#include <float.h>
#include <stdio.h>
-void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
- InputArray _prevPts, InputOutputArray _nextPts,
- OutputArray _status, OutputArray _err,
- Size winSize, int maxLevel,
- TermCriteria criteria,
- double derivLambda,
- int flags )
+namespace cv
{
-#ifdef HAVE_TEGRA_OPTIMIZATION
- if (tegra::calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err, winSize, maxLevel, criteria, derivLambda, flags))
- return;
-#endif
- Mat prevImg = _prevImg.getMat(), nextImg = _nextImg.getMat(), prevPtsMat = _prevPts.getMat();
- derivLambda = std::min(std::max(derivLambda, 0.), 1.);
- double lambda1 = 1. - derivLambda, lambda2 = derivLambda;
- const int derivKernelSize = 3;
- const float deriv1Scale = 0.5f/4.f;
- const float deriv2Scale = 0.25f/4.f;
- const int derivDepth = CV_32F;
- Point2f halfWin((winSize.width-1)*0.5f, (winSize.height-1)*0.5f);
- CV_Assert( maxLevel >= 0 && winSize.width > 2 && winSize.height > 2 );
- CV_Assert( prevImg.size() == nextImg.size() &&
- prevImg.type() == nextImg.type() );
-
- int npoints;
- CV_Assert( (npoints = prevPtsMat.checkVector(2, CV_32F, true)) >= 0 );
-
- if( npoints == 0 )
- {
- _nextPts.release();
- _status.release();
- _err.release();
- return;
- }
+typedef short deriv_type;
- if( !(flags & OPTFLOW_USE_INITIAL_FLOW) )
- _nextPts.create(prevPtsMat.size(), prevPtsMat.type(), -1, true);
-
- Mat nextPtsMat = _nextPts.getMat();
- CV_Assert( nextPtsMat.checkVector(2, CV_32F, true) == npoints );
-
- const Point2f* prevPts = (const Point2f*)prevPtsMat.data;
- Point2f* nextPts = (Point2f*)nextPtsMat.data;
+static void calcSharrDeriv(const Mat& src, Mat& dst)
+{
+ int rows = src.rows, cols = src.cols, cn = src.channels(), colsn = cols*cn, depth = src.depth();
+ CV_Assert(depth == CV_8U);
+ dst.create(rows, cols, CV_MAKETYPE(DataType<deriv_type>::depth, cn*2));
- _status.create((int)npoints, 1, CV_8U, -1, true);
- Mat statusMat = _status.getMat(), errMat;
- CV_Assert( statusMat.isContinuous() );
- uchar* status = statusMat.data;
- float* err = 0;
+ int x, y, delta = (int)alignSize((cols + 2)*cn, 16);
+ AutoBuffer<deriv_type> _tempBuf(delta*2 + 64);
+ deriv_type *trow0 = alignPtr(_tempBuf + cn, 16), *trow1 = alignPtr(trow0 + delta, 16);
- for( int i = 0; i < npoints; i++ )
- status[i] = true;
+#if CV_SSE2
+ __m128i z = _mm_setzero_si128(), c3 = _mm_set1_epi16(3), c10 = _mm_set1_epi16(10);
+#endif
- if( _err.needed() )
+ for( y = 0; y < rows; y++ )
{
- _err.create((int)npoints, 1, CV_32F, -1, true);
- errMat = _err.getMat();
- CV_Assert( errMat.isContinuous() );
- err = (float*)errMat.data;
+ const uchar* srow0 = src.ptr<uchar>(y > 0 ? y-1 : rows > 1 ? 1 : 0);
+ const uchar* srow1 = src.ptr<uchar>(y);
+ const uchar* srow2 = src.ptr<uchar>(y < rows-1 ? y+1 : rows > 1 ? rows-2 : 0);
+ deriv_type* drow = dst.ptr<deriv_type>(y);
+
+ // do vertical convolution
+ x = 0;
+#if CV_SSE2
+ for( ; x <= colsn - 8; x += 8 )
+ {
+ __m128i s0 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(srow0 + x)), z);
+ __m128i s1 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(srow1 + x)), z);
+ __m128i s2 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(srow2 + x)), z);
+ __m128i t0 = _mm_add_epi16(_mm_mullo_epi16(_mm_add_epi16(s0, s2), c3), _mm_mullo_epi16(s1, c10));
+ __m128i t1 = _mm_sub_epi16(s2, s0);
+ _mm_store_si128((__m128i*)(trow0 + x), t0);
+ _mm_store_si128((__m128i*)(trow1 + x), t1);
+ }
+#endif
+ for( ; x < colsn; x++ )
+ {
+ int t0 = (srow0[x] + srow2[x])*3 + srow1[x]*10;
+ int t1 = srow2[x] - srow0[x];
+ trow0[x] = (deriv_type)t0;
+ trow1[x] = (deriv_type)t1;
+ }
+
+ // make border
+ int x0 = (cols > 1 ? 1 : 0)*cn, x1 = (cols > 1 ? cols-2 : 0)*cn;
+ for( int k = 0; k < cn; k++ )
+ {
+ trow0[-cn + k] = trow0[x0 + k]; trow0[colsn + k] = trow0[x1 + k];
+ trow1[-cn + k] = trow1[x0 + k]; trow1[colsn + k] = trow1[x1 + k];
+ }
+
+ // do horizontal convolution, interleave the results and store them to dst
+ x = 0;
+#if CV_SSE2
+ for( ; x <= colsn - 8; x += 8 )
+ {
+ __m128i s0 = _mm_loadu_si128((const __m128i*)(trow0 + x - cn));
+ __m128i s1 = _mm_loadu_si128((const __m128i*)(trow0 + x + cn));
+ __m128i s2 = _mm_loadu_si128((const __m128i*)(trow1 + x - cn));
+ __m128i s3 = _mm_load_si128((const __m128i*)(trow1 + x));
+ __m128i s4 = _mm_loadu_si128((const __m128i*)(trow1 + x + cn));
+
+ __m128i t0 = _mm_sub_epi16(s1, s0);
+ __m128i t1 = _mm_add_epi16(_mm_mullo_epi16(_mm_add_epi16(s2, s4), c3), _mm_mullo_epi16(s3, c10));
+ __m128i t2 = _mm_unpacklo_epi16(t0, t1);
+ t0 = _mm_unpackhi_epi16(t0, t1);
+ // this can probably be replaced with aligned stores if we aligned dst properly.
