opencv/modules/gpuoptflow/perf/perf_optflow.cpp

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#include "perf_precomp.hpp"
#include "opencv2/legacy.hpp"
using namespace std;
using namespace testing;
using namespace perf;
//////////////////////////////////////////////////////
// InterpolateFrames
typedef pair<string, string> pair_string;
DEF_PARAM_TEST_1(ImagePair, pair_string);
PERF_TEST_P(ImagePair, InterpolateFrames,
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
{
cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
frame0.convertTo(frame0, CV_32FC1, 1.0 / 255.0);
frame1.convertTo(frame1, CV_32FC1, 1.0 / 255.0);
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat d_fu, d_fv;
cv::gpu::GpuMat d_bu, d_bv;
cv::gpu::BroxOpticalFlow d_flow(0.197f /*alpha*/, 50.0f /*gamma*/, 0.8f /*scale_factor*/,
10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
d_flow(d_frame0, d_frame1, d_fu, d_fv);
d_flow(d_frame1, d_frame0, d_bu, d_bv);
cv::gpu::GpuMat newFrame;
cv::gpu::GpuMat d_buf;
TEST_CYCLE() cv::gpu::interpolateFrames(d_frame0, d_frame1, d_fu, d_fv, d_bu, d_bv, 0.5f, newFrame, d_buf);
GPU_SANITY_CHECK(newFrame, 1e-4);
}
else
{
FAIL_NO_CPU();
}
}
//////////////////////////////////////////////////////
// CreateOpticalFlowNeedleMap
PERF_TEST_P(ImagePair, CreateOpticalFlowNeedleMap,
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
{
cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
frame0.convertTo(frame0, CV_32FC1, 1.0 / 255.0);
frame1.convertTo(frame1, CV_32FC1, 1.0 / 255.0);
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat u;
cv::gpu::GpuMat v;
cv::gpu::BroxOpticalFlow d_flow(0.197f /*alpha*/, 50.0f /*gamma*/, 0.8f /*scale_factor*/,
10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
d_flow(d_frame0, d_frame1, u, v);
cv::gpu::GpuMat vertex, colors;
TEST_CYCLE() cv::gpu::createOpticalFlowNeedleMap(u, v, vertex, colors);
GPU_SANITY_CHECK(vertex, 1e-6);
GPU_SANITY_CHECK(colors);
}
else
{
FAIL_NO_CPU();
}
}
//////////////////////////////////////////////////////
// BroxOpticalFlow
PERF_TEST_P(ImagePair, BroxOpticalFlow,
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
{
declare.time(300);
cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
frame0.convertTo(frame0, CV_32FC1, 1.0 / 255.0);
frame1.convertTo(frame1, CV_32FC1, 1.0 / 255.0);
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat u;
cv::gpu::GpuMat v;
cv::gpu::BroxOpticalFlow d_flow(0.197f /*alpha*/, 50.0f /*gamma*/, 0.8f /*scale_factor*/,
10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
TEST_CYCLE() d_flow(d_frame0, d_frame1, u, v);
GPU_SANITY_CHECK(u, 1e-1);
GPU_SANITY_CHECK(v, 1e-1);
}
else
{
FAIL_NO_CPU();
}
}
//////////////////////////////////////////////////////
// PyrLKOpticalFlowSparse
DEF_PARAM_TEST(ImagePair_Gray_NPts_WinSz_Levels_Iters, pair_string, bool, int, int, int, int);
PERF_TEST_P(ImagePair_Gray_NPts_WinSz_Levels_Iters, PyrLKOpticalFlowSparse,
Combine(Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")),
Bool(),
Values(8000),
Values(21),
Values(1, 3),
Values(1, 30)))
{
declare.time(20.0);
const pair_string imagePair = GET_PARAM(0);
const bool useGray = GET_PARAM(1);
const int points = GET_PARAM(2);
const int winSize = GET_PARAM(3);
const int levels = GET_PARAM(4);
const int iters = GET_PARAM(5);
const cv::Mat frame0 = readImage(imagePair.first, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
ASSERT_FALSE(frame0.empty());
const cv::Mat frame1 = readImage(imagePair.second, useGray ? cv::IMREAD_GRAYSCALE : cv::IMREAD_COLOR);
ASSERT_FALSE(frame1.empty());
cv::Mat gray_frame;
if (useGray)
gray_frame = frame0;
else
cv::cvtColor(frame0, gray_frame, cv::COLOR_BGR2GRAY);
cv::Mat pts;
cv::goodFeaturesToTrack(gray_frame, pts, points, 0.01, 0.0);
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_pts(pts.reshape(2, 1));
cv::gpu::PyrLKOpticalFlow d_pyrLK;
d_pyrLK.winSize = cv::Size(winSize, winSize);
d_pyrLK.maxLevel = levels - 1;
d_pyrLK.iters = iters;
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat nextPts;
cv::gpu::GpuMat status;
TEST_CYCLE() d_pyrLK.sparse(d_frame0, d_frame1, d_pts, nextPts, status);
GPU_SANITY_CHECK(nextPts);
GPU_SANITY_CHECK(status);
}
else
{
cv::Mat nextPts;
cv::Mat status;
TEST_CYCLE()
{
cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, cv::noArray(),
cv::Size(winSize, winSize), levels - 1,
cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, iters, 0.01));
}
CPU_SANITY_CHECK(nextPts);
CPU_SANITY_CHECK(status);
}
}
//////////////////////////////////////////////////////
// PyrLKOpticalFlowDense
DEF_PARAM_TEST(ImagePair_WinSz_Levels_Iters, pair_string, int, int, int);
PERF_TEST_P(ImagePair_WinSz_Levels_Iters, PyrLKOpticalFlowDense,
Combine(Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")),
