Merge pull request #2097 from tsenst:robust_optical_flow_fix

optflow: RLOF fixes (python-binding, status flag, flat textures) (#2097)

* * Bugfix for python-binding related to issue #2094. Copying the prevPtsMat to prevPoints was broken, when using python-binding.

* * Connect the blurred image correctly to CROSS support region segmentation. This allows to compute more robust support region shapes. Commit refers to issue #2094.

* * Bugfix to avoid the unintended assertion on flat textures discussed in issue #2094.

* * Bugfix on SparseRLOFOpticalFlow status was wrongly to to 0 if forward backward error < threshold, which is wrong. Inequation has been corrected. Refers to in issue #2087.

* small documentation changes

* bugfix on assertions and small test changes

modules/optflow/include/opencv2/optflow/rlofflow.hpp

@@ -35,7 +35,8 @@ enum InterpolationType
 
 /** @brief This is used store and set up the parameters of the robust local optical flow (RLOF) algoritm.
  *
- * The RLOF is a fast local optical flow approach similar to the pyramidal iterative Lucas-Kanade method as
+ * The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
+ * and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
  * proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
  * This RLOF implementation can be seen as an improved pyramidal iterative Lucas-Kanade and includes
  * a set of improving modules. The main improvements in respect to the pyramidal iterative Lucas-Kanade
@@ -197,7 +198,8 @@ public:
 /** @brief Fast dense optical flow computation based on robust local optical flow (RLOF) algorithms and sparse-to-dense interpolation
  * scheme.
  *
- * The RLOF is a fast local optical flow approach similar to the pyramidal iterative Lucas-Kanade method as
+ * The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
+ * and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
  * proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
  *
  * The sparse-to-dense interpolation scheme allows for fast computation of dense optical flow using RLOF (see @cite Geistert2016).
@@ -350,7 +352,8 @@ public:
 
 /** @brief Class used for calculation sparse optical flow and feature tracking with robust local optical flow (RLOF) algorithms.
 *
-* The RLOF is a fast local optical flow approach similar to the pyramidal iterative Lucas-Kanade method as
+* The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
+ * and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
 * proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
 *
 * For the RLOF configuration see optflow::RLOFOpticalFlowParameter for further details.
@@ -396,7 +399,8 @@ public:
 
 /** @brief Fast dense optical flow computation based on robust local optical flow (RLOF) algorithms and sparse-to-dense interpolation scheme.
  *
- * The RLOF is a fast local optical flow approach similar to the pyramidal iterative Lucas-Kanade method as
+ * The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
+ * and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
  * proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
  *
  * The sparse-to-dense interpolation scheme allows for fast computation of dense optical flow using RLOF (see @cite Geistert2016).
@@ -452,7 +456,8 @@ CV_EXPORTS_W void calcOpticalFlowDenseRLOF(InputArray I0, InputArray I1, InputOu
 /** @brief Calculates fast optical flow for a sparse feature set using the robust local optical flow (RLOF) similar
 * to optflow::calcOpticalFlowPyrLK().
 *
-* The RLOF is a fast local optical flow approach similar to the pyramidal iterative Lucas-Kanade method as
+* The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
+ * and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
 * proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
 *
 * @param prevImg first 8-bit input image. If The cross-based RLOF is used (by selecting optflow::RLOFOpticalFlowParameter::supportRegionType

modules/optflow/src/rlof/rlof_invokerbase.hpp

@@ -102,13 +102,13 @@ void getLocalPatch(
             bounds = src.at<cv::Vec4i>(_r,c);
             roi.x      = bounds.val[0] - border_left;
             roi.width = bounds.val[1] - bounds.val[0];
+            cv::Mat(winPointMask, roi).setTo(1);
         }
         else
         {
             bounds.val[0] = border_left;
             bounds.val[1] = border_left + roi.width;
         }
-        cv::Mat(winPointMask, roi).setTo(1);
         min_c = MIN(min_c, bounds.val[0]);
         max_c = MAX(max_c, bounds.val[1]);
         noPoints += roi.width;

modules/optflow/src/rlof/rlof_localflow.cpp

@@ -354,10 +354,14 @@ int buildOpticalFlowPyramidScale(InputArray _img, OutputArrayOfArrays pyramid, S
 
     return maxLevel;
 }
-int CImageBuffer::buildPyramid(cv::Size winSize, int maxLevel, float levelScale[2])
+
+int CImageBuffer::buildPyramid(cv::Size winSize, int maxLevel, float levelScale[2],bool withBlurredImage )
 {
-    if (m_Overwrite == false)
+    if (! m_Overwrite)
         return m_maxLevel;
+    if (withBlurredImage)
+        m_maxLevel = buildOpticalFlowPyramidScale(m_BlurredImage, m_ImagePyramid, winSize, maxLevel, false, 4, 0, true, levelScale);
+    else
         m_maxLevel = buildOpticalFlowPyramidScale(m_Image, m_ImagePyramid, winSize, maxLevel, false, 4, 0, true, levelScale);
     return m_maxLevel;
 }
@@ -407,12 +411,12 @@ void calcLocalOpticalFlowCore(
     float levelScale[2] = { 2.f,2.f };
 
