debug of cuda_tvl1 => pass tests succesfully

modules/cudaoptflow/src/cuda/tvl1flow.cu

@@ -209,7 +209,9 @@ namespace tvl1flow
 
     __global__ void estimateUKernel(const PtrStepSzf I1wx, const PtrStepf I1wy,
                               const PtrStepf grad, const PtrStepf rho_c,
-							  const PtrStepf p11, const PtrStepf p12, const PtrStepf p21, const PtrStepf p22, const PtrStepf p31, const PtrStepf p32,
+							  const PtrStepf p11, const PtrStepf p12, 
+							  const PtrStepf p21, const PtrStepf p22, 
+							  const PtrStepf p31, const PtrStepf p32,
 							  PtrStepf u1, PtrStepf u2, PtrStepf u3, PtrStepf error,
                               const float l_t, const float theta, const float gamma, const bool calcError)
     {

modules/cudaoptflow/src/tvl1flow.cpp

@@ -235,9 +235,8 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::procOneScale(const GpuMat& I0, const G
         {
             // some tweaks to make sum operation less frequently
             bool calcError = (epsilon > 0) && (n & 0x1) && (prevError < scaledEpsilon);
-
+			cv::Mat m1(u3);
-            estimateU(I1wx, I1wy, grad, rho_c, p11, p12, p21, p22, p31, p32, u1, u2, u3, diff, l_t, gamma, static_cast<float>(theta), calcError);
+			estimateU(I1wx, I1wy, grad, rho_c, p11, p12, p21, p22, p31, p32, u1, u2, u3, diff, l_t, static_cast<float>(theta), gamma, calcError);
-
             if (calcError)
             {
                 error = cuda::sum(diff, norm_buf)[0];
@@ -260,6 +259,7 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::collectGarbage()
     I1s.clear();
     u1s.clear();
 	u2s.clear();
+	u3s.clear();
 
     I1x_buf.release();
     I1y_buf.release();
@@ -275,6 +275,8 @@ void cv::cuda::OpticalFlowDual_TVL1_CUDA::collectGarbage()
     p12_buf.release();
     p21_buf.release();
 	p22_buf.release();
+	p31_buf.release();
+	p32_buf.release();
 
     diff_buf.release();
     norm_buf.release();

modules/cudaoptflow/test/test_optflow.cpp

@@ -361,6 +361,18 @@ CUDA_TEST_P(OpticalFlowDual_TVL1, Accuracy)
     alg->calc(frame0, frame1, flow);
     cv::Mat gold[2];
     cv::split(flow, gold);
+	cv::Mat mx(d_flowx);
+	cv::Mat my(d_flowx);
+
+    EXPECT_MAT_SIMILAR(gold[0], d_flowx, 4e-3);
+    EXPECT_MAT_SIMILAR(gold[1], d_flowy, 4e-3);
+	d_alg.gamma = 1;
+	alg->set("gamma", 1);
+	d_alg(loadMat(frame0, useRoi), loadMat(frame1, useRoi), d_flowx, d_flowy);
+	alg->calc(frame0, frame1, flow);
+	cv::split(flow, gold);
+	mx = cv::Mat(d_flowx);
+	my = cv::Mat(d_flowx);
 
 	EXPECT_MAT_SIMILAR(gold[0], d_flowx, 4e-3);
 	EXPECT_MAT_SIMILAR(gold[1], d_flowy, 4e-3);

modules/video/src/tvl1flow.cpp

@@ -892,10 +892,6 @@ void CalcGradRhoBody::operator() (const Range& range) const
 
             // compute the constant part of the rho function
             rhoRow[x] = (I1wRow[x] - I1wxRow[x] * u1Row[x] - I1wyRow[x] * u2Row[x] - I0Row[x]);
-         //It = I1wRow[x] - I0Row[x]
-         //(u - u0)*i_X = I1wxRow[x] * u1Row[x]
-         //(v - v0)*i_Y = I1wyRow[x] * u2Row[x]
-         // gamma * w = gamma * u3
         }
     }
 }
@@ -970,7 +966,6 @@ void EstimateVBody::operator() (const Range& range) const
             float d1 = 0.0f;
             float d2 = 0.0f;
             float d3 = 0.0f;
-// add d3 for 3 cases
             if (rho < -l_t * gradRow[x])
             {
                 d1 = l_t * I1wxRow[x];