+ _mm_storeu_si128((__m128i*)(drow + x*2), t2);
+ _mm_storeu_si128((__m128i*)(drow + x*2 + 8), t0);
+ }
+#endif
+ for( ; x < colsn; x++ )
+ {
+ deriv_type t0 = (deriv_type)(trow0[x+cn] - trow0[x-cn]);
+ deriv_type t1 = (deriv_type)((trow1[x+cn] + trow1[x-cn])*3 + trow1[x]*10);
+ drow[x*2] = t0; drow[x*2+1] = t1;
+ }
}
+}
- vector<Mat> prevPyr, nextPyr;
-
- int cn = prevImg.channels();
- buildPyramid( prevImg, prevPyr, maxLevel );
- buildPyramid( nextImg, nextPyr, maxLevel );
- // I, dI/dx ~ Ix, dI/dy ~ Iy, d2I/dx2 ~ Ixx, d2I/dxdy ~ Ixy, d2I/dy2 ~ Iyy
- Mat derivIBuf((prevImg.rows + winSize.height*2),
- (prevImg.cols + winSize.width*2),
- CV_MAKETYPE(derivDepth, cn*6));
- // J, dJ/dx ~ Jx, dJ/dy ~ Jy
- Mat derivJBuf((prevImg.rows + winSize.height*2),
- (prevImg.cols + winSize.width*2),
- CV_MAKETYPE(derivDepth, cn*3));
- Mat tempDerivBuf(prevImg.size(), CV_MAKETYPE(derivIBuf.type(), cn));
- Mat derivIWinBuf(winSize, derivIBuf.type());
-
- if( (criteria.type & TermCriteria::COUNT) == 0 )
- criteria.maxCount = 30;
- else
- criteria.maxCount = std::min(std::max(criteria.maxCount, 0), 100);
- if( (criteria.type & TermCriteria::EPS) == 0 )
- criteria.epsilon = 0.01;
- else
- criteria.epsilon = std::min(std::max(criteria.epsilon, 0.), 10.);
- criteria.epsilon *= criteria.epsilon;
-
- for( int level = maxLevel; level >= 0; level-- )
+
+struct LKTrackerInvoker
+{
+ LKTrackerInvoker( const Mat& _prevImg, const Mat& _prevDeriv, const Mat& _nextImg,
+ const Point2f* _prevPts, Point2f* _nextPts,
+ uchar* _status, float* _err,
+ Size _winSize, TermCriteria _criteria,
+ int _level, int _maxLevel, int _flags )
{
- int k;
- Size imgSize = prevPyr[level].size();
- Mat tempDeriv( imgSize, tempDerivBuf.type(), tempDerivBuf.data );
- Mat _derivI( imgSize.height + winSize.height*2,
- imgSize.width + winSize.width*2,
- derivIBuf.type(), derivIBuf.data );
- Mat _derivJ( imgSize.height + winSize.height*2,
- imgSize.width + winSize.width*2,
- derivJBuf.type(), derivJBuf.data );
- Mat derivI(_derivI, Rect(winSize.width, winSize.height, imgSize.width, imgSize.height));
- Mat derivJ(_derivJ, Rect(winSize.width, winSize.height, imgSize.width, imgSize.height));
- CvMat cvderivI = _derivI;
- cvZero(&cvderivI);
- CvMat cvderivJ = _derivJ;
- cvZero(&cvderivJ);
-
- vector<int> fromTo(cn*2);
- for( k = 0; k < cn; k++ )
- fromTo[k*2] = k;
-
- prevPyr[level].convertTo(tempDeriv, derivDepth);
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*6;
- mixChannels(&tempDeriv, 1, &derivI, 1, &fromTo[0], cn);
-
- // compute spatial derivatives and merge them together
- Sobel(prevPyr[level], tempDeriv, derivDepth, 1, 0, derivKernelSize, deriv1Scale );
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*6 + 1;
- mixChannels(&tempDeriv, 1, &derivI, 1, &fromTo[0], cn);
-
- Sobel(prevPyr[level], tempDeriv, derivDepth, 0, 1, derivKernelSize, deriv1Scale );
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*6 + 2;
- mixChannels(&tempDeriv, 1, &derivI, 1, &fromTo[0], cn);
-
- Sobel(prevPyr[level], tempDeriv, derivDepth, 2, 0, derivKernelSize, deriv2Scale );
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*6 + 3;
- mixChannels(&tempDeriv, 1, &derivI, 1, &fromTo[0], cn);
-
- Sobel(prevPyr[level], tempDeriv, derivDepth, 1, 1, derivKernelSize, deriv2Scale );
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*6 + 4;
- mixChannels(&tempDeriv, 1, &derivI, 1, &fromTo[0], cn);
-
- Sobel(prevPyr[level], tempDeriv, derivDepth, 0, 2, derivKernelSize, deriv2Scale );
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*6 + 5;
- mixChannels(&tempDeriv, 1, &derivI, 1, &fromTo[0], cn);
-
- nextPyr[level].convertTo(tempDeriv, derivDepth);
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*3;
- mixChannels(&tempDeriv, 1, &derivJ, 1, &fromTo[0], cn);
-
- Sobel(nextPyr[level], tempDeriv, derivDepth, 1, 0, derivKernelSize, deriv1Scale );
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*3 + 1;
- mixChannels(&tempDeriv, 1, &derivJ, 1, &fromTo[0], cn);
-
- Sobel(nextPyr[level], tempDeriv, derivDepth, 0, 1, derivKernelSize, deriv1Scale );
- for( k = 0; k < cn; k++ )
- fromTo[k*2+1] = k*3 + 2;
- mixChannels(&tempDeriv, 1, &derivJ, 1, &fromTo[0], cn);
-
- /*copyMakeBorder( derivI, _derivI, winSize.height, winSize.height,
- winSize.width, winSize.width, BORDER_CONSTANT );
- copyMakeBorder( derivJ, _derivJ, winSize.height, winSize.height,
- winSize.width, winSize.width, BORDER_CONSTANT );*/
-
- for( int ptidx = 0; ptidx < npoints; ptidx++ )
+ prevImg = &_prevImg;
+ prevDeriv = &_prevDeriv;
+ nextImg = &_nextImg;
