Merge pull request #6849 from alcinos:optflow_interface

modules/core/include/opencv2/core/ptr.inl.hpp

@@ -361,6 +361,17 @@ Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5&
     return Ptr<T>(new T(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10));
 }
 
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8, typename A9, typename A10, typename A11>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9, const A10& a10, const A11& a11)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11));
+}
+
+template<typename T, typename A1, typename A2, typename A3, typename A4, typename A5, typename A6, typename A7, typename A8, typename A9, typename A10, typename A11, typename A12>
+Ptr<T> makePtr(const A1& a1, const A2& a2, const A3& a3, const A4& a4, const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9, const A10& a10, const A11& a11, const A12& a12)
+{
+    return Ptr<T>(new T(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12));
+}
 } // namespace cv
 
 //! @endcond

modules/cudaoptflow/src/farneback.cpp

@@ -93,7 +93,7 @@ namespace cv { namespace cuda { namespace device { namespace optflow_farneback
 
 namespace
 {
-    class FarnebackOpticalFlowImpl : public FarnebackOpticalFlow
+    class FarnebackOpticalFlowImpl : public cv::cuda::FarnebackOpticalFlow
     {
     public:
         FarnebackOpticalFlowImpl(int numLevels, double pyrScale, bool fastPyramids, int winSize,
@@ -459,7 +459,7 @@ namespace
     }
 }
 
-Ptr<FarnebackOpticalFlow> cv::cuda::FarnebackOpticalFlow::create(int numLevels, double pyrScale, bool fastPyramids, int winSize,
+Ptr<cv::cuda::FarnebackOpticalFlow> cv::cuda::FarnebackOpticalFlow::create(int numLevels, double pyrScale, bool fastPyramids, int winSize,
                                                                  int numIters, int polyN, double polySigma, int flags)
 {
     return makePtr<FarnebackOpticalFlowImpl>(numLevels, pyrScale, fastPyramids, winSize,

modules/cudaoptflow/src/pyrlk.cpp

@@ -47,9 +47,9 @@ using namespace cv::cuda;
 
 #if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
 
-Ptr<SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<SparsePyrLKOpticalFlow>(); }
+Ptr<cv::cuda::SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<SparsePyrLKOpticalFlow>(); }
 
-Ptr<DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<DensePyrLKOpticalFlow>(); }
+Ptr<cv::cuda::DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size, int, int, bool) { throw_no_cuda(); return Ptr<DensePyrLKOpticalFlow>(); }
 
 #else /* !defined (HAVE_CUDA) */
 
@@ -283,7 +283,7 @@ namespace
         vPyr[idx].copyTo(v, stream);
     }
 
-    class SparsePyrLKOpticalFlowImpl : public SparsePyrLKOpticalFlow, private PyrLKOpticalFlowBase
+    class SparsePyrLKOpticalFlowImpl : public cv::cuda::SparsePyrLKOpticalFlow, private PyrLKOpticalFlowBase
     {
     public:
         SparsePyrLKOpticalFlowImpl(Size winSize, int maxLevel, int iters, bool useInitialFlow) :
@@ -366,14 +366,14 @@ namespace
     };
 }
 
-Ptr<SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
+Ptr<cv::cuda::SparsePyrLKOpticalFlow> cv::cuda::SparsePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
 {
     return makePtr<SparsePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow);
 }
 
-Ptr<DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
+Ptr<cv::cuda::DensePyrLKOpticalFlow> cv::cuda::DensePyrLKOpticalFlow::create(Size winSize, int maxLevel, int iters, bool useInitialFlow)
 {
     return makePtr<DensePyrLKOpticalFlowImpl>(winSize, maxLevel, iters, useInitialFlow);
 }
 
-#endif /* !defined (HAVE_CUDA) */
\ No newline at end of file
+#endif /* !defined (HAVE_CUDA) */

modules/video/include/opencv2/video/tracking.hpp

@@ -397,6 +397,27 @@ public:
     CV_WRAP virtual void collectGarbage() = 0;
 };
 
