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Merged
merged 8 commits into from
Sep 16, 2024
Merged

Added HAL interface for Lukas-Kanade optical flow #26143

merged 8 commits into from
Sep 16, 2024

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@asmorkalov
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@asmorkalov asmorkalov commented Sep 11, 2024

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

  • I agree to contribute to the project under Apache 2 License.
  • To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
  • The PR is proposed to the proper branch
  • There is a reference to the original bug report and related work
  • There is accuracy test, performance test and test data in opencv_extra repository, if applicable
    Patch to opencv_extra has the same branch name.
  • The feature is well documented and sample code can be built with the project CMake

@asmorkalov asmorkalov added this to the 4.11.0 milestone Sep 11, 2024
@asmorkalov asmorkalov changed the title WIP: Added HAL interface for Lukas-Kanade optical flow Added HAL interface for Lukas-Kanade optical flow Sep 12, 2024
@asmorkalov asmorkalov requested a review from vpisarev September 12, 2024 09:57
@asmorkalov
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asmorkalov commented Sep 16, 2024

I made performance benchmark of the Carotene implementation. It passes tests. In terms of performance it's better for old AMRv7 processors only. Jetson-TK1 speedup:

OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 1, (9, 9), 7)                      13.290   12.896     1.03   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 1, (9, 9), 11)                     14.160   13.474     1.05   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 1, (15, 15), 7)                    15.353   14.487     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 1, (15, 15), 11)                   17.377   15.665     1.11   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 3, (9, 9), 7)                      59.891   58.621     1.02   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 3, (9, 9), 11)                     62.401   60.730     1.03   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 3, (15, 15), 7)                    64.437   61.796     1.04   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 3, (15, 15), 11)                   69.561   65.798     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 4, (9, 9), 7)                      59.293   57.945     1.02   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 4, (9, 9), 11)                     62.073   60.243     1.03   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 4, (15, 15), 7)                    64.173   61.796     1.04   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 1, 4, (15, 15), 11)                   72.016   67.411     1.07   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 1, (9, 9), 7)                      13.592   12.935     1.05   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 1, (9, 9), 11)                     14.383   13.449     1.07   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 1, (15, 15), 7)                    15.371   14.495     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 1, (15, 15), 11)                   17.183   15.575     1.10   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 3, (9, 9), 7)                      60.922   59.044     1.03   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 3, (9, 9), 11)                     63.012   60.281     1.05   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 3, (15, 15), 7)                    64.025   61.578     1.04   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 3, (15, 15), 11)                   69.074   65.376     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 4, (9, 9), 7)                      59.566   57.294     1.04   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 4, (9, 9), 11)                     62.864   61.447     1.02   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 4, (15, 15), 7)                    64.762   61.282     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/720p_%02d.png", 2, 4, (15, 15), 11)                   71.994   67.152     1.07   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 1, (9, 9), 7)                       4.358    4.322      1.01   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 1, (9, 9), 11)                      5.006    4.717      1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 1, (15, 15), 7)                     5.842    5.556      1.05   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 1, (15, 15), 11)                    7.442    6.624      1.12   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 3, (9, 9), 7)                       20.965   20.409     1.03   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 3, (9, 9), 11)                      23.186   21.880     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 3, (15, 15), 7)                     24.776   23.481     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 3, (15, 15), 11)                    29.768   27.036     1.10   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 4, (9, 9), 7)                       21.033   19.838     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 4, (9, 9), 11)                      23.944   22.326     1.07   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 4, (15, 15), 7)                     25.692   23.684     1.08   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 1, 4, (15, 15), 11)                    32.661   28.672     1.14   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 1, (9, 9), 7)                       4.704    4.215      1.12   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 1, (9, 9), 11)                      5.000    4.664      1.07   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 1, (15, 15), 7)                     5.881    5.561      1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 1, (15, 15), 11)                    7.414    6.562      1.13   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 3, (9, 9), 7)                       21.035   20.315     1.04   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 3, (9, 9), 11)                      23.160   21.932     1.06   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 3, (15, 15), 7)                     24.671   23.114     1.07   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 3, (15, 15), 11)                    29.447   26.953     1.09   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 4, (9, 9), 7)                       20.863   19.839     1.05   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 4, (9, 9), 11)                      23.916   22.288     1.07   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 4, (15, 15), 7)                     25.286   23.477     1.08   