+ prevPts = _prevPts;
+ nextPts = _nextPts;
+ status = _status;
+ err = _err;
+ winSize = _winSize;
+ criteria = _criteria;
+ level = _level;
+ maxLevel = _maxLevel;
+ flags = _flags;
+ }
+
+ void operator()(const BlockedRange& range) const
+ {
+ Point2f halfWin((winSize.width-1)*0.5f, (winSize.height-1)*0.5f);
+ const Mat& I = *prevImg;
+ const Mat& J = *nextImg;
+ const Mat& derivI = *prevDeriv;
+
+ int j, cn = I.channels(), cn2 = cn*2;
+ cv::AutoBuffer<deriv_type> _buf(winSize.area()*(cn + cn2));
+ int derivDepth = DataType<deriv_type>::depth;
+
+ Mat IWinBuf(winSize, CV_MAKETYPE(derivDepth, cn), (deriv_type*)_buf);
+ Mat derivIWinBuf(winSize, CV_MAKETYPE(derivDepth, cn2), (deriv_type*)_buf + winSize.area()*cn);
+
+ for( int ptidx = range.begin(); ptidx < range.end(); ptidx++ )
{
Point2f prevPt = prevPts[ptidx]*(float)(1./(1 << level));
Point2f nextPt;
prevPt -= halfWin;
iprevPt.x = cvFloor(prevPt.x);
iprevPt.y = cvFloor(prevPt.y);
-
+
if( iprevPt.x < -winSize.width || iprevPt.x >= derivI.cols ||
iprevPt.y < -winSize.height || iprevPt.y >= derivI.rows )
{
if( level == 0 )
{
- status[ptidx] = false;
- err[ptidx] = FLT_MAX;
+ if( status )
+ status[ptidx] = false;
+ if( err )
+ err[ptidx] = 0;
}
continue;
}
float a = prevPt.x - iprevPt.x;
float b = prevPt.y - iprevPt.y;
- float w00 = (1.f - a)*(1.f - b), w01 = a*(1.f - b);
- float w10 = (1.f - a)*b, w11 = a*b;
- size_t stepI = derivI.step/derivI.elemSize1();
- size_t stepJ = derivJ.step/derivJ.elemSize1();
- int cnI = cn*6, cnJ = cn*3;
- double A11 = 0, A12 = 0, A22 = 0;
- double iA11 = 0, iA12 = 0, iA22 = 0;
+ const int W_BITS = 14, W_BITS1 = 14;
+ const float FLT_SCALE = 1.f/(1 << 20);
+ int iw00 = cvRound((1.f - a)*(1.f - b)*(1 << W_BITS));
+ int iw01 = cvRound(a*(1.f - b)*(1 << W_BITS));
+ int iw10 = cvRound((1.f - a)*b*(1 << W_BITS));
+ int iw11 = (1 << W_BITS) - iw00 - iw01 - iw10;
+
+ int dstep = (int)(derivI.step/derivI.elemSize1());
+ int step = (int)(I.step/I.elemSize1());
+ CV_Assert( step == (int)(J.step/J.elemSize1()) );
+ float A11 = 0, A12 = 0, A22 = 0;
- // extract the patch from the first image
+#if CV_SSE2
+ __m128i qw0 = _mm_set1_epi32(iw00 + (iw01 << 16));
+ __m128i qw1 = _mm_set1_epi32(iw10 + (iw11 << 16));
+ __m128i z = _mm_setzero_si128();
+ __m128i qdelta_d = _mm_set1_epi32(1 << (W_BITS1-1));
+ __m128i qdelta = _mm_set1_epi32(1 << (W_BITS1-5-1));
+ __m128 qA11 = _mm_setzero_ps(), qA12 = _mm_setzero_ps(), qA22 = _mm_setzero_ps();
+#endif
+
+ // extract the patch from the first image, compute covariation matrix of derivatives
int x, y;
for( y = 0; y < winSize.height; y++ )
{
- const float* src = (const float*)(derivI.data +
- (y + iprevPt.y)*derivI.step) + iprevPt.x*cnI;
- float* dst = (float*)(derivIWinBuf.data + y*derivIWinBuf.step);
-
- for( x = 0; x < winSize.width*cnI; x += cnI, src += cnI )
+ const uchar* src = (const uchar*)I.data + (y + iprevPt.y)*step + iprevPt.x*cn;
+ const deriv_type* dsrc = (const deriv_type*)derivI.data + (y + iprevPt.y)*dstep + iprevPt.x*cn2;
+
+ deriv_type* Iptr = (deriv_type*)(IWinBuf.data + y*IWinBuf.step);
+ deriv_type* dIptr = (deriv_type*)(derivIWinBuf.data + y*derivIWinBuf.step);
+
+ x = 0;
+
+#if CV_SSE2
+ for( ; x <= winSize.width*cn - 4; x += 4, dsrc += 4*2, dIptr += 4*2 )
+ {
+ __m128i v00, v01, v10, v11, t0, t1;
+
+ v00 = _mm_unpacklo_epi8(_mm_cvtsi32_si128(*(const int*)(src + x)), z);
+ v01 = _mm_unpacklo_epi8(_mm_cvtsi32_si128(*(const int*)(src + x + cn)), z);
+ v10 = _mm_unpacklo_epi8(_mm_cvtsi32_si128(*(const int*)(src + x + step)), z);
+ v11 = _mm_unpacklo_epi8(_mm_cvtsi32_si128(*(const int*)(src + x + step + cn)), z);
+
+ t0 = _mm_add_epi32(_mm_madd_epi16(_mm_unpacklo_epi16(v00, v01), qw0),
+ _mm_madd_epi16(_mm_unpacklo_epi16(v10, v11), qw1));
+ t0 = _mm_srai_epi32(_mm_add_epi32(t0, qdelta), W_BITS1-5);
+ _mm_storel_epi64((__m128i*)(Iptr + x), _mm_packs_epi32(t0,t0));
+
+ v00 = _mm_loadu_si128((const __m128i*)(dsrc));
+ v01 = _mm_loadu_si128((const __m128i*)(dsrc + cn2));
+ v10 = _mm_loadu_si128((const __m128i*)(dsrc + dstep));
+ v11 = _mm_loadu_si128((const __m128i*)(dsrc + dstep + cn2));
+
+ t0 = _mm_add_epi32(_mm_madd_epi16(_mm_unpacklo_epi16(v00, v01), qw0),
+ _mm_madd_epi16(_mm_unpacklo_epi16(v10, v11), qw1));
+ t1 = _mm_add_epi32(_mm_madd_epi16(_mm_unpackhi_epi16(v00, v01), qw0),
+ _mm_madd_epi16(_mm_unpackhi_epi16(v10, v11), qw1));
+ t0 = _mm_srai_epi32(_mm_add_epi32(t0, qdelta_d), W_BITS1);
+ t1 = _mm_srai_epi32(_mm_add_epi32(t1, qdelta_d), W_BITS1);
+ v00 = _mm_packs_epi32(t0, t1); // Ix0 Iy0 Ix1 Iy1 ...
