYCLE() { + cv::calcOpticalFlowFarneback(frame0, frame1, flow, pyrScale, numLevels, winSize, numIters, polyN, polySigma, flags); } } diff --git a/modules/gpu/src/cuda/pyrlk.cu b/modules/gpu/src/cuda/pyrlk.cu index 12dfab683..b06d60768 100644 --- a/modules/gpu/src/cuda/pyrlk.cu +++ b/modules/gpu/src/cuda/pyrlk.cu @@ -49,131 +49,32 @@ #include "opencv2/gpu/device/utility.hpp" #include "opencv2/gpu/device/functional.hpp" #include "opencv2/gpu/device/limits.hpp" +#include "opencv2/gpu/device/vec_math.hpp" namespace cv { namespace gpu { namespace device { namespace pyrlk { - __constant__ int c_cn; - __constant__ float c_minEigThreshold; __constant__ int c_winSize_x; __constant__ int c_winSize_y; - __constant__ int c_winSize_x_cn; + __constant__ int c_halfWin_x; __constant__ int c_halfWin_y; + __constant__ int c_iters; - void loadConstants(int cn, float minEigThreshold, int2 winSize, int iters) + void loadConstants(int2 winSize, int iters) { - int2 halfWin = make_int2((winSize.x - 1) / 2, (winSize.y - 1) / 2); - cudaSafeCall( cudaMemcpyToSymbol(c_cn, &cn, sizeof(int)) ); - cudaSafeCall( cudaMemcpyToSymbol(c_minEigThreshold, &minEigThreshold, sizeof(float)) ); cudaSafeCall( cudaMemcpyToSymbol(c_winSize_x, &winSize.x, sizeof(int)) ); cudaSafeCall( cudaMemcpyToSymbol(c_winSize_y, &winSize.y, sizeof(int)) ); - winSize.x *= cn; - cudaSafeCall( cudaMemcpyToSymbol(c_winSize_x_cn, &winSize.x, sizeof(int)) ); + + int2 halfWin = make_int2((winSize.x - 1) / 2, (winSize.y - 1) / 2); cudaSafeCall( cudaMemcpyToSymbol(c_halfWin_x, &halfWin.x, sizeof(int)) ); cudaSafeCall( cudaMemcpyToSymbol(c_halfWin_y, &halfWin.y, sizeof(int)) ); + cudaSafeCall( cudaMemcpyToSymbol(c_iters, &iters, sizeof(int)) ); } - __global__ void calcSharrDeriv_vertical(const PtrStepb src, PtrStep dx_buf, PtrStep dy_buf, int rows, int colsn) - { - const int x = blockIdx.x * blockDim.x + threadIdx.x; - const int y = blockIdx.y * blockDim.y + threadIdx.y; - - if (y < rows && x < colsn) - { - const uchar src_val0 = src(y > 0 ? y - 1 : 1, x); - const uchar src_val1 = src(y, x); - const uchar src_val2 = src(y < rows - 1 ? y + 1 : rows - 2, x); - - dx_buf(y, x) = (src_val0 + src_val2) * 3 + src_val1 * 10; - dy_buf(y, x) = src_val2 - src_val0; - } - } - - __global__ void calcSharrDeriv_horizontal(const PtrStep dx_buf, const PtrStep dy_buf, PtrStep dIdx, PtrStep dIdy, int rows, int cols) - { - const int x = blockIdx.x * blockDim.x + threadIdx.x; - const int y = blockIdx.y * blockDim.y + threadIdx.y; - - const int colsn = cols * c_cn; - - if (y < rows && x < colsn) - { - const short* dx_buf_row = dx_buf.ptr(y); - const short* dy_buf_row = dy_buf.ptr(y); - - const int xr = x + c_cn < colsn ? x + c_cn : (cols - 2) * c_cn + x + c_cn - colsn; - const int xl = x - c_cn >= 0 ? x - c_cn : c_cn + x; - - dIdx(y, x) = dx_buf_row[xr] - dx_buf_row[xl]; - dIdy(y, x) = (dy_buf_row[xr] + dy_buf_row[xl]) * 3 + dy_buf_row[x] * 10; - } - } - - void calcSharrDeriv_gpu(DevMem2Db src, DevMem2D_ dx_buf, DevMem2D_ dy_buf, DevMem2D_ dIdx, DevMem2D_ dIdy, int cn, - cudaStream_t stream) - { - dim3 block(32, 8); - dim3 grid(divUp(src.cols * cn, block.x), divUp(src.rows, block.y)); - - calcSharrDeriv_vertical<<>>(src, dx_buf, dy_buf, src.rows, src.cols * cn); - cudaSafeCall( cudaGetLastError() ); - - calcSharrDeriv_horizontal<<>>(dx_buf, dy_buf, dIdx, dIdy, src.rows, src.cols); - cudaSafeCall( cudaGetLastError() ); - - if (stream == 0) - cudaSafeCall( cudaDeviceSynchronize() ); - } - - #define W_BITS 14 - #define W_BITS1 14 - - #define CV_DESCALE(x, n) (((x) + (1 << ((n)-1))) >> (n)) - - __device__ int linearFilter(const PtrStepb& src, float2 pt, int x, int y) - { - int2 ipt; - ipt.x = __float2int_rd(pt.x); - ipt.y = __float2int_rd(pt.y); - - float a = pt.x - ipt.x; - float