[GSoC] Implementation of the Global Patch Collider and demo for PCAFlow (#752)

* Minor fixes * Start adding correspondence finding * Added finding of correspondences using GPC * New evaluation tool for GPC * Changed default parameters * Display ground truth in the evaluation tool * Added training tool for MPI Sintel dataset * Added the training tool for Middlebury dataset * Added some OpenCL optimization * Added explanatory notes * Minor improvements: time measurements + little ocl optimization * Added demos * Fixed warnings * Make parameter struct assignable * Fix warning * Proper command line argument usage * Prettified training tool, added parameters * Fixed VS warning * Fixed VS warning * Using of compressed forest.yml.gz files by default to save space * Added OpenCL flag to the evaluation tool * Updated documentation * Major speed and memory improvements: 1) Added new (optional) type of patch descriptors which are much faster. Retraining with option --descriptor-type=1 is required. 2) Got rid of hash table for descriptors, less memory usage. * Fixed various floating point errors related to precision. SIMD for dot product, forest traversing is a little bit faster now. * Tolerant floating point comparison * Triplets * Added comment * Choosing negative sample among nearest neighbors * Fix warning * Usage of parallel_for_() in critical places. Performance improvments. * Simulated annealing heuristic * Moved OpenCL kernel to separate file * Moved implementation to source file * Added basic accuracy tests for GPC and PCAFlow * Fixing warnings * Test accuracy constraints were too strict * Test accuracy constraints were too strict * Make tests more lightweight
2025-10-19 19:44:14 +08:00 · 2016-10-17 18:15:22 +03:00
parent 25575af653
commit ac62d70f97
12 changed files with 1483 additions and 162 deletions
--- a/modules/optflow/samples/gpc_evaluate.cpp
+++ b/modules/optflow/samples/gpc_evaluate.cpp
@@ -0,0 +1,164 @@
+#include "opencv2/core/ocl.hpp"
+#include "opencv2/highgui.hpp"
+#include "opencv2/imgcodecs.hpp"
+#include "opencv2/optflow.hpp"
+#include <fstream>
+#include <iostream>
+#include <stdio.h>
+
+/* This tool finds correspondences between two images using Global Patch Collider
+ * and calculates error using provided ground truth flow.
+ *
+ * It will look for the file named "forest.yml.gz" with a learned forest.
+ * You can obtain the "forest.yml.gz" either by manually training it using another tool with *_train suffix
+ * or by downloading one of the files trained on some publicly available dataset from here:
+ *
+ * https://drive.google.com/open?id=0B7Hb8cfuzrIIZDFscXVYd0NBNFU
+ */
+
+using namespace cv;
+
+const String keys = "{help h ?     |             | print this message}"
+                    "{@image1      |<none>       | image1}"
+                    "{@image2      |<none>       | image2}"
+                    "{@groundtruth |<none>       | path to the .flo file}"
+                    "{@output      |             | output to a file instead of displaying, output image path}"
+                    "{g gpu        |             | use OpenCL}"
+                    "{f forest     |forest.yml.gz| path to the forest.yml.gz}";
+
+const int nTrees = 5;
+
+static double normL2( const Point2f &v ) { return sqrt( v.x * v.x + v.y * v.y ); }
+
+static Vec3d getFlowColor( const Point2f &f, const bool logScale = true, const double scaleDown = 5 )
+{
+  if ( f.x == 0 && f.y == 0 )
+    return Vec3d( 0, 0, 1 );
+
+  double radius = normL2( f );
+  if ( logScale )
+    radius = log( radius + 1 );
+  radius /= scaleDown;
+  radius = std::min( 1.0, radius );
+
+  double angle = ( atan2( -f.y, -f.x ) + CV_PI ) * 180 / CV_PI;
+  return Vec3d( angle, radius, 1 );
+}
+
+static void displayFlow( InputArray _flow, OutputArray _img )
+{
+  const Size sz = _flow.size();
