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Added option to pass pre-computed pyramid to piramidal LK optical flow #1321

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pull/2/head
Andrey Kamaev 13 years ago
parent f620f1ce57
commit a877ecdcf0
3 changed files with 189 additions and 55 deletions
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  1. 13
      modules/imgproc/src/utils.cpp
  2. 4
      modules/video/perf/perf_optflowpyrlk.cpp
  3. 203
      modules/video/src/lkpyramid.cpp

13
modules/imgproc/src/utils.cpp
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@ -203,9 +203,6 @@ void cv::copyMakeBorder( InputArray _src, OutputArray _dst, int top, int bottom,
Mat src = _src.getMat();
CV_Assert( top >= 0 && bottom >= 0 && left >= 0 && right >= 0 );
_dst.create( src.rows + top + bottom, src.cols + left + right, src.type() );
Mat dst = _dst.getMat();
if( src.isSubmatrix() && (borderType & BORDER_ISOLATED) == 0 )
{
Size wholeSize;
@ -222,6 +219,16 @@ void cv::copyMakeBorder( InputArray _src, OutputArray _dst, int top, int bottom,
right -= dright;
}
_dst.create( src.rows + top + bottom, src.cols + left + right, src.type() );
Mat dst = _dst.getMat();
if(top == 0 && left == 0 && bottom == 0 && right == 0)
{
if(src.data != dst.data)
src.copyTo(dst);
return;
}
borderType &= ~BORDER_ISOLATED;
if( borderType != BORDER_CONSTANT )

4
modules/video/perf/perf_optflowpyrlk.cpp
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@ -33,7 +33,7 @@ PERF_TEST_P(Path_Idx_Cn_NPoints_WSize, OpticalFlowPyrLK, testing::Combine(
testing::Range(0, 3),
testing::Values(1, 3, 4),
testing::Values(make_tuple(9, 9), make_tuple(15, 15)),
testing::Values(11, 21, 25)
testing::Values(7, 11, 21, 25)
)
)
{
@ -49,7 +49,7 @@ PERF_TEST_P(Path_Idx_Cn_NPoints_WSize, OpticalFlowPyrLK, testing::Combine(
int nPointsY = min(get<1>(get<3>(GetParam())), img1.rows);
int winSize = get<4>(GetParam());
int maxLevel = 2;
TermCriteria criteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 5, 0.01);
TermCriteria criteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 7, 0.001);
int flags = 0;
double minEigThreshold = 1e-4;