+/** @brief Base interface for sparse optical flow algorithms.
+ */
+class CV_EXPORTS_W SparseOpticalFlow : public Algorithm
+{
+public:
+    /** @brief Calculates a sparse optical flow.
+
+    @param prevImg First input image.
+    @param nextImg Second input image of the same size and the same type as prevImg.
+    @param prevPts Vector of 2D points for which the flow needs to be found.
+    @param nextPts Output vector of 2D points containing the calculated new positions of input features in the second image.
+    @param status Output status vector. Each element of the vector is set to 1 if the
+                  flow for the corresponding features has been found. Otherwise, it is set to 0.
+    @param err Optional output vector that contains error response for each point (inverse confidence).
+     */
+    CV_WRAP virtual void calc(InputArray prevImg, InputArray nextImg,
+                      InputArray prevPts, InputOutputArray nextPts,
+                      OutputArray status,
+                      OutputArray err = cv::noArray()) = 0;
+};
+
 /** @brief "Dual TV L1" Optical Flow Algorithm.
 
 The class implements the "Dual TV L1" optical flow algorithm described in @cite Zach2007 and
@@ -502,12 +523,102 @@ public:
     virtual int getMedianFiltering() const = 0;
     /** @copybrief getMedianFiltering @see getMedianFiltering */
     virtual void setMedianFiltering(int val) = 0;
+
+    /** @brief Creates instance of cv::DualTVL1OpticalFlow*/
+    static Ptr<DualTVL1OpticalFlow> create(
+                                            double tau = 0.25,
+                                            double lambda = 0.15,
+                                            double theta = 0.3,
+                                            int nscales = 5,
+                                            int warps = 5,
+                                            double epsilon = 0.01,
+                                            int innnerIterations = 30,
+                                            int outerIterations = 10,
+                                            double scaleStep = 0.8,
+                                            double gamma = 0.0,
+                                            int medianFiltering = 5,
+                                            bool useInitialFlow = false);
 };
 
 /** @brief Creates instance of cv::DenseOpticalFlow
 */
 CV_EXPORTS_W Ptr<DualTVL1OpticalFlow> createOptFlow_DualTVL1();
 
+/** @brief Class computing a dense optical flow using the Gunnar Farneback’s algorithm.
+ */
+class CV_EXPORTS_W FarnebackOpticalFlow : public DenseOpticalFlow
+{
+public:
+    virtual int getNumLevels() const = 0;
+    virtual void setNumLevels(int numLevels) = 0;
+
+    virtual double getPyrScale() const = 0;
+    virtual void setPyrScale(double pyrScale) = 0;
+
+    virtual bool getFastPyramids() const = 0;
+    virtual void setFastPyramids(bool fastPyramids) = 0;
+
+    virtual int getWinSize() const = 0;
+    virtual void setWinSize(int winSize) = 0;
+
+    virtual int getNumIters() const = 0;
+    virtual void setNumIters(int numIters) = 0;
+
+    virtual int getPolyN() const = 0;
+    virtual void setPolyN(int polyN) = 0;
+
+    virtual double getPolySigma() const = 0;
+    virtual void setPolySigma(double polySigma) = 0;
+
+    virtual int getFlags() const = 0;
+    virtual void setFlags(int flags) = 0;
+
+    static Ptr<FarnebackOpticalFlow> create(
+            int numLevels = 5,
+            double pyrScale = 0.5,
+            bool fastPyramids = false,
+            int winSize = 13,
+            int numIters = 10,
+            int polyN = 5,
+            double polySigma = 1.1,
+            int flags = 0);
+};
+
+
+/** @brief Class used for calculating a sparse optical flow.
+
+The class can calculate an optical flow for a sparse feature set using the
+iterative Lucas-Kanade method with pyramids.
+
+@sa calcOpticalFlowPyrLK
+
+*/
+class CV_EXPORTS SparsePyrLKOpticalFlow : public SparseOpticalFlow
+{
+public:
+    virtual Size getWinSize() const = 0;
+    virtual void setWinSize(Size winSize) = 0;
+
+    virtual int getMaxLevel() const = 0;
+    virtual void setMaxLevel(int maxLevel) = 0;
+
+    virtual TermCriteria getTermCriteria() const = 0;
+    virtual void setTermCriteria(TermCriteria& crit) = 0;
+
+    virtual int getFlags() const = 0;
+    virtual void setFlags(int flags) = 0;
+
+    virtual double getMinEigThreshold() const = 0;
+    virtual void setMinEigThreshold(double minEigThreshold) = 0;
+
+    static Ptr<SparsePyrLKOpticalFlow> create(
+            Size winSize = Size(21, 21),
+            int maxLevel = 3, TermCriteria crit =
+            TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01),
+            int flags = 0,
+            double minEigThreshold = 1e-4);
+};
+
 //! @} video_track
 