     int maxLevel = prevPyramids[0]->buildPyramid(cv::Size(iWinSize, iWinSize), param.maxLevel, levelScale);
-
     maxLevel = currPyramids[0]->buildPyramid(cv::Size(iWinSize, iWinSize), maxLevel, levelScale);
+
     if (useAdditionalRGB)
     {
-        prevPyramids[1]->buildPyramid(cv::Size(iWinSize, iWinSize), maxLevel, levelScale);
-        currPyramids[1]->buildPyramid(cv::Size(iWinSize, iWinSize), maxLevel, levelScale);
+        prevPyramids[1]->buildPyramid(cv::Size(iWinSize, iWinSize), maxLevel, levelScale, true);
+        currPyramids[1]->buildPyramid(cv::Size(iWinSize, iWinSize), maxLevel, levelScale, true);
     }
 
     if ((criteria.type & TermCriteria::COUNT) == 0)
@@ -661,7 +665,8 @@ void calcLocalOpticalFlow(
         prevPyramids[0]->m_Overwrite = true;
         currPyramids[0]->m_Overwrite = true;
         prevPyramids[1]->m_Overwrite = true;
-        currPyramids[1]->m_Overwrite = true;
+        // perform blurring and build blur pyramid only for the prev image
+        currPyramids[1]->m_Overwrite = false;
         if (prevImage.type() == CV_8UC3)
         {
             prevPyramids[0]->setGrayFromRGB(prevImage);

modules/optflow/src/rlof/rlof_localflow.h

@@ -93,7 +93,7 @@ public:
             cv::GaussianBlur(inp, m_BlurredImage, cv::Size(7,7), -1);
     }
 
-    int buildPyramid(cv::Size winSize, int maxLevel, float levelScale[2]);
+    int buildPyramid(cv::Size winSize, int maxLevel, float levelScale[2], bool withBlurredImage = false);
     cv::Mat & getImage(int level) {return m_ImagePyramid[level];}
 
     std::vector<cv::Mat>     m_ImagePyramid;

modules/optflow/src/rlofflow.cpp

@@ -303,7 +303,6 @@ class SparseRLOFOpticalFlowImpl : public SparseRLOFOpticalFlow
 
         int npoints = 0;
         CV_Assert((npoints = prevPtsMat.checkVector(2, CV_32F, true)) >= 0);
-
         if (npoints == 0)
         {
             nextPts.release();
@@ -311,14 +310,22 @@ class SparseRLOFOpticalFlowImpl : public SparseRLOFOpticalFlow
             err.release();
             return;
         }
-
         Mat nextPtsMat = nextPts.getMat();
         CV_Assert(nextPtsMat.checkVector(2, CV_32F, true) == npoints);
+
         std::vector<cv::Point2f> prevPoints(npoints), nextPoints(npoints), refPoints;
-        prevPtsMat.copyTo(cv::Mat(1, npoints, CV_32FC2, &prevPoints[0]));
-        if (param->useInitialFlow )
-            nextPtsMat.copyTo(cv::Mat(1, nextPtsMat.cols, CV_32FC2, &nextPoints[0]));
 
+        if (prevPtsMat.channels() != 2)
+            prevPtsMat = prevPtsMat.reshape(2, npoints);
+
+        prevPtsMat.copyTo(prevPoints);
+
+        if (param->useInitialFlow )
+        {
+            if (nextPtsMat.channels() != 2)
+                nextPtsMat = nextPtsMat.reshape(2, npoints);
+            nextPtsMat.copyTo(nextPoints);
+        }
         cv::Mat statusMat;
         cv::Mat errorMat;
         if (status.needed() || forwardBackwardThreshold > 0)
@@ -346,7 +353,7 @@ class SparseRLOFOpticalFlowImpl : public SparseRLOFOpticalFlow
         {
             Point2f diff = refPoints[r] - prevPoints[r];
             errorMat.at<float>(r) = sqrt(diff.x * diff.x + diff.y * diff.y);
-            if (errorMat.at<float>(r) <= forwardBackwardThreshold)
+            if (errorMat.at<float>(r) > forwardBackwardThreshold)
                 statusMat.at<uchar>(r) = 0;
         }
 

modules/optflow/test/test_OF_accuracy.cpp

@@ -260,7 +260,7 @@ TEST(DenseOpticalFlow_RLOF, ReferenceAccuracy)
 
     ASSERT_EQ(GT.rows, flow.rows);
     ASSERT_EQ(GT.cols, flow.cols);
-    EXPECT_LE(calcRMSE(GT, flow), 0.44f);
+    EXPECT_LE(calcRMSE(GT, flow), 0.46f);
 
     algo->setInterpolation(INTERP_GEO);
     algo->calc(frame1, frame2, flow);