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67815e94c8
FastCV Extension code for OpenCV 2ndpost-1 #3844 Depends on: [opencv/opencv#26617](https://github.com/opencv/opencv/pull/26617) Requires binary from [opencv/opencv_3rdparty#90](https://github.com/opencv/opencv_3rdparty/pull/90) ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
99 lines
3.0 KiB
C++
99 lines
3.0 KiB
C++
/*
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* Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "perf_precomp.hpp"
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namespace opencv_test {
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typedef std::tuple<int /*winSize*/, bool /*useSobelPyramid*/, bool /*useInitialEstimate*/ > TrackingTestParams;
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class TrackingTest : public ::perf::TestBaseWithParam<TrackingTestParams> {};
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PERF_TEST_P(TrackingTest, checkAllVersions,
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::testing::Combine(::testing::Values(5, 7, 9), // window size
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::testing::Bool(), // useSobelPyramid
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::testing::Bool() // useInitialEstimate
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))
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{
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auto par = GetParam();
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int winSz = std::get<0>(par);
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bool useSobelPyramid = std::get<1>(par);
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bool useInitialEstimate = std::get<2>(par);
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cv::Mat src = imread(cvtest::findDataFile("cv/shared/baboon.png"), cv::IMREAD_GRAYSCALE);
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double ang = 5.0 * CV_PI / 180.0;
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cv::Matx33d tr = {
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cos(ang), -sin(ang), 1,
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sin(ang), cos(ang), 2,
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0, 0, 1
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};
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cv::Matx33d orig {
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1, 0, -(double)src.cols / 2,
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0, 1, -(double)src.rows / 2,
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0, 0, 1
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};
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cv::Matx33d back {
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1, 0, (double)src.cols / 2,
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0, 1, (double)src.rows / 2,
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0, 0, 1
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};
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cv::Matx23d trans = (back * tr * orig).get_minor<2, 3>(0, 0);
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cv::Mat dst;
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cv::warpAffine(src, dst, trans, src.size());
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int nLevels = 4;
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std::vector<cv::Mat> srcPyr, dstPyr;
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cv::buildPyramid(src, srcPyr, nLevels - 1);
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cv::buildPyramid(dst, dstPyr, nLevels - 1);
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cv::Matx23f transf = trans;
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int nPts = 32;
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std::vector<cv::Point2f> ptsIn, ptsEst, ptsExpected;
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for (int i = 0; i < nPts; i++)
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{
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cv::Point2f p { (((float)cv::theRNG())*0.5f + 0.25f) * src.cols,
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(((float)cv::theRNG())*0.5f + 0.25f) * src.rows };
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ptsIn.push_back(p);
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ptsExpected.push_back(transf * cv::Vec3f(p.x, p.y, 1.0));
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ptsEst.push_back(p);
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}
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cv::TermCriteria termCrit;
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termCrit.type = cv::TermCriteria::COUNT | cv::TermCriteria::EPS;
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termCrit.maxCount = 7;
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termCrit.epsilon = 0.03f * 0.03f;
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std::vector<cv::Mat> srcDxPyr, srcDyPyr;
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if (useSobelPyramid)
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{
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cv::fastcv::sobelPyramid(srcPyr, srcDxPyr, srcDyPyr, CV_8S);
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}
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while(next())
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{
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std::vector<int32_t> statusVec(nPts);
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std::vector<cv::Point2f> ptsOut(nPts);
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startTimer();
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if (useSobelPyramid)
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{
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cv::fastcv::trackOpticalFlowLK(src, dst, srcPyr, dstPyr, srcDxPyr, srcDyPyr,
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ptsIn, ptsOut, statusVec, {winSz, winSz});
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}
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else
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{
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cv::fastcv::trackOpticalFlowLK(src, dst, srcPyr, dstPyr, ptsIn, ptsOut, (useInitialEstimate ? ptsEst : noArray()),
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statusVec, {winSz, winSz}, termCrit);
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}
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stopTimer();
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}
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SANITY_CHECK_NOTHING();
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}
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} // namespace
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