#include "opencl_kernels_video.hpp"
#include "opencv2/core/hal/intrin.hpp"
+#include "opencv2/core/openvx/ovx_defs.hpp"
+
#define CV_DESCALE(x,n) (((x) + (1 << ((n)-1))) >> (n))
namespace
return sparse(_prevImg.getUMat(), _nextImg.getUMat(), _prevPts.getUMat(), umatNextPts, umatStatus, umatErr);
}
#endif
+
+#ifdef HAVE_OPENVX
+ bool openvx_pyrlk(InputArray _prevImg, InputArray _nextImg, InputArray _prevPts, InputOutputArray _nextPts,
+ OutputArray _status, OutputArray _err)
+ {
+ using namespace ivx;
+
+ // Pyramids as inputs are not acceptable because there's no (direct or simple) way
+ // to build vx_pyramid on user data
+ if(_prevImg.kind() != _InputArray::MAT || _nextImg.kind() != _InputArray::MAT)
+ return false;
+
+ Mat prevImgMat = _prevImg.getMat(), nextImgMat = _nextImg.getMat();
+
+ if(prevImgMat.type() != CV_8UC1 || nextImgMat.type() != CV_8UC1)
+ return false;
+
+ CV_Assert(prevImgMat.size() == nextImgMat.size());
+ Mat prevPtsMat = _prevPts.getMat();
+ int checkPrev = prevPtsMat.checkVector(2, CV_32F, false);
+ CV_Assert( checkPrev >= 0 );
+ size_t npoints = checkPrev;
+
+ 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, false) == (int)npoints );
+
+ _status.create((int)npoints, 1, CV_8U, -1, true);
+ Mat statusMat = _status.getMat();
+ uchar* status = statusMat.ptr();
+ for(size_t i = 0; i < npoints; i++ )
+ status[i] = true;
+
+ Mat errMat;
+ if( _err.needed() )
+ {
+ _err.create((int)npoints, 1, CV_32F, -1, true);
+ errMat = _err.getMat();
+ }
+
+ try
+ {
+ Context context = Context::create();
+
+ if(context.vendorID() == VX_ID_KHRONOS)
+ {
+ // PyrLK in OVX 1.0.1 performs vxCommitImagePatch incorrecty and crashes
+ if(VX_VERSION == VX_VERSION_1_0)
+ return false;
+ // Implementation ignores border mode
+ // So check that minimal size of image in pyramid is big enough
+ int width = prevImgMat.cols, height = prevImgMat.rows;
+ for(int i = 0; i < maxLevel+1; i++)
+ {
+ if(width < winSize.width + 1 || height < winSize.height + 1)
+ return false;
+ else
+ {
+ width /= 2; height /= 2;
+ }
+ }
+ }
+
+ Image prevImg = Image::createFromHandle(context, Image::matTypeToFormat(prevImgMat.type()),
+ Image::createAddressing(prevImgMat), (void*)prevImgMat.data);
+ Image nextImg = Image::createFromHandle(context, Image::matTypeToFormat(nextImgMat.type()),
+ Image::createAddressing(nextImgMat), (void*)nextImgMat.data);
+
+ Graph graph = Graph::create(context);
+
+ Pyramid prevPyr = Pyramid::createVirtual(graph, (vx_size)maxLevel+1, VX_SCALE_PYRAMID_HALF,
+ prevImg.width(), prevImg.height(), prevImg.format());
+ Pyramid nextPyr = Pyramid::createVirtual(graph, (vx_size)maxLevel+1, VX_SCALE_PYRAMID_HALF,
+ nextImg.width(), nextImg.height(), nextImg.format());
+
+ ivx::Node::create(graph, VX_KERNEL_GAUSSIAN_PYRAMID, prevImg, prevPyr);
+ ivx::Node::create(graph, VX_KERNEL_GAUSSIAN_PYRAMID, nextImg, nextPyr);
+