 } // cv

modules/video/src/lkpyramid.cpp

@@ -837,10 +837,11 @@ int cv::buildOpticalFlowPyramid(InputArray _img, OutputArrayOfArrays pyramid, Si
     return maxLevel;
 }
 
-#ifdef HAVE_OPENCL
 namespace cv
 {
-    class PyrLKOpticalFlow
+namespace
+{
+    class SparsePyrLKOpticalFlowImpl : public SparsePyrLKOpticalFlow
     {
         struct dim3
         {
@@ -848,17 +849,40 @@ namespace cv
             dim3() : x(0), y(0), z(0) { }
         };
     public:
-        PyrLKOpticalFlow()
+        SparsePyrLKOpticalFlowImpl(Size winSize_ = Size(21,21),
+                         int maxLevel_ = 3,
+                         TermCriteria criteria_ = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01),
+                         int flags_ = 0,
+                         double minEigThreshold_ = 1e-4) :
+          winSize(winSize_), maxLevel(maxLevel_), criteria(criteria_), flags(flags_), minEigThreshold(minEigThreshold_)
+#ifdef HAVE_OPENCL
+          , iters(criteria_.maxCount), derivLambda(criteria_.epsilon), useInitialFlow(0 != (flags_ & OPTFLOW_LK_GET_MIN_EIGENVALS)), waveSize(0)
+#endif
         {
-            winSize = Size(21, 21);
-            maxLevel = 3;
-            iters = 30;
-            derivLambda = 0.5;
-            useInitialFlow = false;
-
-            waveSize = 0;
         }
 
+        virtual Size getWinSize() const {return winSize;}
+        virtual void setWinSize(Size winSize_){winSize = winSize_;}
+
+        virtual int getMaxLevel() const {return maxLevel;}
+        virtual void setMaxLevel(int maxLevel_){maxLevel = maxLevel_;}
+
+        virtual TermCriteria getTermCriteria() const {return criteria;}
+        virtual void setTermCriteria(TermCriteria& crit_){criteria=crit_;}
+
+        virtual int getFlags() const {return flags; }
+        virtual void setFlags(int flags_){flags=flags_;}
+
+        virtual double getMinEigThreshold() const {return minEigThreshold;}
+        virtual void setMinEigThreshold(double minEigThreshold_){minEigThreshold=minEigThreshold_;}
+
+        virtual void calc(InputArray prevImg, InputArray nextImg,
+                          InputArray prevPts, InputOutputArray nextPts,
+                          OutputArray status,
+                          OutputArray err = cv::noArray());
+
+    private:
+#ifdef HAVE_OPENCL
         bool checkParam()
         {
             iters = std::min(std::max(iters, 0), 100);
@@ -930,14 +954,17 @@ namespace cv
             }
             return true;
         }
+#endif
 