+  Mat flow = _flow.getMat();
+  _img.create( sz, CV_32FC3 );
+  Mat img = _img.getMat();
+
+  for ( int i = 0; i < sz.height; ++i )
+    for ( int j = 0; j < sz.width; ++j )
+      img.at< Vec3f >( i, j ) = getFlowColor( flow.at< Point2f >( i, j ) );
+
+  cvtColor( img, img, COLOR_HSV2BGR );
+}
+
+static bool fileProbe( const char *name ) { return std::ifstream( name ).good(); }
+
+int main( int argc, const char **argv )
+{
+  CommandLineParser parser( argc, argv, keys );
+  parser.about( "Global Patch Collider evaluation tool" );
+
+  if ( parser.has( "help" ) )
+  {
+    parser.printMessage();
+    return 0;
+  }
+
+  String fromPath = parser.get< String >( 0 );
+  String toPath = parser.get< String >( 1 );
+  String gtPath = parser.get< String >( 2 );
+  String outPath = parser.get< String >( 3 );
+  const bool useOpenCL = parser.has( "gpu" );
+  String forestDumpPath = parser.get< String >( "forest" );
+
+  if ( !parser.check() )
+  {
+    parser.printErrors();
+    return 1;
+  }
+
+  if ( !fileProbe( forestDumpPath.c_str() ) )
+  {
+    std::cerr << "Can't open the file with a trained model: `" << forestDumpPath
+              << "`.\nYou can obtain this file either by manually training the model using another tool with *_train suffix or by "
+                 "downloading one of the files trained on some publicly available dataset from "
+                 "here:\nhttps://drive.google.com/open?id=0B7Hb8cfuzrIIZDFscXVYd0NBNFU"
+              << std::endl;
+    return 1;
+  }
+
+  ocl::setUseOpenCL( useOpenCL );
+
+  Ptr< optflow::GPCForest< nTrees > > forest = Algorithm::load< optflow::GPCForest< nTrees > >( forestDumpPath );
+
+  Mat from = imread( fromPath );
+  Mat to = imread( toPath );
+  Mat gt = optflow::readOpticalFlow( gtPath );
+  std::vector< std::pair< Point2i, Point2i > > corr;
+
+  TickMeter meter;
+  meter.start();
+
+  forest->findCorrespondences( from, to, corr, optflow::GPCMatchingParams( useOpenCL ) );
+
+  meter.stop();
+
+  std::cout << "Found " << corr.size() << " matches." << std::endl;
+  std::cout << "Time:  " << meter.getTimeSec() << " sec." << std::endl;
+  double error = 0;
+  Mat dispErr = Mat::zeros( from.size(), CV_32FC3 );
+  dispErr = Scalar( 0, 0, 1 );
+  Mat disp = Mat::zeros( from.size(), CV_32FC3 );
+  disp = Scalar( 0, 0, 1 );
+
+  for ( size_t i = 0; i < corr.size(); ++i )
+  {
+    const Point2f a = corr[i].first;
+    const Point2f b = corr[i].second;
+    const Point2f c = a + gt.at< Point2f >( corr[i].first.y, corr[i].first.x );
+    error += normL2( b - c );
+    circle( disp, a, 3, getFlowColor( b - a ), -1 );
+    circle( dispErr, a, 3, getFlowColor( b - c, false, 32 ), -1 );
+  }
+
+  error /= corr.size();
+
+  std::cout << "Average endpoint error: " << error << " px." << std::endl;
+
+  cvtColor( disp, disp, COLOR_HSV2BGR );
+  cvtColor( dispErr, dispErr, COLOR_HSV2BGR );
+
+  Mat dispGroundTruth;
+  displayFlow( gt, dispGroundTruth );
+
+  if ( outPath.length() )
+  {
+    putText( disp, "Sparse matching: Global Patch Collider", Point2i( 24, 40 ), FONT_HERSHEY_DUPLEX, 1, Vec3b( 1, 0, 0 ), 2, LINE_AA );
+    char buf[256];
+    sprintf( buf, "Average EPE: %.2f", error );
+    putText( disp, buf, Point2i( 24, 80 ), FONT_HERSHEY_DUPLEX, 1, Vec3b( 1, 0, 0 ), 2, LINE_AA );
+    sprintf( buf, "Number of matches: %u", (unsigned)corr.size() );
+    putText( disp, buf, Point2i( 24, 120 ), FONT_HERSHEY_DUPLEX, 1, Vec3b( 1, 0, 0 ), 2, LINE_AA );
+    disp *= 255;
+    imwrite( outPath, disp );
+    return 0;
+  }
+
+  namedWindow( "Correspondences", WINDOW_AUTOSIZE );
+  imshow( "Correspondences", disp );
+  namedWindow( "Error", WINDOW_AUTOSIZE );
+  imshow( "Error", dispErr );
+  namedWindow( "Ground truth", WINDOW_AUTOSIZE );
+  imshow( "Ground truth", dispGroundTruth );
+  waitKey( 0 );
+
+  return 0;
+}