+
+ _mm_storeu_si128((__m128i*)dIptr, v00);
+ t0 = _mm_srai_epi32(v00, 16); // Iy0 Iy1 Iy2 Iy3
+ t1 = _mm_srai_epi32(_mm_slli_epi32(v00, 16), 16); // Ix0 Ix1 Ix2 Ix3
+
+ __m128 fy = _mm_cvtepi32_ps(t0);
+ __m128 fx = _mm_cvtepi32_ps(t1);
+
+ qA22 = _mm_add_ps(qA22, _mm_mul_ps(fy, fy));
+ qA12 = _mm_add_ps(qA12, _mm_mul_ps(fx, fy));
+ qA11 = _mm_add_ps(qA11, _mm_mul_ps(fx, fx));
+ }
+#endif
+
+ for( ; x < winSize.width*cn; x++, dsrc += 2, dIptr += 2 )
{
- float I = src[0]*w00 + src[cnI]*w01 + src[stepI]*w10 + src[stepI+cnI]*w11;
- dst[x] = I;
+ int ival = CV_DESCALE(src[x]*iw00 + src[x+cn]*iw01 +
+ src[x+step]*iw10 + src[x+step+cn]*iw11, W_BITS1-5);
+ int ixval = CV_DESCALE(dsrc[0]*iw00 + dsrc[cn2]*iw01 +
+ dsrc[dstep]*iw10 + dsrc[dstep+cn2]*iw11, W_BITS1);
+ int iyval = CV_DESCALE(dsrc[1]*iw00 + dsrc[cn2+1]*iw01 + dsrc[dstep+1]*iw10 +
+ dsrc[dstep+cn2+1]*iw11, W_BITS1);
- float Ix = src[1]*w00 + src[cnI+1]*w01 + src[stepI+1]*w10 + src[stepI+cnI+1]*w11;
- float Iy = src[2]*w00 + src[cnI+2]*w01 + src[stepI+2]*w10 + src[stepI+cnI+2]*w11;
- dst[x+1] = Ix; dst[x+2] = Iy;
+ Iptr[x] = (short)ival;
+ dIptr[0] = (short)ixval;
+ dIptr[1] = (short)iyval;
- float Ixx = src[3]*w00 + src[cnI+3]*w01 + src[stepI+3]*w10 + src[stepI+cnI+3]*w11;
- float Ixy = src[4]*w00 + src[cnI+4]*w01 + src[stepI+4]*w10 + src[stepI+cnI+4]*w11;
- float Iyy = src[5]*w00 + src[cnI+5]*w01 + src[stepI+5]*w10 + src[stepI+cnI+5]*w11;
- dst[x+3] = Ixx; dst[x+4] = Ixy; dst[x+5] = Iyy;
-
- iA11 += (double)Ix*Ix;
- iA12 += (double)Ix*Iy;
- iA22 += (double)Iy*Iy;
-
- A11 += (double)Ixx*Ixx + (double)Ixy*Ixy;
- A12 += Ixy*((double)Ixx + Iyy);
- A22 += (double)Ixy*Ixy + (double)Iyy*Iyy;
+ A11 += (float)(ixval*ixval);
+ A12 += (float)(ixval*iyval);
+ A22 += (float)(iyval*iyval);
}
}
-
- A11 = lambda1*iA11 + lambda2*A11;
- A12 = lambda1*iA12 + lambda2*A12;
- A22 = lambda1*iA22 + lambda2*A22;
-
- double D = A11*A22 - A12*A12;
- double minEig = (A22 + A11 - std::sqrt((A11-A22)*(A11-A22) +
- 4.*A12*A12))/(2*winSize.width*winSize.height);
+
+#if CV_SSE2
+ float CV_DECL_ALIGNED(16) A11buf[4], A12buf[4], A22buf[4];
+ _mm_store_ps(A11buf, qA11);
+ _mm_store_ps(A12buf, qA12);
+ _mm_store_ps(A22buf, qA22);
+ A11 += A11buf[0] + A11buf[1] + A11buf[2] + A11buf[3];
+ A12 += A12buf[0] + A12buf[1] + A12buf[2] + A12buf[3];
+ A22 += A22buf[0] + A22buf[1] + A22buf[2] + A22buf[3];
+#endif
+
+ A11 *= FLT_SCALE;
+ A12 *= FLT_SCALE;
+ A22 *= FLT_SCALE;
+
+ float D = A11*A22 - A12*A12;
+ float minEig = (A22 + A11 - std::sqrt((A11-A22)*(A11-A22) +
+ 4.f*A12*A12))/(2*winSize.width*winSize.height);
if( err )
err[ptidx] = (float)minEig;
-
- if( D < DBL_EPSILON )
+
+ if( D < FLT_EPSILON )
{
- if( level == 0 )
+ if( level == 0 && status )
status[ptidx] = false;
continue;
}
- D = 1./D;
-
+ D = 1.f/D;
+
nextPt -= halfWin;
Point2f prevDelta;
-
- for( int j = 0; j < criteria.maxCount; j++ )
+
+ for( j = 0; j < criteria.maxCount; j++ )
{
inextPt.x = cvFloor(nextPt.x);
inextPt.y = cvFloor(nextPt.y);
-
- if( inextPt.x < -winSize.width || inextPt.x >= derivJ.cols ||
- inextPt.y < -winSize.height || inextPt.y >= derivJ.rows )
+
+ if( inextPt.x < -winSize.width || inextPt.x >= J.cols ||
+ inextPt.y < -winSize.height || inextPt.y >= J.rows )
{
- if( level == 0 )
+ if( level == 0 && status )
status[ptidx] = false;
break;
}
-
+
a = nextPt.x - inextPt.x;
b = nextPt.y - inextPt.y;
- w00 = (1.f - a)*(1.f - b); w01 = a*(1.f - b);
- w10 = (1.f - a)*b; w11 = a*b;
-
- double b1 = 0, b2 = 0, ib1 = 0, ib2 = 0;
-
+ iw00 = cvRound((1.f - a)*(1.f - b)*(1 << W_BITS));
+ iw01 = cvRound(a*(1.f - b)*(1 << W_BITS));
+ iw10 = cvRound((1.f - a)*b*(1 << W_BITS));
+ iw11 = (1 << W_BITS) - iw00 - iw01 - iw10;
+ float b1 = 0, b2 = 0;
+#if CV_SSE2
+ qw0 = _mm_set1_epi32(iw00 + (iw01 << 16));
+ qw1 = _mm_set1_epi32(iw10 + (iw11 << 16));
+ __m128 qb0 = _mm_setzero_ps(), qb1 = _mm_setzero_ps();
+#endif
+
for( y = 0; y < winSize.height; y++ )
{
- const float* src = (const float*)(derivJ.data +
- (y + inextPt.y)*derivJ.step) + inextPt.x*cnJ;
- const float* Ibuf = (float*)(derivIWinBuf.data + y*derivIWinBuf.step);
-
- for( x = 0; x < winSize.width; x++, src += cnJ, Ibuf += cnI )
+ const uchar* Jptr = (const uchar*)J.data + (y + inextPt.y)*step + inextPt.x*cn;
+ const deriv_type* Iptr = (const deriv_type*)(IWinBuf.data + y*IWinBuf.step);