         Size winSize;
         int maxLevel;
+        TermCriteria criteria;
+        int flags;
+        double minEigThreshold;
+#ifdef HAVE_OPENCL
         int iters;
         double derivLambda;
         bool useInitialFlow;
-
-    private:
         int waveSize;
         bool initWaveSize()
         {
@@ -1017,15 +1044,11 @@ namespace cv
         {
             return (cv::ocl::Device::TYPE_CPU == cv::ocl::Device::getDefault().type());
         }
-    };
 
 
-    static bool ocl_calcOpticalFlowPyrLK(InputArray _prevImg, InputArray _nextImg,
-                                  InputArray _prevPts, InputOutputArray _nextPts,
-                                  OutputArray _status, OutputArray _err,
-                                  Size winSize, int maxLevel,
-                                  TermCriteria criteria,
-                                  int flags/*, double minEigThreshold*/ )
+    bool ocl_calcOpticalFlowPyrLK(InputArray _prevImg, InputArray _nextImg,
+                                         InputArray _prevPts, InputOutputArray _nextPts,
+                                         OutputArray _status, OutputArray _err)
     {
         if (0 != (OPTFLOW_LK_GET_MIN_EIGENVALS & flags))
             return false;
@@ -1045,7 +1068,6 @@ namespace cv
         if ((1 != _prevPts.size().height) && (1 != _prevPts.size().width))
             return false;
         size_t npoints = _prevPts.total();
-        bool useInitialFlow  = (0 != (flags & OPTFLOW_USE_INITIAL_FLOW));
         if (useInitialFlow)
         {
             if (_nextPts.empty() || _nextPts.type() != CV_32FC2 || (!_prevPts.isContinuous()))
@@ -1060,14 +1082,7 @@ namespace cv
             _nextPts.create(_prevPts.size(), _prevPts.type());
         }
 
-        PyrLKOpticalFlow opticalFlow;
-        opticalFlow.winSize     = winSize;
-        opticalFlow.maxLevel    = maxLevel;
-        opticalFlow.iters       = criteria.maxCount;
-        opticalFlow.derivLambda = criteria.epsilon;
-        opticalFlow.useInitialFlow  = useInitialFlow;
-
-        if (!opticalFlow.checkParam())
+        if (!checkParam())
             return false;
 
         UMat umatErr;
@@ -1082,28 +1097,19 @@ namespace cv
         _status.create((int)npoints, 1, CV_8UC1);
         UMat umatNextPts = _nextPts.getUMat();
         UMat umatStatus = _status.getUMat();
-        return opticalFlow.sparse(_prevImg.getUMat(), _nextImg.getUMat(), _prevPts.getUMat(), umatNextPts, umatStatus, umatErr);
+        return sparse(_prevImg.getUMat(), _nextImg.getUMat(), _prevPts.getUMat(), umatNextPts, umatStatus, umatErr);
     }
-};
 #endif
+};
 
-void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
+void SparsePyrLKOpticalFlowImpl::calc( InputArray _prevImg, InputArray _nextImg,
                            InputArray _prevPts, InputOutputArray _nextPts,
-                           OutputArray _status, OutputArray _err,
-                           Size winSize, int maxLevel,
-                           TermCriteria criteria,
-                           int flags, double minEigThreshold )
+                           OutputArray _status, OutputArray _err)
 {
-#ifdef HAVE_OPENCL
-    bool use_opencl = ocl::useOpenCL() &&
-                      (_prevImg.isUMat() || _nextImg.isUMat()) &&
-                      ocl::Image2D::isFormatSupported(CV_32F, 1, false);
-    if ( use_opencl && ocl_calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err, winSize, maxLevel, criteria, flags/*, minEigThreshold*/))
-    {
-        CV_IMPL_ADD(CV_IMPL_OCL);
-        return;
-    }
-#endif
+    CV_OCL_RUN(ocl::useOpenCL() &&
+               (_prevImg.isUMat() || _nextImg.isUMat()) &&
+               ocl::Image2D::isFormatSupported(CV_32F, 1, false),
+               ocl_calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err))
 
