Added new performance tests for calcOpticalFlowPyrLK and…

Added new performance tests for calcOpticalFlowPyrLK and buildOpticalFlowPyramid; extracted private header from lkpyramid.cpp

modules/video/perf/perf_optflowpyrlk.cpp

@@ -28,12 +28,12 @@ void FormTrackingPointsArray(vector<Point2f>& points, int width, int height, int
     }
 }
 
-PERF_TEST_P(Path_Idx_Cn_NPoints_WSize, OpticalFlowPyrLK, testing::Combine(
+PERF_TEST_P(Path_Idx_Cn_NPoints_WSize, OpticalFlowPyrLK_full, testing::Combine(
                 testing::Values<std::string>("cv/optflow/frames/VGA_%02d.png", "cv/optflow/frames/720p_%02d.jpg"),
-                testing::Range(0, 3),
+                testing::Range(1, 3),
                 testing::Values(1, 3, 4),
                 testing::Values(make_tuple(9, 9), make_tuple(15, 15)),
-                testing::Values(7, 11, 21, 25)
+                testing::Values(7, 11, 25)
                 )
             )
 {
@@ -48,6 +48,7 @@ PERF_TEST_P(Path_Idx_Cn_NPoints_WSize, OpticalFlowPyrLK, testing::Combine(
     int nPointsX = min(get<0>(get<3>(GetParam())), img1.cols);
     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, 7, 0.001);
     int flags = 0;
@@ -91,3 +92,120 @@ PERF_TEST_P(Path_Idx_Cn_NPoints_WSize, OpticalFlowPyrLK, testing::Combine(
                              flags, minEigThreshold);
     }
 }
+
+typedef tr1::tuple<std::string, int, int, tr1::tuple<int,int>, int, bool> Path_Idx_Cn_NPoints_WSize_Deriv_t;
+typedef TestBaseWithParam<Path_Idx_Cn_NPoints_WSize_Deriv_t> Path_Idx_Cn_NPoints_WSize_Deriv;
+
+PERF_TEST_P(Path_Idx_Cn_NPoints_WSize_Deriv, OpticalFlowPyrLK_self, testing::Combine(
+                testing::Values<std::string>("cv/optflow/frames/VGA_%02d.png", "cv/optflow/frames/720p_%02d.jpg"),
+                testing::Range(1, 3),
+                testing::Values(1, 3, 4),
+                testing::Values(make_tuple(9, 9), make_tuple(15, 15)),
+                testing::Values(7, 11, 25),
+                testing::Bool()
+                )
+            )
+{
+    string filename1 = getDataPath(cv::format(get<0>(GetParam()).c_str(), get<1>(GetParam())));
+    string filename2 = getDataPath(cv::format(get<0>(GetParam()).c_str(), get<1>(GetParam()) + 1));
+    Mat img1 = imread(filename1);
+    Mat img2 = imread(filename2);
+    if (img1.empty()) FAIL() << "Unable to load source image " << filename1;
+    if (img2.empty()) FAIL() << "Unable to load source image " << filename2;
+
+    int cn = get<2>(GetParam());
+    int nPointsX = min(get<0>(get<3>(GetParam())), img1.cols);
+    int nPointsY = min(get<1>(get<3>(GetParam())), img1.rows);
+    int winSize = get<4>(GetParam());
+    bool withDerivatives = get<5>(GetParam());
+
+    int maxLevel = 2;
+    TermCriteria criteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 7, 0.001);
+    int flags = 0;
+    double minEigThreshold = 1e-4;
+
+    Mat frame1, frame2;
+    switch(cn)
+    {
+    case 1:
+        cvtColor(img1, frame1, COLOR_BGR2GRAY, cn);
+        cvtColor(img2, frame2, COLOR_BGR2GRAY, cn);
+        break;
+    case 3:
+        frame1 = img1;
+        frame2 = img2;
+        break;
+    case 4:
+        cvtColor(img1, frame1, COLOR_BGR2BGRA, cn);
+        cvtColor(img2, frame2, COLOR_BGR2BGRA, cn);
+        break;
+    default:
+        FAIL() << "Unexpected number of channels: " << cn;
+    }
+
+    vector<Point2f> inPoints;
+    vector<Point2f> outPoints;
+    vector<uchar> status;
+    vector<float> err;
+
+    FormTrackingPointsArray(inPoints, frame1.cols, frame1.rows, nPointsX, nPointsY);
+    outPoints.resize(inPoints.size());
+    status.resize(inPoints.size());
+    err.resize(inPoints.size());
+
+    std::vector<Mat> pyramid1, pyramid2;
+
+    maxLevel = buildOpticalFlowPyramid(frame1, pyramid1, Size(winSize, winSize), maxLevel, withDerivatives);
+    maxLevel = buildOpticalFlowPyramid(frame2, pyramid2, Size(winSize, winSize), maxLevel, withDerivatives);
+
+    declare.in(pyramid1, pyramid2, inPoints).out(outPoints);
+
+    TEST_CYCLE()
+    {
+        calcOpticalFlowPyrLK(pyramid1, pyramid2, inPoints, outPoints, status, err,
+                             Size(winSize, winSize), maxLevel, criteria,
+                             flags, minEigThreshold);
+    }
+}
+
+CV_ENUM(PyrBorderMode, BORDER_DEFAULT, BORDER_TRANSPARENT);
+typedef tr1::tuple<std::string, int, bool, PyrBorderMode, bool> Path_Win_Deriv_Border_Reuse_t;
+typedef TestBaseWithParam<Path_Win_Deriv_Border_Reuse_t> Path_Win_Deriv_Border_Reuse;
+
+PERF_TEST_P(Path_Win_Deriv_Border_Reuse, OpticalFlowPyrLK_pyr, testing::Combine(
+                testing::Values<std::string>("cv/optflow/frames/720p_01.jpg"),
+                testing::Values(7, 11),
+                testing::Bool(),
+                testing::ValuesIn(PyrBorderMode::all()),
+                testing::Bool()
+                )
+            )
+{
+    string filename = getDataPath(get<0>(GetParam()));
+    Mat img = imread(filename);
+    Size winSize(get<1>(GetParam()), get<1>(GetParam()));
+    bool withDerivatives = get<2>(GetParam());
+    int derivBorder = get<3>(GetParam());
+    int pyrBorder = derivBorder;
+    if(derivBorder != BORDER_TRANSPARENT)
+    {
+        derivBorder = BORDER_CONSTANT;
+        pyrBorder = BORDER_REFLECT_101;
+    }
+    bool tryReuseInputImage = get<4>(GetParam());
+    std::vector<Mat> pyramid;
+
+    img.adjustROI(winSize.height, winSize.height, winSize.width, winSize.width);
+
+    int maxLevel = buildOpticalFlowPyramid(img, pyramid, winSize, 1000, withDerivatives, BORDER_CONSTANT, BORDER_CONSTANT, tryReuseInputImage);
+
+    declare.in(img).out(pyramid);
+
+
+    TEST_CYCLE()
+    {
+        buildOpticalFlowPyramid(img, pyramid, winSize, maxLevel, withDerivatives, pyrBorder, derivBorder, tryReuseInputImage);
+    }
+
+    SANITY_CHECK(pyramid);
+}
\ No newline at end of file