+ const deriv_type* dIptr = (const deriv_type*)(derivIWinBuf.data + y*derivIWinBuf.step);
+
+ x = 0;
+
+#if CV_SSE2
+ for( ; x <= winSize.width*cn - 8; x += 8, dIptr += 8*2 )
{
- double It = src[0]*w00 + src[cnJ]*w01 + src[stepJ]*w10 +
- src[stepJ+cnJ]*w11 - Ibuf[0];
- double Ixt = src[1]*w00 + src[cnJ+1]*w01 + src[stepJ+1]*w10 +
- src[stepJ+cnJ+1]*w11 - Ibuf[1];
- double Iyt = src[2]*w00 + src[cnJ+2]*w01 + src[stepJ+2]*w10 +
- src[stepJ+cnJ+2]*w11 - Ibuf[2];
- b1 += Ixt*Ibuf[3] + Iyt*Ibuf[4];
- b2 += Ixt*Ibuf[4] + Iyt*Ibuf[5];
- ib1 += It*Ibuf[1];
- ib2 += It*Ibuf[2];
+ __m128i diff0 = _mm_loadu_si128((const __m128i*)(Iptr + x)), diff1;
+ __m128i v00 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(Jptr + x)), z);
+ __m128i v01 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(Jptr + x + cn)), z);
+ __m128i v10 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(Jptr + x + step)), z);
+ __m128i v11 = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(Jptr + x + step + cn)), z);
+
+ __m128i t0 = _mm_add_epi32(_mm_madd_epi16(_mm_unpacklo_epi16(v00, v01), qw0),
+ _mm_madd_epi16(_mm_unpacklo_epi16(v10, v11), qw1));
+ __m128i t1 = _mm_add_epi32(_mm_madd_epi16(_mm_unpackhi_epi16(v00, v01), qw0),
+ _mm_madd_epi16(_mm_unpackhi_epi16(v10, v11), qw1));
+ t0 = _mm_srai_epi32(_mm_add_epi32(t0, qdelta), W_BITS1-5);
+ t1 = _mm_srai_epi32(_mm_add_epi32(t1, qdelta), W_BITS1-5);
+ diff0 = _mm_subs_epi16(_mm_packs_epi32(t0, t1), diff0);
+ diff1 = _mm_unpackhi_epi16(diff0, diff0);
+ diff0 = _mm_unpacklo_epi16(diff0, diff0); // It0 It0 It1 It1 ...
+ v00 = _mm_loadu_si128((const __m128i*)(dIptr)); // Ix0 Iy0 Ix1 Iy1 ...
+ v01 = _mm_loadu_si128((const __m128i*)(dIptr + 8));
+ v10 = _mm_mullo_epi16(v00, diff0);
+ v11 = _mm_mulhi_epi16(v00, diff0);
+ v00 = _mm_unpacklo_epi16(v10, v11);
+ v10 = _mm_unpackhi_epi16(v10, v11);
+ qb0 = _mm_add_ps(qb0, _mm_cvtepi32_ps(v00));
+ qb1 = _mm_add_ps(qb1, _mm_cvtepi32_ps(v10));
+ v10 = _mm_mullo_epi16(v01, diff1);
+ v11 = _mm_mulhi_epi16(v01, diff1);
+ v00 = _mm_unpacklo_epi16(v10, v11);
+ v10 = _mm_unpackhi_epi16(v10, v11);
+ qb0 = _mm_add_ps(qb0, _mm_cvtepi32_ps(v00));
+ qb1 = _mm_add_ps(qb1, _mm_cvtepi32_ps(v10));
+ }
+#endif
+
+ for( ; x < winSize.width*cn; x++, dIptr += 2 )
+ {
+ int diff = CV_DESCALE(Jptr[x]*iw00 + Jptr[x+cn]*iw01 +
+ Jptr[x+step]*iw10 + Jptr[x+step+cn]*iw11,
+ W_BITS1-5) - Iptr[x];
+ b1 += (float)(diff*dIptr[0]);
+ b2 += (float)(diff*dIptr[1]);
}
}
-
- b1 = lambda1*ib1 + lambda2*b1;
- b2 = lambda1*ib2 + lambda2*b2;
+
+#if CV_SSE2
+ float CV_DECL_ALIGNED(16) bbuf[4];
+ _mm_store_ps(bbuf, _mm_add_ps(qb0, qb1));
+ b1 += bbuf[0] + bbuf[2];
+ b2 += bbuf[1] + bbuf[3];
+#endif
+
+ b1 *= FLT_SCALE;
+ b2 *= FLT_SCALE;
+
Point2f delta( (float)((A12*b2 - A22*b1) * D),
- (float)((A12*b1 - A11*b2) * D));
+ (float)((A12*b1 - A11*b2) * D));
//delta = -delta;
-
+
nextPt += delta;
nextPts[ptidx] = nextPt + halfWin;
-
+
if( delta.ddot(delta) <= criteria.epsilon )
break;
-
+
if( j > 0 && std::abs(delta.x + prevDelta.x) < 0.01 &&
- std::abs(delta.y + prevDelta.y) < 0.01 )
+ std::abs(delta.y + prevDelta.y) < 0.01 )
{
nextPts[ptidx] -= delta*0.5f;
break;
}
}
}
+
+ const Mat* prevImg;
+ const Mat* nextImg;
+ const Mat* prevDeriv;
+ const Point2f* prevPts;
+ Point2f* nextPts;
+ uchar* status;
+ float* err;
+ Size winSize;
+ TermCriteria criteria;
+ int level;
+ int maxLevel;
+ int flags;
+};
+
}
-static void
-intersect( CvPoint2D32f pt, CvSize win_size, CvSize imgSize,
- CvPoint* min_pt, CvPoint* max_pt )
+void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
+ InputArray _prevPts, InputOutputArray _nextPts,
+ OutputArray _status, OutputArray _err,
+ Size winSize, int maxLevel,
+ TermCriteria criteria,
+ double derivLambda,
+ int flags )
{
- CvPoint ipt;
+#ifdef HAVE_TEGRA_OPTIMIZATION
+ if (tegra::calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err, winSize, maxLevel, criteria, derivLambda, flags))
+ return;
+#endif
+ Mat prevImg = _prevImg.getMat(), nextImg = _nextImg.getMat(), prevPtsMat = _prevPts.getMat();
+ derivLambda = std::min(std::max(derivLambda, 0.), 1.);
+ const int derivDepth = DataType<deriv_type>::depth;
- ipt.x = cvFloor( pt.x );
- ipt.y = cvFloor( pt.y );
+ CV_Assert( derivLambda >= 0 );
+ CV_Assert( maxLevel >= 0 && winSize.width > 2 && winSize.height > 2 );
+ CV_Assert( prevImg.size() == nextImg.size() &&
