add PyrLK to ocl module

modules/ocl/include/opencv2/ocl/matrix_operations.hpp

@@ -460,6 +460,18 @@ namespace cv
             a.swap(b);
         }
 
+		inline void ensureSizeIsEnough(int rows, int cols, int type, oclMat& m)
+		{
+			if (m.type() == type && m.rows >= rows && m.cols >= cols)
+				m = m(Rect(0, 0, cols, rows));
+			else
+				m.create(rows, cols, type);
+		}
+
+		inline void ensureSizeIsEnough(Size size, int type, oclMat& m)
+		{
+			ensureSizeIsEnough(size.height, size.width, type, m);
+		}
     } /* end of namespace ocl */
 
 } /* end of namespace cv */

modules/ocl/include/opencv2/ocl/ocl.hpp

@@ -1125,6 +1125,66 @@ namespace cv
 			explicit BruteForceMatcher_OCL(Hamming /*d*/) : BruteForceMatcher_OCL_base(HammingDist) {}
 		};
 
+		/////////////////////////////// PyrLKOpticalFlow /////////////////////////////////////
+		class CV_EXPORTS PyrLKOpticalFlow
+		{
+		public:
+			PyrLKOpticalFlow()
+			{
+				winSize = Size(21, 21);
+				maxLevel = 3;
+				iters = 30;
+				derivLambda = 0.5;
+				useInitialFlow = false;
+				minEigThreshold = 1e-4f;
+				getMinEigenVals = false;
+				isDeviceArch11_ = false;
+			}
+
+			void sparse(const oclMat& prevImg, const oclMat& nextImg, const oclMat& prevPts, oclMat& nextPts,
+				oclMat& status, oclMat* err = 0);
+
+			void dense(const oclMat& prevImg, const oclMat& nextImg, oclMat& u, oclMat& v, oclMat* err = 0);
+
+			Size winSize;
+			int maxLevel;
+			int iters;
+			double derivLambda;
+			bool useInitialFlow;
+			float minEigThreshold;
+			bool getMinEigenVals;
+
+			void releaseMemory()
+			{
+				dx_calcBuf_.release();
+				dy_calcBuf_.release();
+
+				prevPyr_.clear();
+				nextPyr_.clear();
+
+				dx_buf_.release();
+				dy_buf_.release();
+			}
+
+		private:
+			void calcSharrDeriv(const oclMat& src, oclMat& dx, oclMat& dy);
+
+			void buildImagePyramid(const oclMat& img0, vector<oclMat>& pyr, bool withBorder);
+
+			oclMat dx_calcBuf_;
+			oclMat dy_calcBuf_;
+
+			vector<oclMat> prevPyr_;
+			vector<oclMat> nextPyr_;
+
+			oclMat dx_buf_;
+			oclMat dy_buf_;
+
+			oclMat uPyr_[2];
+			oclMat vPyr_[2];
+
+			bool isDeviceArch11_;
+		};
 
     }
 }

modules/ocl/src/matrix_operations.cpp

@@ -916,6 +916,7 @@ oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const
         CV_Error(CV_BadNumChannels, "The total width is not divisible by the new number of channels");
 
     hdr.cols = new_width;
+	hdr.wholecols = new_width;
     hdr.flags = (hdr.flags & ~CV_MAT_CN_MASK) | ((new_cn - 1) << CV_CN_SHIFT);
 
     return hdr;

