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[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
This commit is contained in:
Vladislav Samsonov
committed by
Maksim Shabunin
Maksim Shabunin
parent
25575af653
commit
ac62d70f97
172
modules/optflow/samples/pcaflow_demo.cpp
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172
modules/optflow/samples/pcaflow_demo.cpp
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#include "opencv2/core/ocl.hpp"
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#include "opencv2/highgui.hpp"
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/optflow.hpp"
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#include <fstream>
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#include <iostream>
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#include <stdio.h>
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using namespace cv;
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using optflow::OpticalFlowPCAFlow;
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using optflow::PCAPrior;
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const String keys = "{help h ? | | print this message}"
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"{@image1 |<none>| image1}"
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"{@image2 |<none>| image2}"
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"{@groundtruth |<none>| path to the .flo file}"
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"{@prior |<none>| path to a prior file for PCAFlow}"
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"{@output |<none>| output image path}"
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"{g gpu | | use OpenCL}";
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static double normL2( const Point2f &v ) { return sqrt( v.x * v.x + v.y * v.y ); }
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static bool fileProbe( const char *name ) { return std::ifstream( name ).good(); }
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static Vec3d getFlowColor( const Point2f &f, const bool logScale = true, const double scaleDown = 5 )
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{
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if ( f.x == 0 && f.y == 0 )
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return Vec3d( 0, 0, 1 );
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double radius = normL2( f );
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if ( logScale )
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radius = log( radius + 1 );
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radius /= scaleDown;
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radius = std::min( 1.0, radius );
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double angle = ( atan2( -f.y, -f.x ) + CV_PI ) * 180 / CV_PI;
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return Vec3d( angle, radius, 1 );
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}
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static void displayFlow( InputArray _flow, OutputArray _img )
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{
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const Size sz = _flow.size();
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Mat flow = _flow.getMat();
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_img.create( sz, CV_32FC3 );
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Mat img = _img.getMat();
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for ( int i = 0; i < sz.height; ++i )
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for ( int j = 0; j < sz.width; ++j )
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img.at< Vec3f >( i, j ) = getFlowColor( flow.at< Point2f >( i, j ) );
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cvtColor( img, img, COLOR_HSV2BGR );
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}
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static bool isFlowCorrect( const Point2f &u )
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{
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return !cvIsNaN( u.x ) && !cvIsNaN( u.y ) && ( fabs( u.x ) < 1e9 ) && ( fabs( u.y ) < 1e9 );
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}
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static double calcEPE( const Mat &f1, const Mat &f2 )
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{
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double sum = 0;
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Size sz = f1.size();
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size_t cnt = 0;
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for ( int i = 0; i < sz.height; ++i )
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for ( int j = 0; j < sz.width; ++j )
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if ( isFlowCorrect( f1.at< Point2f >( i, j ) ) && isFlowCorrect( f2.at< Point2f >( i, j ) ) )
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{
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sum += normL2( f1.at< Point2f >( i, j ) - f2.at< Point2f >( i, j ) );
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++cnt;
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}
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return sum / cnt;
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}
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static void displayResult( Mat &i1, Mat &i2, Mat >, Ptr< DenseOpticalFlow > &algo, OutputArray _img, const char *descr,
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const bool useGpu = false )
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{
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Mat flow( i1.size[0], i1.size[1], CV_32FC2 );
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TickMeter meter;
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meter.start();
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if ( useGpu )
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algo->calc( i1, i2, flow.getUMat( ACCESS_RW ) );
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else
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algo->calc( i1, i2, flow );
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meter.stop();
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displayFlow( flow, _img );
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Mat img = _img.getMat();
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putText( img, descr, Point2i( 24, 40 ), FONT_HERSHEY_DUPLEX, 1, Vec3b( 1, 0, 0 ), 2, LINE_AA );
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char buf[256];
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sprintf( buf, "Average EPE: %.2f", calcEPE( flow, gt ) );
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putText( img, buf, Point2i( 24, 80 ), FONT_HERSHEY_DUPLEX, 1, Vec3b( 1, 0, 0 ), 2, LINE_AA );
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sprintf( buf, "Time: %.2fs", meter.getTimeSec() );
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putText( img, buf, Point2i( 24, 120 ), FONT_HERSHEY_DUPLEX, 1, Vec3b( 1, 0, 0 ), 2, LINE_AA );
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}
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static void displayGT( InputArray _flow, OutputArray _img, const char *descr )
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{
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displayFlow( _flow, _img );
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Mat img = _img.getMat();
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putText( img, descr, Point2i( 24, 40 ), FONT_HERSHEY_DUPLEX, 1, Vec3b( 1, 0, 0 ), 2, LINE_AA );
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}
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int main( int argc, const char **argv )
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{
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CommandLineParser parser( argc, argv, keys );
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parser.about( "PCAFlow demonstration" );
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if ( parser.has( "help" ) )
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{
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parser.printMessage();
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return 0;
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}
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String img1 = parser.get< String >( 0 );
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String img2 = parser.get< String >( 1 );
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String groundtruth = parser.get< String >( 2 );
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String prior = parser.get< String >( 3 );
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String outimg = parser.get< String >( 4 );
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const bool useGpu = parser.has( "gpu" );
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if ( !parser.check() )
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{
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parser.printErrors();
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return 1;
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}
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if ( !fileProbe( prior.c_str() ) )
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{
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std::cerr << "Can't open the file with prior! Check the provided path: " << prior << std::endl;
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return 1;
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}
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cv::ocl::setUseOpenCL( useGpu );
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Mat i1 = imread( img1 );
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Mat i2 = imread( img2 );
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Mat gt = optflow::readOpticalFlow( groundtruth );
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Mat i1g, i2g;
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cvtColor( i1, i1g, COLOR_BGR2GRAY );
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cvtColor( i2, i2g, COLOR_BGR2GRAY );
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Mat pcaflowDisp, pcaflowpriDisp, farnebackDisp, gtDisp;
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{
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Ptr< DenseOpticalFlow > pcaflow = makePtr< OpticalFlowPCAFlow >( makePtr< PCAPrior >( prior.c_str() ) );
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displayResult( i1, i2, gt, pcaflow, pcaflowpriDisp, "PCAFlow with prior", useGpu );
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}
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{
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Ptr< DenseOpticalFlow > pcaflow = makePtr< OpticalFlowPCAFlow >();
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displayResult( i1, i2, gt, pcaflow, pcaflowDisp, "PCAFlow without prior", useGpu );
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}
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{
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Ptr< DenseOpticalFlow > farneback = optflow::createOptFlow_Farneback();
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displayResult( i1g, i2g, gt, farneback, farnebackDisp, "Farneback", useGpu );
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}
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displayGT( gt, gtDisp, "Ground truth" );
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Mat disp1, disp2;
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vconcat( pcaflowpriDisp, farnebackDisp, disp1 );
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vconcat( pcaflowDisp, gtDisp, disp2 );
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hconcat( disp1, disp2, disp1 );
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disp1 *= 255;
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imwrite( outimg, disp1 );
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return 0;
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}
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