Values(3, 5, 7, 9, 13, 17, 21),
Values(1, 3),
Values(1, 10)))
{
declare.time(30);
const pair_string imagePair = GET_PARAM(0);
const int winSize = GET_PARAM(1);
const int levels = GET_PARAM(2);
const int iters = GET_PARAM(3);
const cv::Mat frame0 = readImage(imagePair.first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
const cv::Mat frame1 = readImage(imagePair.second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat u;
cv::gpu::GpuMat v;
cv::gpu::PyrLKOpticalFlow d_pyrLK;
d_pyrLK.winSize = cv::Size(winSize, winSize);
d_pyrLK.maxLevel = levels - 1;
d_pyrLK.iters = iters;
TEST_CYCLE() d_pyrLK.dense(d_frame0, d_frame1, u, v);
GPU_SANITY_CHECK(u);
GPU_SANITY_CHECK(v);
}
else
{
FAIL_NO_CPU();
}
}
//////////////////////////////////////////////////////
// FarnebackOpticalFlow
PERF_TEST_P(ImagePair, FarnebackOpticalFlow,
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
{
declare.time(10);
const cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
const cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
const int numLevels = 5;
const double pyrScale = 0.5;
const int winSize = 13;
const int numIters = 10;
const int polyN = 5;
const double polySigma = 1.1;
const int flags = 0;
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat u;
cv::gpu::GpuMat v;
cv::gpu::FarnebackOpticalFlow d_farneback;
d_farneback.numLevels = numLevels;
d_farneback.pyrScale = pyrScale;
d_farneback.winSize = winSize;
d_farneback.numIters = numIters;
d_farneback.polyN = polyN;
d_farneback.polySigma = polySigma;
d_farneback.flags = flags;
TEST_CYCLE() d_farneback(d_frame0, d_frame1, u, v);
GPU_SANITY_CHECK(u, 1e-4);
GPU_SANITY_CHECK(v, 1e-4);
}
else
{
cv::Mat flow;
TEST_CYCLE() cv::calcOpticalFlowFarneback(frame0, frame1, flow, pyrScale, numLevels, winSize, numIters, polyN, polySigma, flags);
CPU_SANITY_CHECK(flow);
}
}
//////////////////////////////////////////////////////
// OpticalFlowDual_TVL1
PERF_TEST_P(ImagePair, OpticalFlowDual_TVL1,
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
{
declare.time(20);
const cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
const cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat u;
cv::gpu::GpuMat v;
cv::gpu::OpticalFlowDual_TVL1_GPU d_alg;
TEST_CYCLE() d_alg(d_frame0, d_frame1, u, v);
GPU_SANITY_CHECK(u, 1e-2);
GPU_SANITY_CHECK(v, 1e-2);
}
else
{
cv::Mat flow;
cv::Ptr<cv::DenseOpticalFlow> alg = cv::createOptFlow_DualTVL1();
alg->set("medianFiltering", 1);
alg->set("innerIterations", 1);
alg->set("outerIterations", 300);
TEST_CYCLE() alg->calc(frame0, frame1, flow);
CPU_SANITY_CHECK(flow);
}
}
//////////////////////////////////////////////////////
// OpticalFlowBM
void calcOpticalFlowBM(const cv::Mat& prev, const cv::Mat& curr,
cv::Size bSize, cv::Size shiftSize, cv::Size maxRange, int usePrevious,
cv::Mat& velx, cv::Mat& vely)
{
cv::Size sz((curr.cols - bSize.width + shiftSize.width)/shiftSize.width, (curr.rows - bSize.height + shiftSize.height)/shiftSize.height);
velx.create(sz, CV_32FC1);
vely.create(sz, CV_32FC1);
CvMat cvprev = prev;
CvMat cvcurr = curr;
CvMat cvvelx = velx;
CvMat cvvely = vely;
cvCalcOpticalFlowBM(&cvprev, &cvcurr, bSize, shiftSize, maxRange, usePrevious, &cvvelx, &cvvely);
}
PERF_TEST_P(ImagePair, OpticalFlowBM,
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
{
declare.time(400);
const cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
const cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
const cv::Size block_size(16, 16);
const cv::Size shift_size(1, 1);
const cv::Size max_range(16, 16);
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat u, v, buf;
TEST_CYCLE() cv::gpu::calcOpticalFlowBM(d_frame0, d_frame1, block_size, shift_size, max_range, false, u, v, buf);
GPU_SANITY_CHECK(u);
GPU_SANITY_CHECK(v);
}
else
{
cv::Mat u, v;
TEST_CYCLE() calcOpticalFlowBM(frame0, frame1, block_size, shift_size, max_range, false, u, v);
CPU_SANITY_CHECK(u);
CPU_SANITY_CHECK(v);
}
}
PERF_TEST_P(ImagePair, FastOpticalFlowBM,
Values<pair_string>(make_pair("gpu/opticalflow/frame0.png", "gpu/opticalflow/frame1.png")))
{
declare.time(400);
const cv::Mat frame0 = readImage(GetParam().first, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame0.empty());
const cv::Mat frame1 = readImage(GetParam().second, cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(frame1.empty());
const cv::Size block_size(16, 16);
const cv::Size shift_size(1, 1);
const cv::Size max_range(16, 16);
if (PERF_RUN_GPU())
{
const cv::gpu::GpuMat d_frame0(frame0);
const cv::gpu::GpuMat d_frame1(frame1);
cv::gpu::GpuMat u, v;
cv::gpu::FastOpticalFlowBM fastBM;
TEST_CYCLE() fastBM(d_frame0, d_frame1, u, v, max_range.width, block_size.width);
GPU_SANITY_CHECK(u, 2);
GPU_SANITY_CHECK(v, 2);
}
else
{
FAIL_NO_CPU();
}
}