b = pt.y - ipt.y; - - int iw00 = __float2int_rn((1.0f - a) * (1.0f - b) * (1 << W_BITS)); - int iw01 = __float2int_rn(a * (1.0f - b) * (1 << W_BITS)); - int iw10 = __float2int_rn((1.0f - a) * b * (1 << W_BITS)); - int iw11 = (1 << W_BITS) - iw00 - iw01 - iw10; - - const uchar* src_row = src.ptr(ipt.y + y) + ipt.x * c_cn; - const uchar* src_row1 = src.ptr(ipt.y + y + 1) + ipt.x * c_cn; - - return CV_DESCALE(src_row[x] * iw00 + src_row[x + c_cn] * iw01 + src_row1[x] * iw10 + src_row1[x + c_cn] * iw11, W_BITS1 - 5); - } - - __device__ int linearFilter(const PtrStep& src, float2 pt, int x, int y) - { - int2 ipt; - ipt.x = __float2int_rd(pt.x); - ipt.y = __float2int_rd(pt.y); - - float a = pt.x - ipt.x; - float b = pt.y - ipt.y; - - int iw00 = __float2int_rn((1.0f - a) * (1.0f - b) * (1 << W_BITS)); - int iw01 = __float2int_rn(a * (1.0f - b) * (1 << W_BITS)); - int iw10 = __float2int_rn((1.0f - a) * b * (1 << W_BITS)); - int iw11 = (1 << W_BITS) - iw00 - iw01 - iw10; - - const short* src_row = src.ptr(ipt.y + y) + ipt.x * c_cn; - const short* src_row1 = src.ptr(ipt.y + y + 1) + ipt.x * c_cn; - - return CV_DESCALE(src_row[x] * iw00 + src_row[x + c_cn] * iw01 + src_row1[x] * iw10 + src_row1[x + c_cn] * iw11, W_BITS1); - } - __device__ void reduce(float& val1, float& val2, float& val3, float* smem1, float* smem2, float* smem3, int tid) { smem1[tid] = val1; @@ -310,11 +211,65 @@ namespace cv { namespace gpu { namespace device } } - #define SCALE (1.0f / (1 << 20)) + texture tex_If(false, cudaFilterModeLinear, cudaAddressModeClamp); + texture tex_If4(false, cudaFilterModeLinear, cudaAddressModeClamp); + texture tex_Ib(false, cudaFilterModePoint, cudaAddressModeClamp); - template - __global__ void lkSparse(const PtrStepb I, const PtrStepb J, const PtrStep dIdx, const PtrStep dIdy, - const float2* prevPts, float2* nextPts, uchar* status, float* err, const int level, const int rows, const int cols) + texture tex_Jf(false, cudaFilterModeLinear, cudaAddressModeClamp); + texture tex_Jf4(false, cudaFilterModeLinear, cudaAddressModeClamp); + + template struct Tex_I; + template <> struct Tex_I<1> + { + static __device__ __forceinline__ float read(float x, float y) + { + return tex2D(tex_If, x, y); + } + }; + template <> struct Tex_I<4> + { + static __device__ __forceinline__ float4 read(float x, float y) + { + return tex2D(tex_If4, x, y); + } + }; + + template struct Tex_J; + template <> struct Tex_J<1> + { + static __device__ __forceinline__ float read(float x, float y) + { + return tex2D(tex_Jf, x, y); + } + }; + template <> struct Tex_J<4> + { + static __device__ __forceinline__ float4 read(float x, float y) + { + return tex2D(tex_Jf4, x, y); + } + }; + + __device__ __forceinline__ void accum(float& dst, float val) + { + dst += val; + } + __device__ __forceinline__ void accum(float& dst, const float4& val) + { + dst += val.x + val.y + val.z; + } + + __device__ __forceinline__ float abs_(float a) + { + return ::fabs(a); + } + __device__ __forceinline__ float4 abs_(const float4& a) + { + return fabs(a); + } + + template + __global__ void lkSparse(const float2* prevPts, float2* nextPts, uchar* status, float* err, const int level, const int rows, const int cols) { #if __CUDA_ARCH__ <= 110 __shared__ float smem1[128]; @@ -332,47 +287,52 @@ namespace cv { namespace gpu { namespace device prevPt.x *= (1.0f / (1 << level)); prevPt.y *= (1.0f / (1 << level)); - prevPt.x -= c_halfWin_x; - prevPt.y -= c_halfWin_y; - - if (prevPt.x < -c_winSize_x || prevPt.x >= cols || prevPt.y < -c_winSize_y || prevPt.y >= rows) + if (prevPt.x < 0 || prevPt.x >= cols || prevPt.y < 0 || prevPt.y >= rows) { - if (level == 0 && tid == 0) - { + if (tid == 0 && level == 0) status[blockIdx.x] = 0; - if (calcErr) - err[blockIdx.x] = 