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Merge pull request opencv#1051 from pengx17:2.4_fback_ocl
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Roman Donchenko authored and OpenCV Buildbot committed Jul 1, 2013
2 parents c8cd2cf + a5383b8 commit 6bf8f47
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Showing 5 changed files with 1,243 additions and 14 deletions.
39 changes: 39 additions & 0 deletions modules/ocl/include/opencv2/ocl/ocl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1395,6 +1395,45 @@ namespace cv
oclMat vPyr_[2];
bool isDeviceArch11_;
};

class CV_EXPORTS FarnebackOpticalFlow
{
public:
FarnebackOpticalFlow();

int numLevels;
double pyrScale;
bool fastPyramids;
int winSize;
int numIters;
int polyN;
double polySigma;
int flags;

void operator ()(const oclMat &frame0, const oclMat &frame1, oclMat &flowx, oclMat &flowy);

void releaseMemory();

private:
void prepareGaussian(
int n, double sigma, float *g, float *xg, float *xxg,
double &ig11, double &ig03, double &ig33, double &ig55);

void setPolynomialExpansionConsts(int n, double sigma);

void updateFlow_boxFilter(
const oclMat& R0, const oclMat& R1, oclMat& flowx, oclMat &flowy,
oclMat& M, oclMat &bufM, int blockSize, bool updateMatrices);

void updateFlow_gaussianBlur(
const oclMat& R0, const oclMat& R1, oclMat& flowx, oclMat& flowy,
oclMat& M, oclMat &bufM, int blockSize, bool updateMatrices);

oclMat frames_[2];
oclMat pyrLevel_[2], M_, bufM_, R_[2], blurredFrame_[2];
std::vector<oclMat> pyramid0_, pyramid1_;
};

//////////////// build warping maps ////////////////////
//! builds plane warping maps
CV_EXPORTS void buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat &R, const Mat &T, float scale, oclMat &map_x, oclMat &map_y);
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156 changes: 142 additions & 14 deletions modules/ocl/perf/perf_opticalflow.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,11 +136,13 @@ PERFTEST(PyrLKOpticalFlow)
size_t mismatch = 0;
for (int i = 0; i < (int)nextPts.size(); ++i)
{
if(status[i] != ocl_status.at<unsigned char>(0, i)){
if(status[i] != ocl_status.at<unsigned char>(0, i))
{
mismatch++;
continue;
}
if(status[i]){
if(status[i])
{
Point2f gpu_rst = ocl_nextPts.at<Point2f>(0, i);
Point2f cpu_rst = nextPts[i];
if(fabs(gpu_rst.x - cpu_rst.x) >= 1. || fabs(gpu_rst.y - cpu_rst.y) >= 1.)
Expand Down Expand Up @@ -193,24 +195,24 @@ PERFTEST(tvl1flow)
WARMUP_ON;
d_alg(d0, d1, d_flowx, d_flowy);
WARMUP_OFF;
/*
double diff1 = 0.0, diff2 = 0.0;
if(ExceptedMatSimilar(gold[0], cv::Mat(d_flowx), 3e-3, diff1) == 1
&&ExceptedMatSimilar(gold[1], cv::Mat(d_flowy), 3e-3, diff2) == 1)
TestSystem::instance().setAccurate(1);
else
TestSystem::instance().setAccurate(0);
/*
double diff1 = 0.0, diff2 = 0.0;
if(ExceptedMatSimilar(gold[0], cv::Mat(d_flowx), 3e-3, diff1) == 1
&&ExceptedMatSimilar(gold[1], cv::Mat(d_flowy), 3e-3, diff2) == 1)
TestSystem::instance().setAccurate(1);
else
TestSystem::instance().setAccurate(0);
TestSystem::instance().setDiff(diff1);
TestSystem::instance().setDiff(diff2);
*/
TestSystem::instance().setDiff(diff1);
TestSystem::instance().setDiff(diff2);
*/


GPU_ON;
d_alg(d0, d1, d_flowx, d_flowy);
d_alg.collectGarbage();
GPU_OFF;


cv::Mat flowx, flowy;

Expand All @@ -225,4 +227,130 @@ PERFTEST(tvl1flow)

TestSystem::instance().ExceptedMatSimilar(gold[0], flowx, 3e-3);
TestSystem::instance().ExceptedMatSimilar(gold[1], flowy, 3e-3);
}
}

