void cv::ocl::PyrLKOpticalFlow::sparse(const oclMat &prevImg, const oclMat &nextImg, const oclMat &prevPts, oclMat &nextPts, oclMat &status, oclMat *err) { if (prevPts.empty()) { nextPts.release(); status.release(); //if (err) err->release(); return; } derivLambda = std::min(std::max(derivLambda, 0.0), 1.0); iters = std::min(std::max(iters, 0), 100); const int cn = prevImg.oclchannels(); dim3 block, patch; calcPatchSize(winSize, cn, block, patch, isDeviceArch11_); CV_Assert(derivLambda >= 0); CV_Assert(maxLevel >= 0 && winSize.width > 2 && winSize.height > 2); CV_Assert(prevImg.size() == nextImg.size() && prevImg.type() == nextImg.type()); CV_Assert(patch.x > 0 && patch.x < 6 && patch.y > 0 && patch.y < 6); CV_Assert(prevPts.rows == 1 && prevPts.type() == CV_32FC2); if (useInitialFlow) CV_Assert(nextPts.size() == prevPts.size() && nextPts.type() == CV_32FC2); else ensureSizeIsEnough(1, prevPts.cols, prevPts.type(), nextPts); oclMat temp1 = (useInitialFlow ? nextPts : prevPts).reshape(1); oclMat temp2 = nextPts.reshape(1); //oclMat scalar(temp1.rows, temp1.cols, temp1.type(), Scalar(1.0f / (1 << maxLevel) / 2.0f)); multiply_cus(temp1, temp2, 1.0f / (1 << maxLevel) / 2.0f); //::multiply(temp1, 1.0f / (1 << maxLevel) / 2.0f, temp2); ensureSizeIsEnough(1, prevPts.cols, CV_8UC1, status); //status.setTo(Scalar::all(1)); setTo(status, Scalar::all(1)); bool errMat = false; if (!err) { err = new oclMat(1, prevPts.cols, CV_32FC1); errMat = true; } else ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, *err); //ensureSizeIsEnough(1, prevPts.cols, CV_32FC1, err); // build the image pyramids. prevPyr_.resize(maxLevel + 1); nextPyr_.resize(maxLevel + 1); if (cn == 1 || cn == 4) { //prevImg.convertTo(prevPyr_[0], CV_32F); //nextImg.convertTo(nextPyr_[0], CV_32F); convertTo(prevImg, prevPyr_[0], CV_32F); convertTo(nextImg, nextPyr_[0], CV_32F); } else { //oclMat buf_; // cvtColor(prevImg, buf_, COLOR_BGR2BGRA); // buf_.convertTo(prevPyr_[0], CV_32F); // cvtColor(nextImg, buf_, COLOR_BGR2BGRA); // buf_.convertTo(nextPyr_[0], CV_32F); } for (int level = 1; level <= maxLevel; ++level) { pyrDown_cus(prevPyr_[level - 1], prevPyr_[level]); pyrDown_cus(nextPyr_[level - 1], nextPyr_[level]); } // dI/dx ~ Ix, dI/dy ~ Iy for (int level = maxLevel; level >= 0; level--) { lkSparse_run(prevPyr_[level], nextPyr_[level], prevPts, nextPts, status, *err, getMinEigenVals, prevPts.cols, level, /*block, */patch, winSize, iters); } clFinish(prevImg.clCxt->impl->clCmdQueue); if(errMat) delete err; }