203
modules/video/src/lkpyramid.cpp
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@ -493,6 +493,106 @@ struct LKTrackerInvoker
}
namespace cv {
int buildOpticalFlowPyramid(InputArray _img, OutputArrayOfArrays pyramid, Size winSize, int maxLevel, bool withDerivatives = true,
int pyrBorder = BORDER_REFLECT_101, int derivBorder=BORDER_CONSTANT, bool tryReuseInputImage = true)
{
Mat img = _img.getMat();
CV_Assert(img.depth() == CV_8U && winSize.width > 2 && winSize.height > 2 );
int pyrstep = withDerivatives ? 2 : 1;
pyramid.create(1, (maxLevel + 1) * pyrstep, 0 /*type*/, -1, true, 0);
//int cn = img.channels();
int derivType = CV_MAKETYPE(DataType<deriv_type>::depth, img.channels() * 2);
//level 0
bool lvl0IsSet = false;
if(tryReuseInputImage && img.isSubmatrix() && (pyrBorder & BORDER_ISOLATED) == 0)
{
Size wholeSize;
Point ofs;
img.locateROI(wholeSize, ofs);
if (ofs.x >= winSize.width && ofs.y >= winSize.height
&& ofs.x + img.cols + winSize.width <= wholeSize.width
&& ofs.y + img.rows + winSize.height <= wholeSize.height)
{
pyramid.getMatRef(0) = img;
lvl0IsSet = true;
}
}
if(!lvl0IsSet)
{
Mat& temp = pyramid.getMatRef(0);
if(!temp.empty())
temp.adjustROI(winSize.height, winSize.height, winSize.width, winSize.width);
if(temp.type() != img.type() || temp.cols != winSize.width*2 + img.cols || temp.rows != winSize.height * 2 + img.rows)
temp.create(img.rows + winSize.height*2, img.cols + winSize.width*2, img.type());
if(pyrBorder == BORDER_TRANSPARENT)
img.copyTo(temp(Rect(winSize.width, winSize.height, img.cols, img.rows)));
else
copyMakeBorder(img, temp, winSize.height, winSize.height, winSize.width, winSize.width, pyrBorder);
temp.adjustROI(-winSize.height, -winSize.height, -winSize.width, -winSize.width);
}
Size sz = img.size();
Mat prevLevel = pyramid.getMatRef(0);
Mat thisLevel = prevLevel;
for(int level = 0; level <= maxLevel; ++level)
{
if (level != 0)
{
Mat& temp = pyramid.getMatRef(level * pyrstep);
if(!temp.empty())
temp.adjustROI(winSize.height, winSize.height, winSize.width, winSize.width);
if(temp.type() != img.type() || temp.cols != winSize.width*2 + sz.width || temp.rows != winSize.height * 2 + sz.height)
temp.create(sz.height + winSize.height*2, sz.width + winSize.width*2, img.type());
thisLevel = temp(Rect(winSize.width, winSize.height, sz.width, sz.height));
pyrDown(prevLevel, thisLevel, sz);
if(pyrBorder != BORDER_TRANSPARENT)
copyMakeBorder(thisLevel, temp, winSize.height, winSize.height, winSize.width, winSize.width, pyrBorder|BORDER_ISOLATED);
temp.adjustROI(-winSize.height, -winSize.height, -winSize.width, -winSize.width);
}
if(withDerivatives)
{
Mat& deriv = pyramid.getMatRef(level * pyrstep + 1);
if(!deriv.empty())
deriv.adjustROI(winSize.height, winSize.height, winSize.width, winSize.width);
if(deriv.type() != derivType || deriv.cols != winSize.width*2 + sz.width || deriv.rows != winSize.height * 2 + sz.height)
deriv.create(sz.height + winSize.height*2, sz.width + winSize.width*2, derivType);
Mat derivI = deriv(Rect(winSize.width, winSize.height, sz.width, sz.height));
calcSharrDeriv(thisLevel, derivI);
if(derivBorder != BORDER_TRANSPARENT)
copyMakeBorder(derivI, deriv, winSize.height, winSize.height, winSize.width, winSize.width, derivBorder|BORDER_ISOLATED);
deriv.adjustROI(-winSize.height, -winSize.height, -winSize.width, -winSize.width);
}
sz = Size((sz.width+1)/2, (sz.height+1)/2);
if( sz.width <= winSize.width || sz.height <= winSize.height )
{
pyramid.create(1, (level + 1) * pyrstep, 0 /*type*/, -1, true, 0);//check this
return level;
}
prevLevel = thisLevel;
}
return maxLevel;
}
}
void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
InputArray _prevPts, InputOutputArray _nextPts,
OutputArray _status, OutputArray _err,
@ -504,14 +604,14 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
if (tegra::calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err, winSize, maxLevel, criteria, flags, minEigThreshold))
return;
#endif
Mat prevImg = _prevImg.getMat(), nextImg = _nextImg.getMat(), prevPtsMat = _prevPts.getMat();
Mat /*prevImg = _prevImg.getMat(), nextImg = _nextImg.getMat(),*/ prevPtsMat = _prevPts.getMat();
const int derivDepth = DataType<deriv_type>::depth;
CV_Assert( maxLevel >= 0 && winSize.width > 2 && winSize.height > 2 );
CV_Assert( prevImg.size() == nextImg.size() &&
prevImg.type() == nextImg.type() );
//CV_Assert( prevImg.size() == nextImg.size() &&
// prevImg.type() == nextImg.type() );
int level=0, i, k, npoints, cn = prevImg.channels(), cn2 = cn*2;