+ prevImg.type() == nextImg.type() );
- ipt.x -= win_size.width;
- ipt.y -= win_size.height;
+ int level=0, i, k, npoints, cn = prevImg.channels(), cn2 = cn*2;
+ CV_Assert( (npoints = prevPtsMat.checkVector(2, CV_32F, true)) >= 0 );
+
+ if( npoints == 0 )
+ {
+ _nextPts.release();
+ _status.release();
+ _err.release();
+ return;
+ }
+
+ if( !(flags & OPTFLOW_USE_INITIAL_FLOW) )
+ _nextPts.create(prevPtsMat.size(), prevPtsMat.type(), -1, true);
+
+ Mat nextPtsMat = _nextPts.getMat();
+ CV_Assert( nextPtsMat.checkVector(2, CV_32F, true) == npoints );
+
+ const Point2f* prevPts = (const Point2f*)prevPtsMat.data;
+ Point2f* nextPts = (Point2f*)nextPtsMat.data;
+
+ _status.create((int)npoints, 1, CV_8U, -1, true);
+ Mat statusMat = _status.getMat(), errMat;
+ CV_Assert( statusMat.isContinuous() );
+ uchar* status = statusMat.data;
+ float* err = 0;
+
+ for( i = 0; i < npoints; i++ )
+ status[i] = true;
+
+ if( _err.needed() )
+ {
+ _err.create((int)npoints, 1, CV_32F, -1, true);
+ errMat = _err.getMat();
+ CV_Assert( errMat.isContinuous() );
+ err = (float*)errMat.data;
+ }
- win_size.width = win_size.width * 2 + 1;
- win_size.height = win_size.height * 2 + 1;
+ vector<Mat> prevPyr(maxLevel+1), nextPyr(maxLevel+1);
+
+ // build the image pyramids.
+ // we pad each level with +/-winSize.{width|height}
+ // pixels to simplify the further patch extraction.
+ // Thanks to the reference counting, "temp" mat (the pyramid layer + border)
+ // will not be deallocated, since {prevPyr|nextPyr}[level] will be a ROI in "temp".
+ for( k = 0; k < 2; k++ )
+ {
+ Size sz = prevImg.size();
+ vector<Mat>& pyr = k == 0 ? prevPyr : nextPyr;
+ Mat& img0 = k == 0 ? prevImg : nextImg;
+
+ for( level = 0; level <= maxLevel; level++ )
+ {
+ Mat temp(sz.height + winSize.height*2,
+ sz.width + winSize.width*2,
+ img0.type());
+ pyr[level] = temp(Rect(winSize.width, winSize.height, sz.width, sz.height));
+ if( level == 0 )
+ img0.copyTo(pyr[level]);
+ else
+ pyrDown(pyr[level-1], pyr[level], pyr[level].size());
+ copyMakeBorder(pyr[level], temp, winSize.height, winSize.height,
+ winSize.width, winSize.width, BORDER_REFLECT_101);
+ sz = Size((sz.width+1)/2, (sz.height+1)/2);
+ if( sz.width <= winSize.width || sz.height <= winSize.height )
+ {
+ maxLevel = level;
+ break;
+ }
+ }
+ }
+ // dI/dx ~ Ix, dI/dy ~ Iy
+ Mat derivIBuf((prevImg.rows + winSize.height*2),
+ (prevImg.cols + winSize.width*2),
+ CV_MAKETYPE(derivDepth, cn2));
- min_pt->x = MAX( 0, -ipt.x );
- min_pt->y = MAX( 0, -ipt.y );
- max_pt->x = MIN( win_size.width, imgSize.width - ipt.x );
- max_pt->y = MIN( win_size.height, imgSize.height - ipt.y );
+ if( (criteria.type & TermCriteria::COUNT) == 0 )
+ criteria.maxCount = 30;
+ else
+ criteria.maxCount = std::min(std::max(criteria.maxCount, 0), 100);
+ if( (criteria.type & TermCriteria::EPS) == 0 )
+ criteria.epsilon = 0.01;
+ else
+ criteria.epsilon = std::min(std::max(criteria.epsilon, 0.), 10.);
+ criteria.epsilon *= criteria.epsilon;
+
+ for( level = maxLevel; level >= 0; level-- )
+ {
+ Size imgSize = prevPyr[level].size();
+ Mat _derivI( imgSize.height + winSize.height*2,
+ imgSize.width + winSize.width*2, derivIBuf.type(), derivIBuf.data );
+ Mat derivI = _derivI(Rect(winSize.width, winSize.height, imgSize.width, imgSize.height));
+ calcSharrDeriv(prevPyr[level], derivI);
+ copyMakeBorder(derivI, _derivI, winSize.height, winSize.height, winSize.width, winSize.width, BORDER_CONSTANT);
+
+ Mat I = prevPyr[level], J = nextPyr[level];
+
+ parallel_for(BlockedRange(0, npoints), LKTrackerInvoker(prevPyr[level], derivI,
+ nextPyr[level], prevPts, nextPts,
+ status, err,
+ winSize, criteria, level, maxLevel, flags));
+ }
}
ICV_DEF_GET_QUADRANGLE_SUB_PIX_FUNC( 8u32f, uchar, float, double, CV_CAST_32F, CV_8TO32F )
-namespace cv
-{
-
-struct LKTrackerInvoker
-{
- LKTrackerInvoker( const CvMat* _imgI, const CvMat* _imgJ,
- const CvPoint2D32f* _featuresA,
- CvPoint2D32f* _featuresB,
- char* _status, float* _error,
- CvTermCriteria _criteria,
- CvSize _winSize, int _level, int _flags )
- {
- imgI = _imgI;
- imgJ = _imgJ;
- featuresA = _featuresA;
- featuresB = _featuresB;
- status = _status;
- error = _error;
- criteria = _criteria;
- winSize = _winSize;
- level = _level;
- flags = _flags;
- }
-
- void operator()(const BlockedRange& range) const