0; - } - return; } + prevPt.x -= c_halfWin_x; + prevPt.y -= c_halfWin_y; + // extract the patch from the first image, compute covariation matrix of derivatives float A11 = 0; float A12 = 0; float A22 = 0; - int I_patch[PATCH_Y][PATCH_X]; - int dIdx_patch[PATCH_Y][PATCH_X]; - int dIdy_patch[PATCH_Y][PATCH_X]; + typedef typename TypeVec::vec_type work_type; - for (int y = threadIdx.y, i = 0; y < c_winSize_y; y += blockDim.y, ++i) + work_type I_patch [PATCH_Y][PATCH_X]; + work_type dIdx_patch[PATCH_Y][PATCH_X]; + work_type dIdy_patch[PATCH_Y][PATCH_X]; + + for (int yBase = threadIdx.y, i = 0; yBase < c_winSize_y; yBase += blockDim.y, ++i) { - for (int x = threadIdx.x, j = 0; x < c_winSize_x_cn; x += blockDim.x, ++j) + for (int xBase = threadIdx.x, j = 0; xBase < c_winSize_x; xBase += blockDim.x, ++j) { - I_patch[i][j] = linearFilter(I, prevPt, x, y); + float x = prevPt.x + xBase + 0.5f; + float y = prevPt.y + yBase + 0.5f; - int ixval = linearFilter(dIdx, prevPt, x, y); - int iyval = linearFilter(dIdy, prevPt, x, y); + I_patch[i][j] = Tex_I::read(x, y); - dIdx_patch[i][j] = ixval; - dIdy_patch[i][j] = iyval; + // Sharr Deriv - A11 += ixval * ixval; - A12 += ixval * iyval; - A22 += iyval * iyval; + work_type dIdx = 3.0f * Tex_I::read(x+1, y-1) + 10.0f * Tex_I::read(x+1, y) + 3.0f * Tex_I::read(x+1, y+1) - + (3.0f * Tex_I::read(x-1, y-1) + 10.0f * Tex_I::read(x-1, y) + 3.0f * Tex_I::read(x-1, y+1)); + + work_type dIdy = 3.0f * Tex_I::read(x-1, y+1) + 10.0f * Tex_I::read(x, y+1) + 3.0f * Tex_I::read(x+1, y+1) - + (3.0f * Tex_I::read(x-1, y-1) + 10.0f * Tex_I::read(x, y-1) + 3.0f * Tex_I::read(x+1, y-1)); + + dIdx_patch[i][j] = dIdx; + dIdy_patch[i][j] = dIdy; + + accum(A11, dIdx * dIdx); + accum(A12, dIdx * dIdy); + accum(A22, dIdy * dIdy); } } @@ -383,32 +343,22 @@ namespace cv { namespace gpu { namespace device A12 = smem2[0]; A22 = smem3[0]; - A11 *= SCALE; - A12 *= SCALE; - A22 *= SCALE; + float D = A11 * A22 - A12 * A12; + if (D < numeric_limits::epsilon()) { - float D = A11 * A22 - A12 * A12; - float minEig = (A22 + A11 - ::sqrtf((A11 - A22) * (A11 - A22) + 4.f * A12 * A12)) / (2 * c_winSize_x * c_winSize_y); + if (tid == 0 && level == 0) + status[blockIdx.x] = 0; - if (calcErr && GET_MIN_EIGENVALS && tid == 0) - err[blockIdx.x] = minEig; - - if (minEig < c_minEigThreshold || D < numeric_limits::epsilon()) - { - if (level == 0 && tid == 0) - status[blockIdx.x] = 0; - - return; - } - - D = 1.f / D; - - A11 *= D; - A12 *= D; - A22 *= D; + return; } + D = 1.f / D; + + A11 *= D; + A12 *= D; + A22 *= D; + float2 nextPt = nextPts[blockIdx.x]; nextPt.x *= 2.f; nextPt.y *= 2.f; @@ -416,14 +366,14 @@ namespace cv { namespace gpu { namespace device nextPt.x -= c_halfWin_x; nextPt.y -= c_halfWin_y; - bool status_ = true; - for (int k = 0; k < c_iters; ++k) { - if (nextPt.x < -c_winSize_x || nextPt.x >= cols || nextPt.y < -c_winSize_y || nextPt.y >= rows) + if (nextPt.x < -c_halfWin_x || nextPt.x >= cols || nextPt.y < -c_halfWin_y || nextPt.y >= rows) { - status_ = false; - break; + if (tid == 0 && level == 0) + status[blockIdx.x] = 0; + + return; } float b1 = 0; @@ -431,12 +381,15 @@ namespace cv { namespace gpu { namespace device for (int y = threadIdx.y, i = 0; y < c_winSize_y; y += blockDim.y, ++i) { - for (int x = threadIdx.x, j = 0; x < c_winSize_x_cn; x += blockDim.x, ++j) + for (int x = threadIdx.x, j = 0; x < c_winSize_x; x += blockDim.x, ++j) { - int diff = linearFilter(J, nextPt, x, y) - I_patch[i][j]; + work_type I_val = I_patch[i][j]; + work_type J_val = Tex_J::read(nextPt.x + x + 0.5f, nextPt.y + y + 0.5f); - b1 += diff * dIdx_patch[i][j]; - b2 += diff * dIdy_patch[i][j]; + work_type diff = (J_val - I_val) * 32.0f; + + accum(b1, diff * dIdx_patch[i][j]); + accum(b2, diff * dIdy_patch[i][j]); } } @@ -446,9 +399,6 @@ namespace cv { namespace gpu { namespace device b1 = smem1[0]; b2 = smem2[0]; - b1 *= SCALE; - b2 *= SCALE; - float2 delta; delta.x = A12 * b2 - A22 * b1; delta.y = A12 * b1 - A11 * b2; @@ -460,24 +410,23 @@ namespace cv { namespace gpu { namespace device break; } - if (nextPt.x < -c_winSize_x || nextPt.x >= cols || nextPt.y < -c_winSize_y || nextPt.y >= rows) - status_ = false; - - float errval = 0.f; - if (calcErr && !GET_MIN_EIGENVALS && status_) + float errval = 0; + if (calcErr) { for (int y = threadIdx.y, i = 0; y < c_winSize_y; y += blockDim.y, ++i) { - for (int x = threadIdx.x, j = 0; x < c_winSize_x_cn; x += blockDim.x, ++j) + for (int x = threadIdx.x, j = 0; x < c_winSize_x; x += blockDim.x, ++j) { - int diff = linearFilter(J, nextPt, x, y) - I_patch[i][j]; - errval += ::fabsf((float)diff); + work_type I_val = I_patch[i][j]; + work_type J_val = Tex_J::read(nextPt.x + x + 0.5f, nextPt.y + y + 0.5f); + + work_type diff = J_val - I_val; + + accum(errval, abs_(diff)); } } reduce(errval, smem1, tid); - - errval /= 32 * c_winSize_x_cn * c_winSize_y; } if (tid == 0) @@ -485,45 +434,23 @@ namespace cv { namespace gpu { namespace device nextPt.x += c_halfWin_x; nextPt.y += c_halfWin_y; - status[blockIdx.x] = status_; nextPts[blockIdx.x] = nextPt; - if (calcErr && !GET_MIN_EIGENVALS) - err[blockIdx.x] = errval; + if (calcErr) + err[blockIdx.x] = static_cast(errval) / (cn * c_winSize_x * c_winSize_y); } } - template - void lkSparse_caller(DevMem2Db I, DevMem2Db J, DevMem2D_ dIdx, DevMem2D_ dIdy, - const float2* prevPts, float2* nextPts, uchar* status, float* err, bool GET_MIN_EIGENVALS, int ptcount, + template + void lkSparse_caller(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, int level, dim3 block, cudaStream_t stream) { dim3 grid(ptcount); if (level == 0 && err) - { - if (GET_MIN_EIGENVALS) - { - cudaSafeCall( cudaFuncSetCacheConfig(lkSparse, cudaFuncCachePreferL1) ); - - lkSparse<<>>(I, J, dIdx, dIdy, - prevPts, nextPts, status, err, level, I.rows, I.cols); - } - else - { - cudaSafeCall( cudaFuncSetCacheConfig(lkSparse, cudaFuncCachePreferL1) ); - - lkSparse<<>>(I, J, dIdx, dIdy, - prevPts, nextPts, status, err, level, I.rows, I.cols); - } - } + lkSparse<<>>(prevPts, nextPts, status, err, level, rows, cols); else - { - cudaSafeCall( cudaFuncSetCacheConfig(lkSparse, cudaFuncCachePreferL1) ); - - lkSparse<<>>(I, J, dIdx, dIdy, - prevPts, nextPts, status, err, level, I.rows, I.cols); - } + lkSparse<<>>(prevPts, nextPts, status, err, level, rows, cols); cudaSafeCall( cudaGetLastError() ); @@ -531,30 +458,49 @@ namespace cv { namespace gpu { namespace device cudaSafeCall( cudaDeviceSynchronize() ); } - void lkSparse_gpu(DevMem2Db I, DevMem2Db J, DevMem2D_ dIdx, DevMem2D_ dIdy, - const float2* prevPts, float2* nextPts, uchar* status, float* err, bool GET_MIN_EIGENVALS, int ptcount, + void lkSparse1_gpu(DevMem2Df I, DevMem2Df J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, int level, dim3 block, dim3 patch, cudaStream_t stream) { - typedef void (*func_t)(DevMem2Db I, DevMem2Db J, DevMem2D_ dIdx, DevMem2D_ dIdy, - const float2* prevPts, float2* nextPts, uchar* status, float* err, bool GET_MIN_EIGENVALS, int ptcount, + typedef void (*func_t)(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, int level, dim3 block, cudaStream_t stream); static const func_t funcs[5][5] = { - {lkSparse_caller<1, 1>, lkSparse_caller<2, 1>, lkSparse_caller<3, 1>, lkSparse_caller<4, 1>, lkSparse_caller<5, 1>}, - {lkSparse_caller<1, 2>, lkSparse_caller<2, 2>, lkSparse_caller<3, 2>, lkSparse_caller<4, 2>, lkSparse_caller<5, 2>}, - {lkSparse_caller<1, 3>, lkSparse_caller<2, 3>, lkSparse_caller<3, 3>, lkSparse_caller<4, 3>, lkSparse_caller<5, 3>}, - {lkSparse_caller<1, 