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new implementation of gpu::PyrLKOpticalFlow::sparse (1.5 - 2x faster)

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Vladislav Vinogradov
2012-06-18 06:49:10 +00:00
parent 33d9e2354a
commit f392ab0e08
7 changed files with 290 additions and 386 deletions
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22
modules/gpu/test/test_video.cpp
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@@ -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<cv::Point2f> 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<float> err(d_err.cols);
cv::Mat err_mat(1, d_err.cols, CV_32FC1, (void*)&err[0]);
d_err.download(err_mat);
std::vector<cv::Point2f> nextPts_gold;
std::vector<unsigned char> status_gold;
std::vector<float> 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;
}
}