- {
- static const float smoothKernel[] = { 0.09375, 0.3125, 0.09375 }; // 3/32, 10/32, 3/32
-
- int i, i1 = range.begin(), i2 = range.end();
-
- CvSize patchSize = cvSize( winSize.width * 2 + 1, winSize.height * 2 + 1 );
- int patchLen = patchSize.width * patchSize.height;
- int srcPatchLen = (patchSize.width + 2)*(patchSize.height + 2);
-
- AutoBuffer<float> buf(patchLen*3 + srcPatchLen);
- float* patchI = buf;
- float* patchJ = patchI + srcPatchLen;
- float* Ix = patchJ + patchLen;
- float* Iy = Ix + patchLen;
- float scaleL = 1.f/(1 << level);
- CvSize levelSize = cvGetMatSize(imgI);
-
- // find flow for each given point
- for( i = i1; i < i2; i++ )
- {
- CvPoint2D32f v;
- CvPoint minI, maxI, minJ, maxJ;
- CvSize isz, jsz;
- int pt_status;
- CvPoint2D32f u;
- CvPoint prev_minJ = { -1, -1 }, prev_maxJ = { -1, -1 };
- double Gxx = 0, Gxy = 0, Gyy = 0, D = 0, minEig = 0;
- float prev_mx = 0, prev_my = 0;
- int j, x, y;
-
- v.x = featuresB[i].x*2;
- v.y = featuresB[i].y*2;
-
- pt_status = status[i];
- if( !pt_status )
- continue;
-
- minI = maxI = minJ = maxJ = cvPoint(0, 0);
-
- u.x = featuresA[i].x * scaleL;
- u.y = featuresA[i].y * scaleL;
-
- intersect( u, winSize, levelSize, &minI, &maxI );
- isz = jsz = cvSize(maxI.x - minI.x + 2, maxI.y - minI.y + 2);
- u.x += (minI.x - (patchSize.width - maxI.x + 1))*0.5f;
- u.y += (minI.y - (patchSize.height - maxI.y + 1))*0.5f;
-
- if( isz.width < 3 || isz.height < 3 ||
- icvGetRectSubPix_8u32f_C1R( imgI->data.ptr, imgI->step, levelSize,
- patchI, isz.width*sizeof(patchI[0]), isz, u ) < 0 )
- {
- // point is outside the first image. take the next
- status[i] = 0;
- continue;
- }
-
- icvCalcIxIy_32f( patchI, isz.width*sizeof(patchI[0]), Ix, Iy,
- (isz.width-2)*sizeof(patchI[0]), isz, smoothKernel, patchJ );
-
- for( j = 0; j < criteria.max_iter; j++ )
- {
- double bx = 0, by = 0;
- float mx, my;
- CvPoint2D32f _v;
-
- intersect( v, winSize, levelSize, &minJ, &maxJ );
-
- minJ.x = MAX( minJ.x, minI.x );
- minJ.y = MAX( minJ.y, minI.y );
-
- maxJ.x = MIN( maxJ.x, maxI.x );
- maxJ.y = MIN( maxJ.y, maxI.y );
-
- jsz = cvSize(maxJ.x - minJ.x, maxJ.y - minJ.y);
-
- _v.x = v.x + (minJ.x - (patchSize.width - maxJ.x + 1))*0.5f;
- _v.y = v.y + (minJ.y - (patchSize.height - maxJ.y + 1))*0.5f;
-
- if( jsz.width < 1 || jsz.height < 1 ||
- icvGetRectSubPix_8u32f_C1R( imgJ->data.ptr, imgJ->step, levelSize, patchJ,
- jsz.width*sizeof(patchJ[0]), jsz, _v ) < 0 )
- {
- // point is outside of the second image. take the next
- pt_status = 0;
- break;
- }
-
- if( maxJ.x == prev_maxJ.x && maxJ.y == prev_maxJ.y &&
- minJ.x == prev_minJ.x && minJ.y == prev_minJ.y )
- {
- for( y = 0; y < jsz.height; y++ )
- {
- const float* pi = patchI +
- (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
- const float* pj = patchJ + y*jsz.width;
- const float* ix = Ix +
- (y + minJ.y - minI.y)*(isz.width-2) + minJ.x - minI.x;
- const float* iy = Iy + (ix - Ix);
-
- for( x = 0; x < jsz.width; x++ )
- {
- double t0 = pi[x] - pj[x];
- bx += t0 * ix[x];
- by += t0 * iy[x];
- }
- }
- }
- else
- {
- Gxx = Gyy = Gxy = 0;
- for( y = 0; y < jsz.height; y++ )
- {
- const float* pi = patchI +
- (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
- const float* pj = patchJ + y*jsz.width;
- const float* ix = Ix +
- (y + minJ.y - minI.y)*(isz.width-2) + minJ.x - minI.x;
- const float* iy = Iy + (ix - Ix);
-
- for( x = 0; x < jsz.width; x++ )
- {
- double t = pi[x] - pj[x];
- bx += (double) (t * ix[x]);
- by += (double) (t * iy[x]);
- Gxx += ix[x] * ix[x];
- Gxy += ix[x] * iy[x];
- Gyy += iy[x] * iy[x];
- }
- }
-
- D = Gxx * Gyy - Gxy * Gxy;
- if( D < DBL_EPSILON )
- {
- pt_status = 0;
- break;
- }
-
- // Adi Shavit - 2008.05
- if( flags & CV_LKFLOW_GET_MIN_EIGENVALS )
- minEig = (Gyy + Gxx - sqrt((Gxx-Gyy)*(Gxx-Gyy) + 4.*Gxy*Gxy))/(2*jsz.height*jsz.width);
-
- D = 1. / D;
-
- prev_minJ = minJ;
- prev_maxJ = maxJ;
- }
-
- mx = (float) ((Gyy * bx - Gxy * by) * D);
- my = (float) ((Gxx * by - Gxy * bx) * D);
-
- v.x += mx;
- v.y += my;
-
- if( mx * mx + my * my < criteria.epsilon )
- break;
-
- if( j > 0 && fabs(mx + prev_mx) < 0.01 && fabs(my + prev_my) < 0.01 )
- {
- v.x -= mx*0.5f;
- v.y -= my*0.5f;
- break;
- }
- prev_mx = mx;
- prev_my = my;
- }
-
- featuresB[i] = v;
- status[i] = (char)pt_status;
- if( level == 0 && error && pt_status )