modules/ocl/test/test_pyrlk.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+#include <iomanip>
+
+#ifdef HAVE_OPENCL
+
+using namespace cv;
+using namespace cv::ocl;
+using namespace cvtest;
+using namespace testing;
+using namespace std;
+
+//#define DUMP
+
+/////////////////////////////////////////////////////////////////////////////////////////////////
+// BroxOpticalFlow
+
+#define BROX_OPTICAL_FLOW_DUMP_FILE            "opticalflow/brox_optical_flow.bin"
+#define BROX_OPTICAL_FLOW_DUMP_FILE_CC20       "opticalflow/brox_optical_flow_cc20.bin"
+
+
+/////////////////////////////////////////////////////////////////////////////////////////////////
+// PyrLKOpticalFlow
+
+//IMPLEMENT_PARAM_CLASS(UseGray, bool)
+
+PARAM_TEST_CASE(Sparse, bool, bool)
+{
+    bool useGray;
+    bool UseSmart;
+
+    virtual void SetUp()
+    {
+        UseSmart = GET_PARAM(0);
+		useGray = GET_PARAM(0);
+    }
+};
+
+TEST_P(Sparse, Mat)
+{
+    cv::Mat frame0 = readImage("../../../samples/gpu/rubberwhale1.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame0.empty());
+
+    cv::Mat frame1 = readImage("../../../samples/gpu/rubberwhale2.png", useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
+    ASSERT_FALSE(frame1.empty());
+
+    cv::Mat gray_frame;
+    if (useGray)
+        gray_frame = frame0;
+    else
+        cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
+
+    std::vector<cv::Point2f> pts;
+    cv::goodFeaturesToTrack(gray_frame, pts, 1000, 0.01, 0.0);
+
+    cv::ocl::oclMat d_pts;
+    cv::Mat pts_mat(1, (int)pts.size(), CV_32FC2, (void*)&pts[0]);
+    d_pts.upload(pts_mat);
+
+    cv::ocl::PyrLKOpticalFlow pyrLK;
+
+	cv::ocl::oclMat oclFrame0;
+	cv::ocl::oclMat oclFrame1;
+    cv::ocl::oclMat d_nextPts;
+    cv::ocl::oclMat d_status;
+    cv::ocl::oclMat d_err;
+
+	oclFrame0 = frame0;
+	oclFrame1 = frame1;
+
+    pyrLK.sparse(oclFrame0, oclFrame1, d_pts, d_nextPts, d_status, &d_err);
+
+    std::vector<cv::Point2f> nextPts(d_nextPts.cols);
+    cv::Mat nextPts_mat(1, d_nextPts.cols, CV_32FC2, (void*)&nextPts[0]);
+    d_nextPts.download(nextPts_mat);
+
+    std::vector<unsigned char> status(d_status.cols);
+    cv::Mat status_mat(1, d_status.cols, CV_8UC1, (void*)&status[0]);
+    d_status.download(status_mat);
+
+    std::vector<float> err(d_err.cols);
+    cv::Mat err_mat(1, d_err.cols, CV_32FC1, (void*)&err[0]);
+    d_err.download(err_mat);
+
+    std::vector<cv::Point2f> nextPts_gold;
+    std::vector<unsigned char> status_gold;
+    std::vector<float> err_gold;
+    cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts_gold, status_gold, err_gold);
+
+    ASSERT_EQ(nextPts_gold.size(), nextPts.size());
+    ASSERT_EQ(status_gold.size(), status.size());
+
+    size_t mistmatch = 0;
+    for (size_t i = 0; i < nextPts.size(); ++i)
+    {
+        if (status[i] != status_gold[i])
+        {
+            ++mistmatch;
+            continue;
+        }
+
+        if (status[i])
+        {
+            cv::Point2i a = nextPts[i];
+            cv::Point2i b = nextPts_gold[i];
+
+            bool eq = std::abs(a.x - b.x) < 1 && std::abs(a.y - b.y) < 1;
+            //float errdiff = std::abs(err[i] - err_gold[i]);
+            float errdiff = 0.0f;
+
+            if (!eq || errdiff > 1e-1)
+                ++mistmatch;
+        }
+    }
+
+    double bad_ratio = static_cast<double>(mistmatch) / (nextPts.size() * 2);
+
+    ASSERT_LE(bad_ratio, 0.05f);
+	
+}
+
+INSTANTIATE_TEST_CASE_P(Video, Sparse, Combine(
+    Values(false, true),   
+	Values(false)));
+
+#endif // HAVE_OPENCL
+