COMPMID-585: Port OpticalFlow to new validation
Change-Id: Ia36bd11ca27420d3059eea15df81b237900149ec
Reviewed-on: https://eu-gerrit-1.euhpc.arm.com/125175
Tested-by: Jenkins <bsgcomp@arm.com>
Reviewed-by: John Richardson <john.richardson@arm.com>
Reviewed-by: Anthony Barbier <anthony.barbier@arm.com>
diff --git a/src/core/CL/cl_kernels/optical_flow_pyramid_lk.cl b/src/core/CL/cl_kernels/optical_flow_pyramid_lk.cl
index 20474f0..8a126a0 100644
--- a/src/core/CL/cl_kernels/optical_flow_pyramid_lk.cl
+++ b/src/core/CL/cl_kernels/optical_flow_pyramid_lk.cl
@@ -167,7 +167,11 @@
Keypoint new_point;
new_point.x = round(new_point_internal.x);
new_point.y = round(new_point_internal.y);
+ new_point.strength = 0.f;
+ new_point.scale = 0.f;
+ new_point.orientation = 0.f;
new_point.tracking_status = new_point_internal.tracking_status;
+ new_point.error = 0.f;
// Store new point
new_points[idx] = new_point;
@@ -352,8 +356,7 @@
* @param[in] border_limits It stores the right border limit (width - window_dimension - 1, height - window_dimension - 1,)
* @param[in] eig_const 1.0f / (float)(2.0f * window_dimension * window_dimension)
* @param[in] level0 It is set to 1 if level of pyramid = 0
- * @param[in] term_iteration It is set to 1 if termination = VX_TERM_CRITERIA_ITERATIONS
- * @param[in] term_epsilon It is set to 1 if termination = VX_TERM_CRITERIA_EPSILON
+ * @param[in] term_epsilon It is set to 1 if termination = TERM_CRITERIA_EPSILON
*/
void __kernel lktracker_stage1(
IMAGE_DECLARATION(new_image),
@@ -368,7 +371,6 @@
const float3 border_limits,
const float eig_const,
const int level0,
- const int term_iteration,
const int term_epsilon)
{
int idx = get_global_id(0);
@@ -512,10 +514,7 @@
// Update previous delta
prev_delta = delta;
- if(term_iteration == 1)
- {
- j++;
- }
+ j++;
}
new_points[idx].xy = out_new_point;
diff --git a/src/core/CL/kernels/CLLKTrackerKernel.cpp b/src/core/CL/kernels/CLLKTrackerKernel.cpp
index 12cdd0e..078d18e 100644
--- a/src/core/CL/kernels/CLLKTrackerKernel.cpp
+++ b/src/core/CL/kernels/CLLKTrackerKernel.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017 ARM Limited.
+ * Copyright (c) 2017-2018 ARM Limited.
*
* SPDX-License-Identifier: MIT
*
@@ -249,8 +249,12 @@
static_cast<cl_float>(valid_region.start(0))
}
};
- const int term_iteration = (termination == Termination::TERM_CRITERIA_ITERATIONS || termination == Termination::TERM_CRITERIA_BOTH) ? 1 : 0;
- const int term_epsilon = (termination == Termination::TERM_CRITERIA_EPSILON || termination == Termination::TERM_CRITERIA_BOTH) ? 1 : 0;
+
+ // Set maximum number of iterations used for convergence
+ const size_t max_iterations = 1000;
+ num_iterations = (termination == Termination::TERM_CRITERIA_EPSILON) ? max_iterations : num_iterations;
+
+ const int term_epsilon = (termination == Termination::TERM_CRITERIA_EPSILON || termination == Termination::TERM_CRITERIA_BOTH) ? 1 : 0;
// Create kernel
_kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel("lktracker_stage1"));
@@ -268,7 +272,6 @@
_kernel.setArg<cl_float3>(idx++, border_limits);
_kernel.setArg<cl_float>(idx++, eig_const);
_kernel.setArg<cl_int>(idx++, level0);
- _kernel.setArg<cl_int>(idx++, term_iteration);
_kernel.setArg<cl_int>(idx++, term_epsilon);
}
diff --git a/src/core/NEON/kernels/NELKTrackerKernel.cpp b/src/core/NEON/kernels/NELKTrackerKernel.cpp
index 004ecd0..83593e7 100644
--- a/src/core/NEON/kernels/NELKTrackerKernel.cpp
+++ b/src/core/NEON/kernels/NELKTrackerKernel.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2016, 2017 ARM Limited.
+ * Copyright (c) 2016-2018 ARM Limited.
*
* SPDX-License-Identifier: MIT
*
@@ -356,13 +356,16 @@
_termination = termination;
_use_initial_estimate = use_initial_estimate;
_epsilon = epsilon;
- _num_iterations = num_iterations;
_window_dimension = window_dimension;
_level = level;
_num_levels = num_levels;
_pyramid_scale = pyramid_scale;
_num_levels = num_levels;
+ // Set maximum number of iterations used for convergence
+ const size_t max_iterations = 1000;
+ _num_iterations = (termination == Termination::TERM_CRITERIA_EPSILON) ? max_iterations : num_iterations;
+
Window window;
window.set(Window::DimX, Window::Dimension(0, old_points->num_values()));
window.set(Window::DimY, Window::Dimension(0, 1));
@@ -471,7 +474,7 @@
float prev_delta_x = 0.0f;
float prev_delta_y = 0.0f;
- for(unsigned int j = 0; j < _num_iterations || _termination == Termination::TERM_CRITERIA_EPSILON; ++j)
+ for(unsigned int j = 0; j < _num_iterations; ++j)
{
if(is_invalid_keypoint(new_keypoint))
{