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a877ecdc
编写于
5月 16, 2012
作者:
A
Andrey Kamaev
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Added option to pass pre-computed pyramid to piramidal LK optical flow #1321
上级
f620f1ce
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
189 addition
and
55 deletion
+189
-55
modules/imgproc/src/utils.cpp
modules/imgproc/src/utils.cpp
+10
-3
modules/video/perf/perf_optflowpyrlk.cpp
modules/video/perf/perf_optflowpyrlk.cpp
+2
-2
modules/video/src/lkpyramid.cpp
modules/video/src/lkpyramid.cpp
+177
-50
未找到文件。
modules/imgproc/src/utils.cpp
浏览文件 @
a877ecdc
...
...
@@ -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
;
...
...
@@ -221,6 +218,16 @@ void cv::copyMakeBorder( InputArray _src, OutputArray _dst, int top, int bottom,
bottom
-=
dbottom
;
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
;
...
...
modules/video/perf/perf_optflowpyrlk.cpp
浏览文件 @
a877ecdc
...
...
@@ -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
,
0.0
01
);
int
flags
=
0
;
double
minEigThreshold
=
1e-4
;
...
...
modules/video/src/lkpyramid.cpp
浏览文件 @
a877ecdc
...
...
@@ -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
);
// 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
++
)
vector
<
Mat
>
prevPyr
,
nextPyr
;
int
levels1
=
0
;
int
lvlStep1
=
1
;
int
levels2
=
0
;
int
lvlStep2
=
1
;
if
(
_prevImg
.
kind
()
==
_InputArray
::
STD_VECTOR_MAT
)
{
Size
sz
=
prevImg
.
size
();
vector
<
Mat
>&
pyr
=
k
==
0
?
prevPyr
:
nextPyr
;
Mat
&
img0
=
k
==
0
?
prevImg
:
nextImg
;
for
(
level
=
0
;
level
<=
maxLevel
;
level
++
)
_prevImg
.
getMatVector
(
prevPyr
);
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
;
...
...
@@ -596,20 +700,43 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
criteria
.
epsilon
=
std
::
min
(
std
::
max
(
criteria
.
epsilon
,
0.
),
10.
);
criteria
.
epsilon
*=
criteria
.
epsilon
;
for
(
level
=
maxLevel
;
level
>=
0
;
level
--
)
if
(
lvlStep1
==
1
)
{
Size
imgSize
=
prevPyr
[
level
].
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
);
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
,
status
,
err
,
winSize
,
criteria
,
level
,
maxLevel
,
flags
,
(
float
)
minEigThreshold
));
// 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
*
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
*
lvlStep1
],
derivI
);
copyMakeBorder
(
derivI
,
_derivI
,
winSize
.
height
,
winSize
.
height
,
winSize
.
width
,
winSize
.
width
,
BORDER_CONSTANT
|
BORDER_ISOLATED
);
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
));
}
}
}
...
...
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