///////////// FarnebackOpticalFlow ////////////////////////
PERFTEST(FarnebackOpticalFlow)
{
cv::Mat frame0 = imread("rubberwhale1.png", cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());

cv::Mat frame1 = imread("rubberwhale2.png", cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());

cv::ocl::oclMat d_frame0(frame0), d_frame1(frame1);

int polyNs[2] = { 5, 7 };
double polySigmas[2] = { 1.1, 1.5 };
int farneFlags[2] = { 0, cv::OPTFLOW_FARNEBACK_GAUSSIAN };
bool UseInitFlows[2] = { false, true };
double pyrScale = 0.5;

string farneFlagStrs[2] = { "BoxFilter", "GaussianBlur" };
string useInitFlowStrs[2] = { "", "UseInitFlow" };

for ( int i = 0; i < 2; ++i)
{
int polyN = polyNs[i];
double polySigma = polySigmas[i];

for ( int j = 0; j < 2; ++j)
{
int flags = farneFlags[j];

for ( int k = 0; k < 2; ++k)
{
bool useInitFlow = UseInitFlows[k];
SUBTEST << "polyN(" << polyN << "); " << farneFlagStrs[j] << "; " << useInitFlowStrs[k];

cv::ocl::FarnebackOpticalFlow farn;
farn.pyrScale = pyrScale;
farn.polyN = polyN;
farn.polySigma = polySigma;
farn.flags = flags;

cv::ocl::oclMat d_flowx, d_flowy;
cv::Mat flow, flowBuf, flowxBuf, flowyBuf;

WARMUP_ON;
farn(d_frame0, d_frame1, d_flowx, d_flowy);

if (useInitFlow)
{
cv::Mat flowxy[] = {cv::Mat(d_flowx), cv::Mat(d_flowy)};
cv::merge(flowxy, 2, flow);
flow.copyTo(flowBuf);
flowxy[0].copyTo(flowxBuf);
flowxy[1].copyTo(flowyBuf);

farn.flags |= cv::OPTFLOW_USE_INITIAL_FLOW;
farn(d_frame0, d_frame1, d_flowx, d_flowy);
}
WARMUP_OFF;

cv::calcOpticalFlowFarneback(
frame0, frame1, flow, farn.pyrScale, farn.numLevels, farn.winSize,
farn.numIters, farn.polyN, farn.polySigma, farn.flags);

std::vector<cv::Mat> flowxy;
cv::split(flow, flowxy);

Mat md_flowx = cv::Mat(d_flowx);
Mat md_flowy = cv::Mat(d_flowy);
TestSystem::instance().ExceptedMatSimilar(flowxy[0], md_flowx, 0.1);
TestSystem::instance().ExceptedMatSimilar(flowxy[1], md_flowy, 0.1);

if (useInitFlow)
{
cv::Mat flowx, flowy;
farn.flags = (flags | cv::OPTFLOW_USE_INITIAL_FLOW);

CPU_ON;
cv::calcOpticalFlowFarneback(
frame0, frame1, flowBuf, farn.pyrScale, farn.numLevels, farn.winSize,
farn.numIters, farn.polyN, farn.polySigma, farn.flags);
CPU_OFF;

GPU_ON;
farn(d_frame0, d_frame1, d_flowx, d_flowy);
GPU_OFF;

GPU_FULL_ON;
d_frame0.upload(frame0);
d_frame1.upload(frame1);
d_flowx.upload(flowxBuf);
d_flowy.upload(flowyBuf);
farn(d_frame0, d_frame1, d_flowx, d_flowy);
d_flowx.download(flowx);
d_flowy.download(flowy);
GPU_FULL_OFF;
}
else
{
cv::Mat flow, flowx, flowy;
cv::ocl::oclMat d_flowx, d_flowy;

farn.flags = flags;

CPU_ON;
cv::calcOpticalFlowFarneback(
frame0, frame1, flow, farn.pyrScale, farn.numLevels, farn.winSize,
farn.numIters, farn.polyN, farn.polySigma, farn.flags);
CPU_OFF;

GPU_ON;
farn(d_frame0, d_frame1, d_flowx, d_flowy);
GPU_OFF;

GPU_FULL_ON;
d_frame0.upload(frame0);
d_frame1.upload(frame1);
farn(d_frame0, d_frame1, d_flowx, d_flowy);
d_flowx.download(flowx);
d_flowy.download(flowy);
GPU_FULL_OFF;
}
}
}
}
}
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