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Commit 5c8e679b authored by Ernest Galbrun's avatar Ernest Galbrun
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still a couple tabs and trailing whitespaces...

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modules/cudaoptflow/src/cuda/tvl1flow.cu
View file @ 5c8e679b
......@@ -209,10 +209,10 @@ 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,
PtrStepf u1, PtrStepf u2, PtrStepf u3, PtrStepf error,
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)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
......@@ -225,8 +225,8 @@ namespace tvl1flow
const float I1wyVal = I1wy(y, x);
const float gradVal = grad(y, x);
const float u1OldVal = u1(y, x);
const float u2OldVal = u2(y, x);
const float u3OldVal = u3(y, x);
const float u2OldVal = u2(y, x);
const float u3OldVal = u3(y, x);
const float rho = rho_c(y, x) + (I1wxVal * u1OldVal + I1wyVal * u2OldVal + gamma * u3OldVal);
......@@ -234,61 +234,61 @@ namespace tvl1flow
float d1 = 0.0f;
float d2 = 0.0f;
float d3 = 0.0f;
float d3 = 0.0f;
if (rho < -l_t * gradVal)
{
d1 = l_t * I1wxVal;
d2 = l_t * I1wyVal;
d3 = l_t * gamma;
d3 = l_t * gamma;
}
else if (rho > l_t * gradVal)
{
d1 = -l_t * I1wxVal;
d2 = -l_t * I1wyVal;
d3 = -l_t * gamma;
d3 = -l_t * gamma;
}
else if (gradVal > numeric_limits<float>::epsilon())
{
const float fi = -rho / gradVal;
d1 = fi * I1wxVal;
d2 = fi * I1wyVal;
d3 = fi * gamma;
d3 = fi * gamma;
}
const float v1 = u1OldVal + d1;
const float v2 = u2OldVal + d2;
const float v3 = u3OldVal + d3;
const float v2 = u2OldVal + d2;
const float v3 = u3OldVal + d3;
// compute the divergence of the dual variable (p1, p2)
const float div_p1 = divergence(p11, p12, y, x);
const float div_p2 = divergence(p21, p22, y, x);
const float div_p3 = divergence(p31, p32, y, x);
const float div_p2 = divergence(p21, p22, y, x);
const float div_p3 = divergence(p31, p32, y, x);
// estimate the values of the optical flow (u1, u2)
const float u1NewVal = v1 + theta * div_p1;
const float u2NewVal = v2 + theta * div_p2;
const float u3NewVal = v3 + theta * div_p3;
const float u2NewVal = v2 + theta * div_p2;
const float u3NewVal = v3 + theta * div_p3;
u1(y, x) = u1NewVal;
u2(y, x) = u2NewVal;
u3(y, x) = u3NewVal;
u2(y, x) = u2NewVal;
u3(y, x) = u3NewVal;
if (calcError)
{
const float n1 = (u1OldVal - u1NewVal) * (u1OldVal - u1NewVal);
const float n2 = (u2OldVal - u2NewVal) * (u2OldVal - u2NewVal);
const float n3 = 0;// (u3OldVal - u3NewVal) * (u3OldVal - u3NewVal);
const float n2 = (u2OldVal - u2NewVal) * (u2OldVal - u2NewVal);
const float n3 = 0;// (u3OldVal - u3NewVal) * (u3OldVal - u3NewVal);
error(y, x) = n1 + n2 + n3;
}
}
void estimateU(PtrStepSzf I1wx, PtrStepSzf I1wy,
PtrStepSzf grad, PtrStepSzf rho_c,
PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22, PtrStepSzf p31, PtrStepSzf p32,
PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf u3, PtrStepSzf error,
PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22, PtrStepSzf p31, PtrStepSzf p32,
PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf u3, PtrStepSzf error,
float l_t, float theta, float gamma, bool calcError)
{
const dim3 block(32, 8);
......@@ -306,8 +306,8 @@ namespace tvl1flow
namespace tvl1flow
{
__global__ void estimateDualVariablesKernel(const PtrStepSzf u1, const PtrStepf u2, const PtrStepSzf u3,
PtrStepf p11, PtrStepf p12, PtrStepf p21, PtrStepf p22, PtrStepf p31, PtrStepf p32, const float taut)
__global__ void estimateDualVariablesKernel(const PtrStepSzf u1, const PtrStepf u2, const PtrStepSzf u3,
PtrStepf p11, PtrStepf p12, PtrStepf p21, PtrStepf p22, PtrStepf p31, PtrStepf p32, const float taut)
{
const int x = blockIdx.x * blockDim.x + threadIdx.x;
const int y = blockIdx.y * blockDim.y + threadIdx.y;
......@@ -321,26 +321,26 @@ namespace tvl1flow
const float u2x = u2(y, ::min(x + 1, u1.cols - 1)) - u2(y, x);
const float u2y = u2(::min(y + 1, u1.rows - 1), x) - u2(y, x);
const float u3x = u3(y, ::min(x + 1, u1.cols - 1)) - u3(y, x);
const float u3y = u3(::min(y + 1, u1.rows - 1), x) - u3(y, x);