- {
- // calc error
- double err = 0;
- if( flags & CV_LKFLOW_GET_MIN_EIGENVALS )
- err = minEig;
- else
- {
- for( y = 0; y < jsz.height; y++ )
- {
- const float* pi = patchI +
- (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
- const float* pj = patchJ + y*jsz.width;
-
- for( x = 0; x < jsz.width; x++ )
- {
- double t = pi[x] - pj[x];
- err += t * t;
- }
- }
- err = sqrt(err);
- }
- error[i] = (float)err;
- }
- } // end of point processing loop (i)
- }
-
- const CvMat* imgI;
- const CvMat* imgJ;
- const CvPoint2D32f* featuresA;
- CvPoint2D32f* featuresB;
- char* status;
- float* error;
- CvTermCriteria criteria;
- CvSize winSize;
- int level;
- int flags;
-};
-
-
-}
-
CV_IMPL void
cvCalcOpticalFlowPyrLK( const void* arrA, const void* arrB,
char *status, float *error,
CvTermCriteria criteria, int flags )
{
- cv::AutoBuffer<uchar> pyrBuffer;
- cv::AutoBuffer<uchar> buffer;
- cv::AutoBuffer<char> _status;
-
- const int MAX_ITERS = 100;
-
- CvMat stubA, *imgA = (CvMat*)arrA;
- CvMat stubB, *imgB = (CvMat*)arrB;
- CvMat pstubA, *pyrA = (CvMat*)pyrarrA;
- CvMat pstubB, *pyrB = (CvMat*)pyrarrB;
- CvSize imgSize;
-
- uchar **imgI = 0;
- uchar **imgJ = 0;
- int *step = 0;
- double *scale = 0;
- CvSize* size = 0;
-
- int i, l;
-
- imgA = cvGetMat( imgA, &stubA );
- imgB = cvGetMat( imgB, &stubB );
-
- if( CV_MAT_TYPE( imgA->type ) != CV_8UC1 )
- CV_Error( CV_StsUnsupportedFormat, "" );
-
- if( !CV_ARE_TYPES_EQ( imgA, imgB ))
- CV_Error( CV_StsUnmatchedFormats, "" );
-
- if( !CV_ARE_SIZES_EQ( imgA, imgB ))
- CV_Error( CV_StsUnmatchedSizes, "" );
-
- if( imgA->step != imgB->step )
- CV_Error( CV_StsUnmatchedSizes, "imgA and imgB must have equal steps" );
-
- imgSize = cvGetMatSize( imgA );
-
- if( pyrA )
- {
- pyrA = cvGetMat( pyrA, &pstubA );
-
- if( pyrA->step*pyrA->height < icvMinimalPyramidSize( imgSize ) )
- CV_Error( CV_StsBadArg, "pyramid A has insufficient size" );
- }
- else
- {
- pyrA = &pstubA;
- pyrA->data.ptr = 0;
- }
-
- if( pyrB )
- {
- pyrB = cvGetMat( pyrB, &pstubB );
-
- if( pyrB->step*pyrB->height < icvMinimalPyramidSize( imgSize ) )
- CV_Error( CV_StsBadArg, "pyramid B has insufficient size" );
- }
- else
- {
- pyrB = &pstubB;
- pyrB->data.ptr = 0;
- }
-
- if( count == 0 )
+ if( count <= 0 )
return;
-
- if( !featuresA || !featuresB )
- CV_Error( CV_StsNullPtr, "Some of arrays of point coordinates are missing" );
-
- if( count < 0 )
- CV_Error( CV_StsOutOfRange, "The number of tracked points is negative or zero" );
-
- if( winSize.width <= 1 || winSize.height <= 1 )
- CV_Error( CV_StsBadSize, "Invalid search window size" );
-
- icvInitPyramidalAlgorithm( imgA, imgB, pyrA, pyrB,
- level, &criteria, MAX_ITERS, flags,
- &imgI, &imgJ, &step, &size, &scale, &pyrBuffer );
-
- if( !status )
- {
- _status.allocate(count);
- status = _status;
- }
-
- memset( status, 1, count );
- if( error )
- memset( error, 0, count*sizeof(error[0]) );
-
- if( !(flags & CV_LKFLOW_INITIAL_GUESSES) )
- memcpy( featuresB, featuresA, count*sizeof(featuresA[0]));
+ CV_Assert( featuresA && featuresB );
+ cv::Mat A = cv::cvarrToMat(arrA), B = cv::cvarrToMat(arrB);
+ cv::Mat ptA(count, 1, CV_32FC2, (void*)featuresA);
+ cv::Mat ptB(count, 1, CV_32FC2, (void*)featuresB);
+ cv::Mat st, err;
- for( i = 0; i < count; i++ )
- {
- featuresB[i].x = (float)(featuresB[i].x * scale[level] * 0.5);
- featuresB[i].y = (float)(featuresB[i].y * scale[level] * 0.5);
- }
-
- /* do processing from top pyramid level (smallest image)
- to the bottom (original image) */
- for( l = level; l >= 0; l-- )
- {
- CvMat imgI_l, imgJ_l;
- cvInitMatHeader(&imgI_l, size[l].height, size[l].width, imgA->type, imgI[l], step[l]);
- cvInitMatHeader(&imgJ_l, size[l].height, size[l].width, imgB->type, imgJ[l], step[l]);
-
- cv::parallel_for(cv::BlockedRange(0, count),
- cv::LKTrackerInvoker(&imgI_l, &imgJ_l, featuresA,
- featuresB, status, error,
- criteria, winSize, l, flags));
- } // end of pyramid levels loop (l)
+ if( status )
+ st = cv::Mat(count, 1, CV_8U, (void*)status);
+ if( error )
+ err = cv::Mat(count, 1, CV_32F, (void*)error);
+ cv::calcOpticalFlowPyrLK( A, B, ptA, ptB, status ? cv::_OutputArray(st) : cv::_OutputArray(),
+ error ? cv::_OutputArray(err) : cv::_OutputArray(),
+ winSize, level, criteria, flags);
}
projects / platform / upstream / opencv.git / commitdiff