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1c9e23745c
Add robust local optical flow (RLOF) implementations (#1940) * Add robust local optical flow (RLOF) implementations which is an improved pyramidal iterative Lucas-Kanade approach. This implementations contains interfaces for sparse optical flow for feature tracking and dense optical flow based on sparse-to-dense interpolation schemes. Add performance and accuracy tests have been implementation as well as documentation with the related publications * - exchange tabs with spaces - fix optflow.bib indentation - remove optflow_o.hpp - change RLOFOpticalFlowParameter interfaces to Ptr<RLOFOpticalFlowParameter> to remove error on building. Fix warnings * introducing precompiler flag RLOD_SSE * remove header that could not be found * remove whitespaces fix perf and accuracy tests * remove x86intrin.h header * fix ios and arm by removing last sse commands * fix warnings for windows compilation * fix documentation RLOFOpticalFlowParameter * integrate cast to remove last warnings * * add create method and function inferfaces to RLOFOpticalFlowParamter to enable python wrapper interfaces * white space fixes / coding style * fix perf test * other changes: precomp.hpp / static * use Matx44f and Vec4f instead of Mat * normSigmas into constants * replace ceil() calls * maximum level is set to 5 so that it is similar value used in the papers * implement paralellized horizontal cross segmentation as used in Geistert2016 * drop dead code * Avoid using "data" and "step" calculations. Use .ptr<mat_type>(row, col) instead. * Avoid using "data" and "step" calculations. Use .ptr<mat_type>(row, col) instead. * bugfix on BEPLK with ica and adapt the accuracy tests * more 'static' functions * bugfix after changing ptr + step to .ptr(y,x) calls by adjusting ROI of prevImage, currImage and derivI as well as changing the offset of the points in the invoker classes. * add some static_cast to avoid warning * remove 50 grid size sample from perf test. This grid size is to sparse for the epic interpolation * remove notSameColor function since it is not used anymore
73 lines
2.7 KiB
C++
73 lines
2.7 KiB
C++
#include "perf_precomp.hpp"
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namespace opencv_test { namespace {
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typedef tuple<std::string, std::string, bool> ST_SR_IM_Sparse_t;
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typedef TestBaseWithParam<ST_SR_IM_Sparse_t> ST_SR_IM_Sparse;
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PERF_TEST_P(ST_SR_IM_Sparse, OpticalFlow_SparseRLOF,
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testing::Combine(
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testing::Values<std::string>("ST_BILINEAR", "ST_STANDART"),
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testing::Values<std::string>("SR_CROSS", "SR_FIXED"),
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testing::Values(true, false))
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)
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{
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Mat frame1 = imread(getDataPath("cv/optflow/RubberWhale1.png"));
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Mat frame2 = imread(getDataPath("cv/optflow/RubberWhale2.png"));
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ASSERT_FALSE(frame1.empty());
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ASSERT_FALSE(frame2.empty());
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vector<Point2f> prevPts, currPts;
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for (int r = 0; r < frame1.rows; r += 10)
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{
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for (int c = 0; c < frame1.cols; c += 10)
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{
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prevPts.push_back(Point2f(static_cast<float>(c), static_cast<float>(r)));
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}
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}
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vector<uchar> status(prevPts.size());
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vector<float> err(prevPts.size());
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Ptr<RLOFOpticalFlowParameter> param = Ptr<RLOFOpticalFlowParameter>(new RLOFOpticalFlowParameter);
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if (get<0>(GetParam()) == "ST_BILINEAR")
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param->solverType = ST_BILINEAR;
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if (get<0>(GetParam()) == "ST_STANDART")
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param->solverType = ST_STANDART;
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if (get<1>(GetParam()) == "SR_CROSS")
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param->supportRegionType = SR_CROSS;
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if (get<1>(GetParam()) == "SR_FIXED")
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param->supportRegionType = SR_FIXED;
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param->useIlluminationModel = get<2>(GetParam());
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PERF_SAMPLE_BEGIN()
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calcOpticalFlowSparseRLOF(frame1, frame2, prevPts, currPts, status, err, param, 1.f);
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PERF_SAMPLE_END()
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SANITY_CHECK_NOTHING();
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}
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typedef tuple<std::string, int> INTERP_GRID_Dense_t;
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typedef TestBaseWithParam<INTERP_GRID_Dense_t> INTERP_GRID_Dense;
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PERF_TEST_P(INTERP_GRID_Dense, OpticalFlow_DenseRLOF,
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testing::Combine(
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testing::Values<std::string>("INTERP_EPIC", "INTERP_GEO"),
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testing::Values<int>(4,10))
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)
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{
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Mat flow;
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Mat frame1 = imread(getDataPath("cv/optflow/RubberWhale1.png"));
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Mat frame2 = imread(getDataPath("cv/optflow/RubberWhale1.png"));
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ASSERT_FALSE(frame1.empty());
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ASSERT_FALSE(frame2.empty());
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Ptr<RLOFOpticalFlowParameter> param = Ptr<RLOFOpticalFlowParameter>(new RLOFOpticalFlowParameter);;
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Ptr< DenseRLOFOpticalFlow> algo = DenseRLOFOpticalFlow::create();
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InterpolationType interp_type = INTERP_EPIC;
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if (get<0>(GetParam()) == "INTERP_EPIC")
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interp_type = INTERP_EPIC;
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if (get<0>(GetParam()) == "INTERP_GEO")
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interp_type = INTERP_GEO;
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PERF_SAMPLE_BEGIN()
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calcOpticalFlowDenseRLOF(frame1, frame2,flow, param, 1.0f, Size(get<1>(GetParam()), get<1>(GetParam())), interp_type);
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PERF_SAMPLE_END()
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SANITY_CHECK_NOTHING();
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}
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}} // namespace
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