const float u3x = u3(y, ::min(x + 1, u1.cols - 1)) - u3(y, x);
const float u3y = u3(::min(y + 1, u1.rows - 1), x) - u3(y, x);
const float g1 = ::hypotf(u1x, u1y);
const float g2 = ::hypotf(u2x, u2y);
const float g3 = ::hypotf(u3x, u3y);
const float g2 = ::hypotf(u2x, u2y);
const float g3 = ::hypotf(u3x, u3y);
const float ng1 = 1.0f + taut * g1;
const float ng2 = 1.0f + taut * g2;
const float ng3 = 1.0f + taut * g3;
const float ng2 = 1.0f + taut * g2;
const float ng3 = 1.0f + taut * g3;
p11(y, x) = (p11(y, x) + taut * u1x) / ng1;
p12(y, x) = (p12(y, x) + taut * u1y) / ng1;
p21(y, x) = (p21(y, x) + taut * u2x) / ng2;
p22(y, x) = (p22(y, x) + taut * u2y) / ng2;
p31(y, x) = (p31(y, x) + taut * u3x) / ng3;
p32(y, x) = (p32(y, x) + taut * u3y) / ng3;
p22(y, x) = (p22(y, x) + taut * u2y) / ng2;
p31(y, x) = (p31(y, x) + taut * u3x) / ng3;
p32(y, x) = (p32(y, x) + taut * u3y) / ng3;
}
void estimateDualVariables(PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf u3, PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22, PtrStepSzf p31, PtrStepSzf p32, float taut)
void estimateDualVariables(PtrStepSzf u1, PtrStepSzf u2, PtrStepSzf u3, PtrStepSzf p11, PtrStepSzf p12, PtrStepSzf p21, PtrStepSzf p22, PtrStepSzf p31, PtrStepSzf p32, float taut)
{
const dim3 block(32, 8);
const dim3 grid(divUp(u1.cols, block.x), divUp(u1.rows, block.y));
......
modules/cudaoptflow/test/test_optflow.cpp
View file @ 5c8e679b
......@@ -361,21 +361,21 @@ 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);
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);
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);
}
INSTANTIATE_TEST_CASE_P(CUDA_OptFlow, OpticalFlowDual_TVL1, testing::Combine(
......
modules/video/src/tvl1flow.cpp
View file @ 5c8e679b
......@@ -460,7 +460,7 @@ void OpticalFlowDual_TVL1::calc(InputArray _I0, InputArray _I1, InputOutputArray
{
dm.u1s[nscales - 1].setTo(Scalar::all(0));
dm.u2s[nscales - 1].setTo(Scalar::all(0));
}
}
if (use_gamma) dm.u3s[nscales - 1].setTo(Scalar::all(0));
// pyramidal structure for computing the optical flow
for (int s = nscales - 1; s >= 0; --s)
......@@ -958,7 +958,7 @@ void EstimateVBody::operator() (const Range& range) const
float* v1Row = v1[y];
float* v2Row = v2[y];
float* v3Row = use_gamma ? v3[y]:NULL;
for (int x = 0; x < I1wx.cols; ++x)
{
const float rho = use_gamma ? rhoRow[x] + (I1wxRow[x] * u1Row[x] + I1wyRow[x] * u2Row[x]) + gamma * u3Row[x] :
......@@ -1024,8 +1024,8 @@ void estimateV(const Mat_<float>& I1wx, const Mat_<float>& I1wy, const Mat_<floa
////////////////////////////////////////////////////////////
// estimateU
float estimateU(const Mat_<float>& v1, const Mat_<float>& v2, const Mat_<float>& v3,
const Mat_<float>& div_p1, const Mat_<float>& div_p2, const Mat_<float>& div_p3,
float estimateU(const Mat_<float>& v1, const Mat_<float>& v2, const Mat_<float>& v3,
const Mat_<float>& div_p1, const Mat_<float>& div_p2, const Mat_<float>& div_p3,
Mat_<float>& u1, Mat_<float>& u2, Mat_<float>& u3,
float theta, float gamma)
{
......@@ -1060,7 +1060,6 @@ float estimateU(const Mat_<float>& v1, const Mat_<float>& v2, const Mat_<float>&
u1Row[x] = v1Row[x] + theta * divP1Row[x];
u2Row[x] = v2Row[x] + theta * divP2Row[x];
if (use_gamma) u3Row[x] = v3Row[x] + theta * divP3Row[x];
error += use_gamma?(u1Row[x] - u1k) * (u1Row[x] - u1k) + (u2Row[x] - u2k) * (u2Row[x] - u2k) + (u3Row[x] - u3k) * (u3Row[x] - u3k):
(u1Row[x] - u1k) * (u1Row[x] - u1k) + (u2Row[x] - u2k) * (u2Row[x] - u2k);
}
......@@ -1130,11 +1129,11 @@ void EstimateDualVariablesBody::operator() (const Range& range) const
}
}
void estimateDualVariables(const Mat_<float>& u1x, const Mat_<float>& u1y,
void estimateDualVariables(const Mat_<float>& u1x, const Mat_<float>& u1y,
const Mat_<float>& u2x, const Mat_<float>& u2y,
const Mat_<float>& u3x, const Mat_<float>& u3y,
Mat_<float>& p11, Mat_<float>& p12,
Mat_<float>& p21, Mat_<float>& p22,
Mat_<float>& p11, Mat_<float>& p12,
Mat_<float>& p21, Mat_<float>& p22,
Mat_<float>& p31, Mat_<float>& p32,
float taut, bool use_gamma)
{
......
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