modules/video/src/lkpyramid.cpp

@@ -41,18 +41,23 @@
 #include "precomp.hpp"
 #include <float.h>
 #include <stdio.h>
+#include "lkpyramid.hpp"
 
-namespace cv
+namespace 
 {
-
-typedef short deriv_type;
-    
-static void calcSharrDeriv(const Mat& src, Mat& dst)
+static void calcSharrDeriv(const cv::Mat& src, cv::Mat& dst)
 {
+    using namespace cv;
+    using cv::detail::deriv_type;
     int rows = src.rows, cols = src.cols, cn = src.channels(), colsn = cols*cn, depth = src.depth();
     CV_Assert(depth == CV_8U);
     dst.create(rows, cols, CV_MAKETYPE(DataType<deriv_type>::depth, cn*2));
 
+ #ifdef HAVE_TEGRA_OPTIMIZATION
+    if (tegra::calcSharrDeriv(src, dst))
+        return;
+#endif   
+    
     int x, y, delta = (int)alignSize((cols + 2)*cn, 16);
     AutoBuffer<deriv_type> _tempBuf(delta*2 + 64);
     deriv_type *trow0 = alignPtr(_tempBuf + cn, 16), *trow1 = alignPtr(trow0 + delta, 16);
@@ -127,15 +132,15 @@ static void calcSharrDeriv(const Mat& src, Mat& dst)
     }
 }
 