+ Array prevPts = Array::create(context, VX_TYPE_KEYPOINT, npoints);
+ Array estimatedPts = Array::create(context, VX_TYPE_KEYPOINT, npoints);
+ Array nextPts = Array::create(context, VX_TYPE_KEYPOINT, npoints);
+
+ std::vector<vx_keypoint_t> vxPrevPts(npoints), vxEstPts(npoints), vxNextPts(npoints);
+ for(size_t i = 0; i < npoints; i++)
+ {
+ vx_keypoint_t& prevPt = vxPrevPts[i]; vx_keypoint_t& estPt = vxEstPts[i];
+ prevPt.x = prevPtsMat.at<Point2f>(i).x; prevPt.y = prevPtsMat.at<Point2f>(i).y;
+ estPt.x = nextPtsMat.at<Point2f>(i).x; estPt.y = nextPtsMat.at<Point2f>(i).y;
+ prevPt.tracking_status = estPt.tracking_status = vx_true_e;
+ }
+ prevPts.addItems(vxPrevPts); estimatedPts.addItems(vxEstPts);
+
+ 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;
+
+ vx_enum termEnum = (criteria.type == TermCriteria::COUNT) ? VX_TERM_CRITERIA_ITERATIONS :
+ (criteria.type == TermCriteria::EPS) ? VX_TERM_CRITERIA_EPSILON :
+ VX_TERM_CRITERIA_BOTH;
+
+ //minEigThreshold is fixed to 0.0001f
+ ivx::Scalar termination = ivx::Scalar::create<VX_TYPE_ENUM>(context, termEnum);
+ ivx::Scalar epsilon = ivx::Scalar::create<VX_TYPE_FLOAT32>(context, criteria.epsilon);
+ ivx::Scalar numIterations = ivx::Scalar::create<VX_TYPE_UINT32>(context, criteria.maxCount);
+ ivx::Scalar useInitial = ivx::Scalar::create<VX_TYPE_BOOL>(context, (vx_bool)(flags & OPTFLOW_USE_INITIAL_FLOW));
+ //assume winSize is square
+ ivx::Scalar windowSize = ivx::Scalar::create<VX_TYPE_SIZE>(context, (vx_size)winSize.width);
+
+ ivx::Node::create(graph, VX_KERNEL_OPTICAL_FLOW_PYR_LK, prevPyr, nextPyr, prevPts, estimatedPts,
+ nextPts, termination, epsilon, numIterations, useInitial, windowSize);
+
+ graph.verify();
+ graph.process();
+
+ nextPts.copyTo(vxNextPts);
+ for(size_t i = 0; i < npoints; i++)
+ {
+ vx_keypoint_t kp = vxNextPts[i];
+ nextPtsMat.at<Point2f>(i) = Point2f(kp.x, kp.y);
+ statusMat.at<uchar>(i) = (bool)kp.tracking_status;
+ // OpenVX doesn't return detection errors
+ errMat.at<float>(i) = 0;
+ }
+
+#ifdef VX_VERSION_1_1
+ //we should take user memory back before release
+ //(it's not done automatically according to standard)
+ prevImg.swapHandle(); nextImg.swapHandle();
+#endif
+ }
+ catch (RuntimeError & e)
+ {
+ VX_DbgThrow(e.what());
+ }
+ catch (WrapperError & e)
+ {
+ VX_DbgThrow(e.what());
+ }
+
+ return true;
+ }
+#endif
};
+
+
void SparsePyrLKOpticalFlowImpl::calc( InputArray _prevImg, InputArray _nextImg,
InputArray _prevPts, InputOutputArray _nextPts,
OutputArray _status, OutputArray _err)
ocl::Image2D::isFormatSupported(CV_32F, 1, false),
ocl_calcOpticalFlowPyrLK(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err))
+ // Disabled due to bad accuracy
+ CV_OVX_RUN(false,
+ openvx_pyrlk(_prevImg, _nextImg, _prevPts, _nextPts, _status, _err))
+
Mat prevPtsMat = _prevPts.getMat();
const int derivDepth = DataType<cv::detail::deriv_type>::depth;