Merge pull request #16788 from OrestChura:oc/optFlowPyrLK
G-API: gapi::calcOpticalFlowPyrLK() Implementation
This commit is contained in:
Alexander Alekhin
@@ -0,0 +1,25 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
//
|
||||
// Copyright (C) 2020 Intel Corporation
|
||||
|
||||
#ifndef OPENCV_GAPI_CPU_VIDEO_API_HPP
|
||||
#define OPENCV_GAPI_CPU_VIDEO_API_HPP
|
||||
|
||||
#include <opencv2/gapi/gkernel.hpp> // GKernelPackage
|
||||
|
||||
namespace cv {
|
||||
namespace gapi {
|
||||
namespace video {
|
||||
namespace cpu {
|
||||
|
||||
GAPI_EXPORTS GKernelPackage kernels();
|
||||
|
||||
} // namespace cpu
|
||||
} // namespace video
|
||||
} // namespace gapi
|
||||
} // namespace cv
|
||||
|
||||
|
||||
#endif // OPENCV_GAPI_CPU_VIDEO_API_HPP
|
||||
@@ -261,7 +261,6 @@ namespace imgproc {
|
||||
|
||||
} //namespace imgproc
|
||||
|
||||
|
||||
//! @addtogroup gapi_filters
|
||||
//! @{
|
||||
/** @brief Applies a separable linear filter to a matrix(image).
|
||||
|
||||
@@ -0,0 +1,135 @@
|
||||
// This file is part of OpenCV project.
|
||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
||||
// of this distribution and at http://opencv.org/license.html.
|
||||
//
|
||||
// Copyright (C) 2020 Intel Corporation
|
||||
|
||||
#ifndef OPENCV_GAPI_VIDEO_HPP
|
||||
#define OPENCV_GAPI_VIDEO_HPP
|
||||
|
||||
#include <utility> // std::tuple
|
||||
|
||||
#include <opencv2/gapi/gkernel.hpp>
|
||||
|
||||
|
||||
/** \defgroup gapi_video G-API Video processing functionality
|
||||
*/
|
||||
|
||||
namespace cv { namespace gapi {
|
||||
namespace video
|
||||
{
|
||||
using GOptFlowLKOutput = std::tuple<cv::GArray<cv::Point2f>,
|
||||
cv::GArray<uchar>,
|
||||
cv::GArray<float>>;
|
||||
|
||||
G_TYPED_KERNEL(GCalcOptFlowLK,
|
||||
<GOptFlowLKOutput(GMat,GMat,cv::GArray<cv::Point2f>,cv::GArray<cv::Point2f>,Size,
|
||||
int,TermCriteria,int,double)>,
|
||||
"org.opencv.video.calcOpticalFlowPyrLK")
|
||||
{
|
||||
static std::tuple<GArrayDesc,GArrayDesc,GArrayDesc> outMeta(GMatDesc,GMatDesc,GArrayDesc,
|
||||
GArrayDesc,const Size&,int,
|
||||
const TermCriteria&,int,double)
|
||||
{
|
||||
return std::make_tuple(empty_array_desc(), empty_array_desc(), empty_array_desc());
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
G_TYPED_KERNEL(GCalcOptFlowLKForPyr,
|
||||
<GOptFlowLKOutput(cv::GArray<cv::GMat>,cv::GArray<cv::GMat>,
|
||||
cv::GArray<cv::Point2f>,cv::GArray<cv::Point2f>,Size,int,
|
||||
TermCriteria,int,double)>,
|
||||
"org.opencv.video.calcOpticalFlowPyrLKForPyr")
|
||||
{
|
||||
static std::tuple<GArrayDesc,GArrayDesc,GArrayDesc> outMeta(GArrayDesc,GArrayDesc,
|
||||
GArrayDesc,GArrayDesc,
|
||||
const Size&,int,
|
||||
const TermCriteria&,int,double)
|
||||
{
|
||||
return std::make_tuple(empty_array_desc(), empty_array_desc(), empty_array_desc());
|
||||
}
|
||||
};
|
||||
} //namespace video
|
||||
|
||||
//! @addtogroup gapi_video
|
||||
//! @{
|
||||
/** @brief Calculates an optical flow for a sparse feature set using the iterative Lucas-Kanade
|
||||
method with pyramids.
|
||||
|
||||
See @cite Bouguet00 .
|
||||
|
||||
@note Function textual ID is "org.opencv.video.calcOpticalFlowPyrLK"
|
||||
|
||||
@param prevImg first 8-bit input image (GMat) or pyramid (GArray<GMat>) constructed by
|
||||
buildOpticalFlowPyramid.