4>, lkSparse_caller<2, 4>, lkSparse_caller<3, 4>, lkSparse_caller<4, 4>, lkSparse_caller<5, 4>}, - {lkSparse_caller<1, 5>, lkSparse_caller<2, 5>, lkSparse_caller<3, 5>, lkSparse_caller<4, 5>, lkSparse_caller<5, 5>} + {lkSparse_caller<1, 1, 1>, lkSparse_caller<1, 2, 1>, lkSparse_caller<1, 3, 1>, lkSparse_caller<1, 4, 1>, lkSparse_caller<1, 5, 1>}, + {lkSparse_caller<1, 1, 2>, lkSparse_caller<1, 2, 2>, lkSparse_caller<1, 3, 2>, lkSparse_caller<1, 4, 2>, lkSparse_caller<1, 5, 2>}, + {lkSparse_caller<1, 1, 3>, lkSparse_caller<1, 2, 3>, lkSparse_caller<1, 3, 3>, lkSparse_caller<1, 4, 3>, lkSparse_caller<1, 5, 3>}, + {lkSparse_caller<1, 1, 4>, lkSparse_caller<1, 2, 4>, lkSparse_caller<1, 3, 4>, lkSparse_caller<1, 4, 4>, lkSparse_caller<1, 5, 4>}, + {lkSparse_caller<1, 1, 5>, lkSparse_caller<1, 2, 5>, lkSparse_caller<1, 3, 5>, lkSparse_caller<1, 4, 5>, lkSparse_caller<1, 5, 5>} }; - funcs[patch.y - 1][patch.x - 1](I, J, dIdx, dIdy, - prevPts, nextPts, status, err, GET_MIN_EIGENVALS, ptcount, + bindTexture(&tex_If, I); + bindTexture(&tex_Jf, J); + + funcs[patch.y - 1][patch.x - 1](I.rows, I.cols, prevPts, nextPts, status, err, ptcount, level, block, stream); } - texture tex_I(false, cudaFilterModePoint, cudaAddressModeClamp); - texture tex_J(false, cudaFilterModeLinear, cudaAddressModeClamp); + void lkSparse4_gpu(DevMem2D_ I, DevMem2D_ J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, + int level, dim3 block, dim3 patch, cudaStream_t stream) + { + typedef void (*func_t)(int rows, int cols, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, + int level, dim3 block, cudaStream_t stream); + + static const func_t funcs[5][5] = + { + {lkSparse_caller<4, 1, 1>, lkSparse_caller<4, 2, 1>, lkSparse_caller<4, 3, 1>, lkSparse_caller<4, 4, 1>, lkSparse_caller<4, 5, 1>}, + {lkSparse_caller<4, 1, 2>, lkSparse_caller<4, 2, 2>, lkSparse_caller<4, 3, 2>, lkSparse_caller<4, 4, 2>, lkSparse_caller<4, 5, 2>}, + {lkSparse_caller<4, 1, 3>, lkSparse_caller<4, 2, 3>, lkSparse_caller<4, 3, 3>, lkSparse_caller<4, 4, 3>, lkSparse_caller<4, 5, 3>}, + {lkSparse_caller<4, 1, 4>, lkSparse_caller<4, 2, 4>, lkSparse_caller<4, 3, 4>, lkSparse_caller<4, 4, 4>, lkSparse_caller<4, 5, 4>}, + {lkSparse_caller<4, 1, 5>, lkSparse_caller<4, 2, 5>, lkSparse_caller<4, 3, 5>, lkSparse_caller<4, 4, 5>, lkSparse_caller<4, 5, 5>} + }; + + bindTexture(&tex_If4, I); + bindTexture(&tex_Jf4, J); + + funcs[patch.y - 1][patch.x - 1](I.rows, I.cols, prevPts, nextPts, status, err, ptcount, + level, block, stream); + } template __global__ void lkDense(PtrStepf u, PtrStepf v, const PtrStepf prevU, const PtrStepf prevV, PtrStepf err, const int rows, const int cols) @@ -578,15 +524,15 @@ namespace cv { namespace gpu { namespace device float x = xBase - c_halfWin_x + j + 0.5f; float y = yBase - c_halfWin_y + i + 0.5f; - I_patch[i * patchWidth + j] = tex2D(tex_I, x, y); + I_patch[i * patchWidth + j] = tex2D(tex_Ib, x, y); // Sharr Deriv - dIdx_patch[i * patchWidth + j] = 3 * tex2D(tex_I, x+1, y-1) + 10 * tex2D(tex_I, x+1, y) + 3 * tex2D(tex_I, x+1, y+1) - - (3 * tex2D(tex_I, x-1, y-1) + 10 * tex2D(tex_I, x-1, y) + 3 * tex2D(tex_I, x-1, y+1)); + dIdx_patch[i * patchWidth + j] = 3 * tex2D(tex_Ib, x+1, y-1) + 10 * tex2D(tex_Ib, x+1, y) + 3 * tex2D(tex_Ib, x+1, y+1) - + (3 * tex2D(tex_Ib, x-1, y-1) + 10 * tex2D(tex_Ib, x-1, y) + 3 * tex2D(tex_Ib, x-1, y+1)); - dIdy_patch[i * patchWidth + j] = 3 * tex2D(tex_I, x-1, y+1) + 10 * tex2D(tex_I, x, y+1) + 3 * tex2D(tex_I, x+1, y+1) - - (3 * tex2D(tex_I, x-1, y-1) + 10 * tex2D(tex_I, x, y-1) + 3 * tex2D(tex_I, x+1, y-1)); + dIdy_patch[i * patchWidth + j] = 3 * tex2D(tex_Ib, x-1, y+1) + 10 * tex2D(tex_Ib, x, y+1) + 3 * tex2D(tex_Ib, x+1, y+1) - + (3 * tex2D(tex_Ib, x-1, y-1) + 10 * tex2D(tex_Ib, x, y-1) + 