added patch error calculation to gpu::PyrLKOpticalFlow

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -1817,6 +1817,7 @@ public:
         derivLambda = 0.5;
         useInitialFlow = false;
         minEigThreshold = 1e-4f;
+        getMinEigenVals = false;
     }
 
     void sparse(const GpuMat& prevImg, const GpuMat& nextImg, const GpuMat& prevPts, GpuMat& nextPts,
@@ -1830,6 +1831,7 @@ public:
     double derivLambda;
     bool useInitialFlow;
     float minEigThreshold;
+    bool getMinEigenVals;
 
     void releaseMemory()
     {

modules/gpu/src/pyrlk.cpp

@@ -63,11 +63,11 @@ namespace cv { namespace gpu { namespace device
             cudaStream_t stream = 0);
 
         void lkSparse_gpu(DevMem2Db I, DevMem2Db J, DevMem2D_<short> dIdx, DevMem2D_<short> dIdy,
-            const float2* prevPts, float2* nextPts, uchar* status, float* err, int ptcount, 
+            const float2* prevPts, float2* nextPts, uchar* status, float* err, bool GET_MIN_EIGENVALS, int ptcount, 
             int level, dim3 block, dim3 patch, cudaStream_t stream = 0);
 
         void lkDense_gpu(DevMem2Db I, DevMem2Db J, DevMem2D_<short> dIdx, DevMem2D_<short> dIdy, 
-            DevMem2Df u, DevMem2Df v, DevMem2Df* err, cudaStream_t stream = 0);
+            DevMem2Df u, DevMem2Df v, DevMem2Df* err, bool GET_MIN_EIGENVALS, cudaStream_t stream = 0);
     }
 }}}
 
@@ -205,7 +205,7 @@ void cv::gpu::PyrLKOpticalFlow::sparse(const GpuMat& prevImg, const GpuMat& next
         calcSharrDeriv(prevPyr_[level], dIdx, dIdy);
 
         lkSparse_gpu(prevPyr_[level], nextPyr_[level], dIdx, dIdy, 
-            prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, prevPts.cols, 
+            prevPts.ptr<float2>(), nextPts.ptr<float2>(), status.ptr(), level == 0 && err ? err->ptr<float>() : 0, getMinEigenVals, prevPts.cols, 
             level, block, patch);
     }
 }
@@ -272,7 +272,7 @@ void cv::gpu::PyrLKOpticalFlow::dense(const GpuMat& prevImg, const GpuMat& nextI
         calcSharrDeriv(prevPyr_[level], dIdx, dIdy);
 
         lkDense_gpu(prevPyr_[level], nextPyr_[level], dIdx, dIdy, uPyr_[level], vPyr_[level], 
-            level == 0 && err ? &derr : 0);
+            level == 0 && err ? &derr : 0, getMinEigenVals);
 
         if (level == 0)
         {

modules/gpu/test/test_video.cpp

@@ -358,7 +358,7 @@ PARAM_TEST_CASE(PyrLKOpticalFlowSparse, cv::gpu::DeviceInfo, bool)
         cv::goodFeaturesToTrack(gray_frame, pts, 1000, 0.01, 0.0);
 
         cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts_gold, status_gold, err_gold, cv::Size(21, 21), 3, 
-            cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 30, 0.01), 0.5, CV_LKFLOW_GET_MIN_EIGENVALS);
+            cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, 30, 0.01), 0.5);
     }
 };
 
@@ -410,7 +410,7 @@ TEST_P(PyrLKOpticalFlowSparse, Accuracy)
             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]);
 
-            if (!eq || errdiff > 1e-4)
+            if (!eq || errdiff > 1e-1)
                 ++mistmatch;
         }
     }

samples/gpu/performance/tests.cpp

@@ -1157,10 +1157,12 @@ TEST(PyrLKOpticalFlow)
         vector<Point2f> nextPts;
         vector<unsigned char> status;
 
-        calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, noArray());
+        vector<float> err;
+
+        calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, err);
 
         CPU_ON;
-        calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, noArray());
+        calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, err);
         CPU_OFF;
 
         gpu::PyrLKOpticalFlow d_pyrLK;
@@ -1176,10 +1178,10 @@ TEST(PyrLKOpticalFlow)
         gpu::GpuMat d_status;
         gpu::GpuMat d_err;
 
-        d_pyrLK.sparse(d_frame0, d_frame1, d_pts, d_nextPts, d_status);
+        d_pyrLK.sparse(d_frame0, d_frame1, d_pts, d_nextPts, d_status, &d_err);
 
         GPU_ON;
-        d_pyrLK.sparse(d_frame0, d_frame1, d_pts, d_nextPts, d_status);
+        d_pyrLK.sparse(d_frame0, d_frame1, d_pts, d_nextPts, d_status, &d_err);
         GPU_OFF;
     }
 }