+}//namespace
     
-struct LKTrackerInvoker
-{
-    LKTrackerInvoker( const Mat& _prevImg, const Mat& _prevDeriv, const Mat& _nextImg,
+cv::detail::LKTrackerInvoker::LKTrackerInvoker(
+                      const Mat& _prevImg, const Mat& _prevDeriv, const Mat& _nextImg,
                       const Point2f* _prevPts, Point2f* _nextPts,
                       uchar* _status, float* _err,
                       Size _winSize, TermCriteria _criteria,
                       int _level, int _maxLevel, int _flags, float _minEigThreshold )
-    {
+{
     prevImg = &_prevImg;
     prevDeriv = &_prevDeriv;
     nextImg = &_nextImg;
@@ -149,10 +154,10 @@ struct LKTrackerInvoker
     maxLevel = _maxLevel;
     flags = _flags;
     minEigThreshold = _minEigThreshold;
-    }
+}
 
-    void operator()(const BlockedRange& range) const
-    {
+void cv::detail::LKTrackerInvoker::operator()(const BlockedRange& range) const
+{
     Point2f halfWin((winSize.width-1)*0.5f, (winSize.height-1)*0.5f);
     const Mat& I = *prevImg;
     const Mat& J = *nextImg;
@@ -474,26 +479,8 @@ struct LKTrackerInvoker
             err[ptidx] = errval * 1.f/(32*winSize.width*cn*winSize.height);
         }
     }
-    }
-    
-    const Mat* prevImg;
-    const Mat* nextImg;
-    const Mat* prevDeriv;
-    const Point2f* prevPts;
-    Point2f* nextPts;
-    uchar* status;
-    float* err;
-    Size winSize;
-    TermCriteria criteria;
-    int level;
-    int maxLevel;
-    int flags;
-    float minEigThreshold;
-};
-    
 }
     
-
 int cv::buildOpticalFlowPyramid(InputArray _img, OutputArrayOfArrays pyramid, Size winSize, int maxLevel, bool withDerivatives,
                                 int pyrBorder, int derivBorder, bool tryReuseInputImage)
 {
@@ -503,7 +490,7 @@ int cv::buildOpticalFlowPyramid(InputArray _img, OutputArrayOfArrays pyramid, Si
 
     pyramid.create(1, (maxLevel + 1) * pyrstep, 0 /*type*/, -1, true, 0);
 
-    int derivType = CV_MAKETYPE(DataType<deriv_type>::depth, img.channels() * 2);
+    int derivType = CV_MAKETYPE(DataType<cv::detail::deriv_type>::depth, img.channels() * 2);
 
     //level 0
     bool lvl0IsSet = false;
@@ -602,7 +589,7 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
         return;
 #endif
     Mat prevPtsMat = _prevPts.getMat();
-    const int derivDepth = DataType<deriv_type>::depth;
+    const int derivDepth = DataType<cv::detail::deriv_type>::depth;
 
     CV_Assert( maxLevel >= 0 && winSize.width > 2 && winSize.height > 2 );
 
@@ -744,6 +731,8 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
         CV_Assert(prevPyr[level * lvlStep1].size() == nextPyr[level * lvlStep2].size());
         CV_Assert(prevPyr[level * lvlStep1].type() == nextPyr[level * lvlStep2].type());
 
+        typedef cv::detail::LKTrackerInvoker LKTrackerInvoker;
+
         parallel_for(BlockedRange(0, npoints), LKTrackerInvoker(prevPyr[level * lvlStep1], derivI,
                                                                 nextPyr[level * lvlStep2], prevPts, nextPts,
                                                                 status, err,

modules/video/src/lkpyramid.hpp

+#pragma once
+
+namespace cv
+{
+namespace detail
+{
+
+    typedef short deriv_type;
+
+    struct LKTrackerInvoker
+    {
+        LKTrackerInvoker( const Mat& _prevImg, const Mat& _prevDeriv, const Mat& _nextImg,
+                          const Point2f* _prevPts, Point2f* _nextPts,
+                          uchar* _status, float* _err,
+                          Size _winSize, TermCriteria _criteria,
+                          int _level, int _maxLevel, int _flags, float _minEigThreshold );
+
+        void operator()(const BlockedRange& range) const;
+
+        const Mat* prevImg;
+        const Mat* nextImg;
+        const Mat* prevDeriv;
+        const Point2f* prevPts;
+        Point2f* nextPts;
+        uchar* status;
+        float* err;
+        Size winSize;
+        TermCriteria criteria;
+        int level;
+        int maxLevel;
+        int flags;
+        float minEigThreshold;
+    };
+
+}// namespace detail
+}// namespace cv
\ No newline at end of file