int level=0, i, npoints;//, cn = prevImg.channels(), cn2 = cn*2;
CV_Assert( (npoints = prevPtsMat.checkVector(2, CV_32F, true)) >= 0 );
if( npoints == 0 )
@ -548,43 +648,47 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
err = (float*)errMat.data;
}
vector<Mat> prevPyr(maxLevel+1), nextPyr(maxLevel+1);
vector<Mat> prevPyr, nextPyr;
int levels1 = 0;
int lvlStep1 = 1;
int levels2 = 0;
int lvlStep2 = 1;
// build the image pyramids.
// we pad each level with +/-winSize.{width|height}
// pixels to simplify the further patch extraction.
// Thanks to the reference counting, "temp" mat (the pyramid layer + border)
// will not be deallocated, since {prevPyr|nextPyr}[level] will be a ROI in "temp".
for( k = 0; k < 2; k++ )
if(_prevImg.kind() == _InputArray::STD_VECTOR_MAT)
{
Size sz = prevImg.size();
vector<Mat>& pyr = k == 0 ? prevPyr : nextPyr;
Mat& img0 = k == 0 ? prevImg : nextImg;
_prevImg.getMatVector(prevPyr);
for( level = 0; level <= maxLevel; level++ )
levels1 = (int)prevPyr.size();
if (levels1 % 2 == 0 && levels1 > 1 && prevPyr[0].channels() * 2 == prevPyr[1].channels() && prevPyr[1].depth() == derivDepth)
{
Mat temp(sz.height + winSize.height*2,
sz.width + winSize.width*2,
img0.type());
pyr[level] = temp(Rect(winSize.width, winSize.height, sz.width, sz.height));
if( level == 0 )
img0.copyTo(pyr[level]);
else
pyrDown(pyr[level-1], pyr[level], pyr[level].size());
copyMakeBorder(pyr[level], temp, winSize.height, winSize.height,
winSize.width, winSize.width, BORDER_REFLECT_101|BORDER_ISOLATED);
sz = Size((sz.width+1)/2, (sz.height+1)/2);
if( sz.width <= winSize.width || sz.height <= winSize.height )
{
maxLevel = level;
break;
lvlStep1 = 2;
levels1 /= 2;
}
}
if(_nextImg.kind() == _InputArray::STD_VECTOR_MAT)
{
_nextImg.getMatVector(nextPyr);
levels2 = (int)nextPyr.size();
if (levels2 % 2 == 0 && levels2 > 1 && nextPyr[0].channels() * 2 == nextPyr[1].channels() && nextPyr[1].depth() == derivDepth)
{
lvlStep2 = 2;
levels2 /= 2;
}
}
// dI/dx ~ Ix, dI/dy ~ Iy
Mat derivIBuf((prevImg.rows + winSize.height*2),
(prevImg.cols + winSize.width*2),
CV_MAKETYPE(derivDepth, cn2));
if(levels1 != 0 || levels2 != 0)
maxLevel = std::max(levels1, levels2);
if (levels1 == 0)
maxLevel = levels1 = buildOpticalFlowPyramid(_prevImg, prevPyr, winSize, maxLevel, false);
if (levels2 == 0)
levels2 = buildOpticalFlowPyramid(_nextImg, nextPyr, winSize, maxLevel, false);
CV_Assert(levels1 == levels2);
if( (criteria.type & TermCriteria::COUNT) == 0 )
criteria.maxCount = 30;
@ -596,22 +700,45 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
criteria.epsilon = std::min(std::max(criteria.epsilon, 0.), 10.);
criteria.epsilon *= criteria.epsilon;
if(lvlStep1 == 1)
{
// dI/dx ~ Ix, dI/dy ~ Iy
Mat derivIBuf((prevPyr[0].rows + winSize.height*2),
(prevPyr[0].cols + winSize.width*2),
CV_MAKETYPE(derivDepth, prevPyr[0].channels() * 2));
for( level = maxLevel; level >= 0; level-- )
{
Size imgSize = prevPyr[level].size();
Size imgSize = prevPyr[level * lvlStep1].size();
Mat _derivI( imgSize.height + winSize.height*2,
imgSize.width + winSize.width*2, derivIBuf.type(), derivIBuf.data );
Mat derivI = _derivI(Rect(winSize.width, winSize.height, imgSize.width, imgSize.height));
calcSharrDeriv(prevPyr[level], derivI);
calcSharrDeriv(prevPyr[level * lvlStep1], derivI);
copyMakeBorder(derivI, _derivI, winSize.height, winSize.height, winSize.width, winSize.width, BORDER_CONSTANT|BORDER_ISOLATED);
parallel_for(BlockedRange(0, npoints), LKTrackerInvoker(prevPyr[level], derivI,
nextPyr[level], prevPts, nextPts,
CV_Assert(prevPyr[level * lvlStep1].size() == nextPyr[level * lvlStep2].size());
CV_Assert(prevPyr[level * lvlStep1].type() == nextPyr[level * lvlStep2].type());
parallel_for(BlockedRange(0, npoints), LKTrackerInvoker(prevPyr[level * lvlStep1], derivI,
nextPyr[level * lvlStep2], prevPts, nextPts,
status, err,
winSize, criteria, level, maxLevel,
flags, (float)minEigThreshold));
}
}
else
{
for( level = levels1; level >= 0; level-- )
{
CV_Assert(prevPyr[level * lvlStep1].size() == nextPyr[level * lvlStep2].size());
CV_Assert(prevPyr[level * lvlStep1].type() == nextPyr[level * lvlStep2].type());
parallel_for(BlockedRange(0, npoints), LKTrackerInvoker(prevPyr[level * lvlStep1], prevPyr[level * lvlStep1 + 1],
nextPyr[level * lvlStep2], prevPts, nextPts,
status, err,
winSize, criteria, level, maxLevel,
flags, (float)minEigThreshold));
}
}
}
static int icvMinimalPyramidSize( CvSize imgSize )

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