     Mat prevPtsMat = _prevPts.getMat();
     const int derivDepth = DataType<cv::detail::deriv_type>::depth;
@@ -1262,6 +1268,22 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
     }
 }
 
+} // namespace
+} // namespace cv
+cv::Ptr<cv::SparsePyrLKOpticalFlow> cv::SparsePyrLKOpticalFlow::create(Size winSize, int maxLevel, TermCriteria crit, int flags, double minEigThreshold){
+    return makePtr<SparsePyrLKOpticalFlowImpl>(winSize,maxLevel,crit,flags,minEigThreshold);
+}
+void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
+                               InputArray _prevPts, InputOutputArray _nextPts,
+                               OutputArray _status, OutputArray _err,
+                               Size winSize, int maxLevel,
+                               TermCriteria criteria,
+                               int flags, double minEigThreshold )
+{
+    Ptr<cv::SparsePyrLKOpticalFlow> optflow = cv::SparsePyrLKOpticalFlow::create(winSize,maxLevel,criteria,flags,minEigThreshold);
+    optflow->calc(_prevImg,_nextImg,_prevPts,_nextPts,_status,_err);
+}
+
 namespace cv
 {
 

modules/video/src/tvl1flow.cpp

@@ -89,6 +89,17 @@ namespace {
 class OpticalFlowDual_TVL1 : public DualTVL1OpticalFlow
 {
 public:
+
+    OpticalFlowDual_TVL1(double tau_, double lambda_, double theta_, int nscales_, int warps_,
+                         double epsilon_, int innerIterations_, int outerIterations_,
+                         double scaleStep_, double gamma_, int medianFiltering_,
+                         bool useInitialFlow_) :
+        tau(tau_), lambda(lambda_), theta(theta_), gamma(gamma_), nscales(nscales_),
+        warps(warps_), epsilon(epsilon_), innerIterations(innerIterations_),
+        outerIterations(outerIterations_), useInitialFlow(useInitialFlow_),
+        scaleStep(scaleStep_), medianFiltering(medianFiltering_)
+    {
+    }
     OpticalFlowDual_TVL1();
 
     void calc(InputArray I0, InputArray I1, InputOutputArray flow);
@@ -1450,3 +1461,13 @@ Ptr<DualTVL1OpticalFlow> cv::createOptFlow_DualTVL1()
 {
     return makePtr<OpticalFlowDual_TVL1>();
 }
+
+Ptr<DualTVL1OpticalFlow> cv::DualTVL1OpticalFlow::create(
+    double tau, double lambda, double theta, int nscales, int warps,
+    double epsilon, int innerIterations, int outerIterations, double scaleStep,
+    double gamma, int medianFilter, bool useInitialFlow)
+{
+    return makePtr<OpticalFlowDual_TVL1>(tau, lambda, theta, nscales, warps,
+                                         epsilon, innerIterations, outerIterations,
+                                         scaleStep, gamma, medianFilter, useInitialFlow);
+}

modules/video/test/test_tvl1optflow.cpp

@@ -154,7 +154,7 @@ TEST(Video_calcOpticalFlowDual_TVL1, Regression)
     ASSERT_FALSE(frame2.empty());
 
     Mat_<Point2f> flow;
-    Ptr<DenseOpticalFlow> tvl1 = createOptFlow_DualTVL1();
+    Ptr<DualTVL1OpticalFlow> tvl1 = cv::DualTVL1OpticalFlow::create();
 
     tvl1->calc(frame1, frame2, flow);
 

samples/cpp/tvl1_optical_flow.cpp

@@ -185,7 +185,7 @@ int main(int argc, const char* argv[])
     }
 
     Mat_<Point2f> flow;
-    Ptr<DenseOpticalFlow> tvl1 = createOptFlow_DualTVL1();
+    Ptr<DualTVL1OpticalFlow> tvl1 = cv::DualTVL1OpticalFlow::create();
 
     const double start = (double)getTickCount();
     tvl1->calc(frame0, frame1, flow);