3 * tex2D(tex_Ib, x+1, y-1)); } } @@ -657,7 +603,7 @@ namespace cv { namespace gpu { namespace device for (int j = 0; j < c_winSize_x; ++j) { int I = I_patch[(threadIdx.y + i) * patchWidth + threadIdx.x + j]; - int J = tex2D(tex_J, nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f); + int J = tex2D(tex_Jf, nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f); int diff = (J - I) * 32; @@ -692,7 +638,7 @@ namespace cv { namespace gpu { namespace device for (int j = 0; j < c_winSize_x; ++j) { int I = I_patch[(threadIdx.y + i) * patchWidth + threadIdx.x + j]; - int J = tex2D(tex_J, nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f); + int J = tex2D(tex_Jf, nextPt.x - c_halfWin_x + j + 0.5f, nextPt.y - c_halfWin_y + i + 0.5f); errval += ::abs(J - I); } @@ -708,8 +654,8 @@ namespace cv { namespace gpu { namespace device dim3 block(16, 16); dim3 grid(divUp(I.cols, block.x), divUp(I.rows, block.y)); - bindTexture(&tex_I, I); - bindTexture(&tex_J, J); + bindTexture(&tex_Ib, I); + bindTexture(&tex_Jf, J); int2 halfWin = make_int2((winSize.x - 1) / 2, (winSize.y - 1) / 2); const int patchWidth = block.x + 2 * halfWin.x; diff --git a/modules/gpu/src/pyrlk.cpp b/modules/gpu/src/pyrlk.cpp index adb630c53..4429ea2ab 100644 --- a/modules/gpu/src/pyrlk.cpp +++ b/modules/gpu/src/pyrlk.cpp @@ -48,8 +48,10 @@ using namespace cv::gpu; #if !defined (HAVE_CUDA) +cv::gpu::PyrLKOpticalFlow::PyrLKOpticalFlow() { throw_nogpu(); } void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat&, const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_nogpu(); } void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat&, const GpuMat&, GpuMat&, GpuMat&, GpuMat*) { throw_nogpu(); } +void cv::gpu::PyrLKOpticalFlow::releaseMemory() {} #else /* !defined (HAVE_CUDA) */ @@ -57,13 +59,11 @@ namespace cv { namespace gpu { namespace device { namespace pyrlk { - void loadConstants(int cn, float minEigThreshold, int2 winSize, int iters); + void loadConstants(int2 winSize, int iters); - void calcSharrDeriv_gpu(DevMem2Db src, DevMem2D_ dx_buf, DevMem2D_ dy_buf, DevMem2D_ dIdx, DevMem2D_ dIdy, int cn, - cudaStream_t stream = 0); - - void lkSparse_gpu(DevMem2Db I, DevMem2Db J, DevMem2D_ dIdx, DevMem2D_ dIdy, - const float2* prevPts, float2* nextPts, uchar* status, float* err, bool GET_MIN_EIGENVALS, int ptcount, + void lkSparse1_gpu(DevMem2Df I, DevMem2Df J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, + int level, dim3 block, dim3 patch, cudaStream_t stream = 0); + void lkSparse4_gpu(DevMem2D_ I, DevMem2D_ J, const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, int level, dim3 block, dim3 patch, cudaStream_t stream = 0); void lkDense_gpu(DevMem2Db I, DevMem2Df J, DevMem2Df u, DevMem2Df v, DevMem2Df prevU, DevMem2Df prevV, @@ -71,65 +71,19 @@ namespace cv { namespace gpu { namespace device } }}} -void cv::gpu::PyrLKOpticalFlow::calcSharrDeriv(const GpuMat& src, GpuMat& dIdx, GpuMat& dIdy) +cv::gpu::PyrLKOpticalFlow::PyrLKOpticalFlow() { - using namespace cv::gpu::device::pyrlk; - - CV_Assert(src.rows > 1 && src.cols > 1); - CV_Assert(src.depth() == CV_8U); - - const int cn = src.channels(); - - ensureSizeIsEnough(src.size(), CV_MAKETYPE(CV_16S, cn), dx_calcBuf_); - ensureSizeIsEnough(src.size(), CV_MAKETYPE(CV_16S, cn), dy_calcBuf_); - - calcSharrDeriv_gpu(src, dx_calcBuf_, dy_calcBuf_, dIdx, dIdy, cn); -} - -void cv::gpu::PyrLKOpticalFlow::buildImagePyramid(const GpuMat& img0, vector& pyr, bool withBorder) -{ - pyr.resize(maxLevel + 1); - - Size sz = img0.size(); - - for (int level = 0; level <= maxLevel; ++level) - { - GpuMat temp; - - if (withBorder) - { - temp.create(sz.height + winSize.height * 2, sz.width + winSize.width * 2, img0.type()); - pyr[level] = temp(Rect(winSize.width, winSize.height, sz.width, sz.height)); - } - else - { - ensureSizeIsEnough(sz, img0.type(), pyr[level]); - } - - if (level == 0) - img0.copyTo(pyr[level]); - else - pyrDown(pyr[level - 1], pyr[level]); - - if (withBorder) - copyMakeBorder(pyr[level], temp, winSize.height, winSize.height, winSize.width, winSize.width, BORDER_REFLECT_101); - - sz = Size((sz.width + 1) / 2, (sz.height + 1) / 2); - - if (sz.width <= winSize.width || sz.height <= winSize.height) - { - maxLevel = level; - break; - } - } + winSize = Size(21, 21); + maxLevel = 3; + iters = 30; + useInitialFlow = false; + isDeviceArch11_ = !DeviceInfo().supports(FEATURE_SET_COMPUTE_12); } namespace { - void calcPatchSize(cv::Size winSize, int cn, dim3& block, dim3& patch, bool isDeviceArch11) + void calcPatchSize(cv::Size winSize, dim3& block, dim3& patch, bool isDeviceArch11) { - winSize.width *= cn; - if (winSize.width > 32 && winSize.width > 2 * winSize.height) { block.x = isDeviceArch11 ? 16 : 32; @@ -160,13 +114,13 @@ void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& next return; } - const int cn = prevImg.channels(); - dim3 block, patch; - calcPatchSize(winSize, cn, block, patch, isDeviceArch11_); + calcPatchSize(winSize, block, patch, isDeviceArch11_); - CV_Assert(maxLevel >= 0 && winSize.width > 2 && winSize.height > 2); + CV_Assert(prevImg.type() == CV_8UC1 || prevImg.type() == CV_8UC3 || prevImg.type() == CV_8UC4); CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type()); + CV_Assert(maxLevel >= 0); + CV_Assert(winSize.width > 2 && winSize.height > 2); CV_Assert(patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6); CV_Assert(prevPts.rows == 1 && prevPts.type() == CV_32FC2); @@ -186,35 +140,48 @@ void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& next ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err); // build the image pyramids. - // we pad each level with +/-winSize.{width|height} - // pixels to simplify the further patch extraction. - buildImagePyramid(prevImg, prevPyr_, true); - buildImagePyramid(nextImg, nextPyr_, true); + prevPyr_.resize(maxLevel + 1); + nextPyr_.resize(maxLevel + 1); - // dI/dx ~ Ix, dI/dy ~ Iy + int cn = prevImg.channels(); - ensureSizeIsEnough(prevImg.rows + winSize.height * 2, prevImg.cols + winSize.width * 2, CV_MAKETYPE(CV_16S, cn), dx_buf_); - ensureSizeIsEnough(prevImg.rows + winSize.height * 2, prevImg.cols + winSize.width * 2, CV_MAKETYPE(CV_16S, cn), dy_buf_); + if (cn == 1 || cn == 4) + { + prevImg.convertTo(prevPyr_[0], CV_32F); + nextImg.convertTo(nextPyr_[0], CV_32F); + } + else + { + cvtColor(prevImg, buf_, COLOR_BGR2BGRA); + buf_.convertTo(prevPyr_[0], CV_32F); - loadConstants(cn, minEigThreshold, make_int2(winSize.width, winSize.height), iters); + cvtColor(nextImg, buf_, COLOR_BGR2BGRA); + buf_.convertTo(nextPyr_[0], CV_32F); + } + + for (int level = 1; level <= maxLevel; ++level) + { + pyrDown(prevPyr_[level - 1], prevPyr_[level]); + pyrDown(nextPyr_[level - 1], nextPyr_[level]); + } + + loadConstants(make_int2(winSize.width, winSize.height), iters); for (int level = maxLevel; level >= 0; level--) { - Size imgSize = prevPyr_[level].size(); - - GpuMat dxWhole(imgSize.height + winSize.height * 2, imgSize.width + winSize.width * 2, dx_buf_.type(), dx_buf_.data, dx_buf_.step); - GpuMat dyWhole(imgSize.height + winSize.height * 2, imgSize.width + winSize.width * 2, dy_buf_.type(), dy_buf_.data, dy_buf_.step); - dxWhole.setTo(Scalar::all(0)); - dyWhole.setTo(Scalar::all(0)); - GpuMat dIdx = dxWhole(Rect(winSize.width, winSize.height, imgSize.width, imgSize.height)); - GpuMat dIdy = dyWhole(Rect(winSize.width, winSize.height, imgSize.width, imgSize.height)); - - calcSharrDeriv(prevPyr_[level], dIdx, dIdy); - - lkSparse_gpu(prevPyr_[level], nextPyr_[level], dIdx, dIdy, - prevPts.ptr(), nextPts.ptr(), status.ptr(), level == 0 && err ? err->ptr() : 0, getMinEigenVals, prevPts.cols, - level, block, patch); + if (cn == 1) + { + lkSparse1_gpu(prevPyr_[level], nextPyr_[level], + prevPts.ptr(), nextPts.ptr(), status.ptr(), level == 0 && err ? err->ptr() : 0, prevPts.cols, + level, block, patch); + } + else + { + lkSparse4_gpu(prevPyr_[level], nextPyr_[level], + prevPts.ptr(), nextPts.ptr(), status.ptr(), level == 0 && err ? err->ptr() : 0, prevPts.cols, + level, block, patch); + } } } @@ -232,15 +199,17 @@ void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextI // build the image pyramids. - buildImagePyramid(prevImg, prevPyr_, false); - + prevPyr_.resize(maxLevel + 1); nextPyr_.resize(maxLevel + 1); - nextImg.convertTo(nextPyr_[0], CV_32F); - for (int level = 1; level <= maxLevel; ++level) - pyrDown(nextPyr_[level - 1], nextPyr_[level]); - uPyr_.resize(2); - vPyr_.resize(2); + prevPyr_[0] = prevImg; + nextImg.convertTo(nextPyr_[0], CV_32F); + + for (int level = 1; level <= maxLevel; ++level) + { + pyrDown(prevPyr_[level - 1], prevPyr_[level]); + pyrDown(nextPyr_[level - 1], nextPyr_[level]); + } ensureSizeIsEnough(prevImg.size(), CV_32FC1, uPyr_[0]); ensureSizeIsEnough(prevImg.size(), CV_32FC1, vPyr_[0]); @@ -250,7 +219,7 @@ void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextI vPyr_[1].setTo(Scalar::all(0)); int2 winSize2i = make_int2(winSize.width, winSize.height); - loadConstants(1, minEigThreshold, winSize2i, iters); + loadConstants(winSize2i, iters); DevMem2Df derr = err ? *err : DevMem2Df(); @@ -271,4 +240,18 @@ void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextI vPyr_[idx].copyTo(v); } +void cv::gpu::PyrLKOpticalFlow::releaseMemory() +{ + prevPyr_.clear(); + nextPyr_.clear(); + + buf_.release(); + + uPyr_[0].release(); + vPyr_[0].release(); + + uPyr_[1].release(); + vPyr_[1].release(); +} + #endif /* !defined (HAVE_CUDA) */ diff --git a/modules/gpu/test/test_video.cpp b/modules/gpu/test/test_video.cpp index 9252b6f44..13deef0e6 100644 --- a/modules/gpu/test/test_video.cpp +++ b/modules/gpu/test/test_video.cpp @@ -249,8 +249,7 @@ TEST_P(PyrLKOpticalFlow, Sparse) cv::gpu::GpuMat d_nextPts; cv::gpu::GpuMat d_status; - cv::gpu::GpuMat d_err; - pyrLK.sparse(loadMat(frame0), loadMat(frame1), d_pts, d_nextPts, d_status, &d_err); + pyrLK.sparse(loadMat(frame0), loadMat(frame1), d_pts, d_nextPts, d_status); std::vector nextPts(d_nextPts.cols); cv::Mat nextPts_mat(1, d_nextPts.cols, CV_32FC2, (void*)&nextPts[0]); @@ -260,22 +259,19 @@ TEST_P(PyrLKOpticalFlow, Sparse) cv::Mat status_mat(1, d_status.cols, CV_8UC1, (void*)&status[0]); d_status.download(status_mat); - std::vector err(d_err.cols); - cv::Mat err_mat(1, d_err.cols, CV_32FC1, (void*)&err[0]); - d_err.download(err_mat); - std::vector nextPts_gold; std::vector status_gold; - std::vector err_gold; - cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts_gold, status_gold, err_gold); + cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts_gold, status_gold, cv::noArray()); ASSERT_EQ(nextPts_gold.size(), nextPts.size()); ASSERT_EQ(status_gold.size(), status.size()); - ASSERT_EQ(err_gold.size(), err.size()); size_t mistmatch = 0; for (size_t i = 0; i < nextPts.size(); ++i) { + cv::Point2i a = nextPts[i]; + cv::Point2i b = nextPts_gold[i]; + if (status[i] != status_gold[i]) { ++mistmatch; @@ -284,13 +280,9 @@ TEST_P(PyrLKOpticalFlow, Sparse) if (status[i]) { - cv::Point2i a = nextPts[i]; - cv::Point2i b = nextPts_gold[i]; + bool eq = std::abs(a.x - b.x) <= 1 && std::abs(a.y - b.y) <= 1; - bool eq = std::abs(a.x - b.x) < 1 && std::abs(a.y - b.y) < 1; - float errdiff = std::abs(err[i] - err_gold[i]); - - if (!eq || errdiff > 1e-1) + if (!eq) ++mistmatch; } }