|
||||
@param nextImg second input image (GMat) or pyramid (GArray<GMat>) of the same size and the same
|
||||
type as prevImg.
|
||||
@param prevPts GArray of 2D points for which the flow needs to be found; point coordinates must be
|
||||
single-precision floating-point numbers.
|
||||
@param predPts GArray of 2D points initial for the flow search; make sense only when
|
||||
OPTFLOW_USE_INITIAL_FLOW flag is passed; in that case the vector must have the same size as in
|
||||
the input.
|
||||
@param winSize size of the search window at each pyramid level.
|
||||
@param maxLevel 0-based maximal pyramid level number; if set to 0, pyramids are not used (single
|
||||
level), if set to 1, two levels are used, and so on; if pyramids are passed to input then
|
||||
algorithm will use as many levels as pyramids have but no more than maxLevel.
|
||||
@param criteria parameter, specifying the termination criteria of the iterative search algorithm
|
||||
(after the specified maximum number of iterations criteria.maxCount or when the search window
|
||||
moves by less than criteria.epsilon).
|
||||
@param flags operation flags:
|
||||
- **OPTFLOW_USE_INITIAL_FLOW** uses initial estimations, stored in nextPts; if the flag is
|
||||
not set, then prevPts is copied to nextPts and is considered the initial estimate.
|
||||
- **OPTFLOW_LK_GET_MIN_EIGENVALS** use minimum eigen values as an error measure (see
|
||||
minEigThreshold description); if the flag is not set, then L1 distance between patches
|
||||
around the original and a moved point, divided by number of pixels in a window, is used as a
|
||||
error measure.
|
||||
@param minEigThresh the algorithm calculates the minimum eigen value of a 2x2 normal matrix of
|
||||
optical flow equations (this matrix is called a spatial gradient matrix in @cite Bouguet00), divided
|
||||
by number of pixels in a window; if this value is less than minEigThreshold, then a corresponding
|
||||
feature is filtered out and its flow is not processed, so it allows to remove bad points and get a
|
||||
performance boost.
|
||||
|
||||
@return GArray of 2D points (with single-precision floating-point coordinates)
|
||||
containing the calculated new positions of input features in the second image.
|
||||
@return status GArray (of unsigned chars); 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.
|
||||
@return GArray of errors (doubles); each element of the vector is set to an error for the
|
||||
corresponding feature, type of the error measure can be set in flags parameter; if the flow wasn't
|
||||
found then the error is not defined (use the status parameter to find such cases).
|
||||
*/
|
||||
GAPI_EXPORTS std::tuple<GArray<Point2f>, GArray<uchar>, GArray<float>>
|
||||
calcOpticalFlowPyrLK(const GMat &prevImg,
|
||||
const GMat &nextImg,
|
||||
const GArray<Point2f> &prevPts,
|
||||
const GArray<Point2f> &predPts,
|
||||
const Size &winSize = Size(21, 21),
|
||||
int maxLevel = 3,
|
||||
const TermCriteria &criteria = TermCriteria(TermCriteria::COUNT |
|
||||
TermCriteria::EPS,
|
||||
30, 0.01),
|
||||
int flags = 0,
|
||||
double minEigThresh = 1e-4);
|
||||
|
||||
/**
|
||||
@overload
|
||||
@note Function textual ID is "org.opencv.video.calcOpticalFlowPyrLKForPyr"
|
||||
*/
|
||||
GAPI_EXPORTS std::tuple<GArray<Point2f>, GArray<uchar>, GArray<float>>
|
||||
calcOpticalFlowPyrLK(const GArray<GMat> &prevPyr,
|
||||
const GArray<GMat> &nextPyr,
|
||||
const GArray<Point2f> &prevPts,
|
||||
const GArray<Point2f> &predPts,
|
||||
const Size &winSize = Size(21, 21),
|
||||
int maxLevel = 3,
|
||||
const TermCriteria &criteria = TermCriteria(TermCriteria::COUNT |
|
||||
TermCriteria::EPS,
|
||||
30, 0.01),
|
||||
int flags = 0,
|
||||
double minEigThresh = 1e-4);
|
||||
|
||||
//! @} gapi_video
|
||||
} //namespace gapi
|
||||
} //namespace cv
|
||||
|
||||
#endif // OPENCV_GAPI_VIDEO_HPP
|
||||
Reference in New Issue
Block a user