OpticalFlowPyrLK_full::Path_Idx_Cn_NPoints_WSize::("cv/optflow/frames/VGA_%02d.png", 2, 4, (15, 15), 11)                    32.834   28.826     1.14   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, false, BORDER_DEFAULT, false)       17.900   17.992     0.99   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, false, BORDER_DEFAULT, true)        17.897   17.834     1.00   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, false, BORDER_TRANSPARENT, false)   17.793   17.670     1.01   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, false, BORDER_TRANSPARENT, true)    17.812   17.797     1.00   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, true, BORDER_DEFAULT, false)        24.866   24.480     1.02   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, true, BORDER_DEFAULT, true)         24.861   24.610     1.01   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, true, BORDER_TRANSPARENT, false)    24.195   24.213     1.00   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 7, true, BORDER_TRANSPARENT, true)     24.185   24.306     1.00   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, false, BORDER_DEFAULT, false)      18.176   18.138     1.00   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, false, BORDER_DEFAULT, true)       18.219   18.127     1.01   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, false, BORDER_TRANSPARENT, false)  17.987   17.931     1.00   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, false, BORDER_TRANSPARENT, true)   17.974   18.085     0.99   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, true, BORDER_DEFAULT, false)       24.861   24.846     1.00   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, true, BORDER_DEFAULT, true)        24.696   24.837     0.99   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, true, BORDER_TRANSPARENT, false)   24.151   24.549     0.98   
OpticalFlowPyrLK_pyr::Path_Win_Deriv_Border_Reuse::("cv/optflow/frames/720p_01.png", 11, true, BORDER_TRANSPARENT, true)    24.364   24.289     1.00   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (9, 9), 7, false)         6.680    6.395      1.04   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (9, 9), 7, true)          0.905    0.805      1.13   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (9, 9), 11, false)        7.429    6.844      1.09   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (9, 9), 11, true)         1.370    1.081      1.27   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (15, 15), 7, false)       8.676    8.006      1.08   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (15, 15), 7, true)        2.508    2.229      1.13   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (15, 15), 11, false)      10.639   9.165      1.16   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 1, (15, 15), 11, true)       4.031    3.085      1.31   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (9, 9), 7, false)         19.423   18.333     1.06   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (9, 9), 7, true)          1.545    1.258      1.23   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (9, 9), 11, false)        21.334   19.628     1.09   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (9, 9), 11, true)         2.857    2.179      1.31   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (15, 15), 7, false)       23.379   21.172     1.10   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (15, 15), 7, true)        4.649    3.737      1.24   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (15, 15), 11, false)      28.056   24.564     1.14   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 3, (15, 15), 11, true)       10.552   7.648      1.38   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (9, 9), 7, false)         25.591   24.318     1.05   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (9, 9), 7, true)          1.778    1.425      1.25   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (9, 9), 11, false)        28.774   26.829     1.07   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (9, 9), 11, true)         3.756    3.186      1.18   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (15, 15), 7, false)       29.838   27.610     1.08   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (15, 15), 7, true)        5.732    4.401      1.30   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (15, 15), 11, false)      37.631   33.103     1.14   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 1, 4, (15, 15), 11, true)       14.064   10.350     1.36   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (9, 9), 7, false)         6.687    6.357      1.05   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (9, 9), 7, true)          0.904    0.803      1.13   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (9, 9), 11, false)        7.367    6.823      1.08   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (9, 9), 11, true)         1.328    1.061      1.25   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (15, 15), 7, false)       8.733    7.985      1.09   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (15, 15), 7, true)        2.485    2.241      1.11   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (15, 15), 11, false)      10.478   9.076      1.15   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 1, (15, 15), 11, true)       3.876    2.994      1.29   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (9, 9), 7, false)         19.365   18.398     1.05   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (9, 9), 7, true)          1.526    1.253      1.22   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (9, 9), 11, false)        20.923   19.605     1.07   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (9, 9), 11, true)         2.742    2.159      1.27   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (15, 15), 7, false)       22.917   21.246     1.08   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (15, 15), 7, true)        4.646    3.759      1.24   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (15, 15), 11, false)      28.086   24.744     1.14   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 3, (15, 15), 11, true)       10.653   7.728      1.38   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (9, 9), 7, false)         25.057   24.407     1.03   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (9, 9), 7, true)          1.756    1.412      1.24   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (9, 9), 11, false)        28.064   26.731     1.05   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (9, 9), 11, true)         3.643    3.104      1.17   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (15, 15), 7, false)       29.699   27.698     1.07   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (15, 15), 7, true)        5.734    4.491      1.28   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (15, 15), 11, false)      37.233   33.088     1.13   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/720p_%02d.png", 2, 4, (15, 15), 11, true)       14.165   10.358     1.37   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (9, 9), 7, false)          2.586    2.538      1.02   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (9, 9), 7, true)           0.789    0.709      1.11   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (9, 9), 11, false)         3.158    2.931      1.08   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (9, 9), 11, true)          1.279    1.019      1.26   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (15, 15), 7, false)        4.028    3.829      1.05   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (15, 15), 7, true)         2.150    1.932      1.11   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (15, 15), 11, false)       5.577    4.852      1.15   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 1, (15, 15), 11, true)        3.540    2.834      1.25   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (9, 9), 7, false)          7.803    7.144      1.09   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (9, 9), 7, true)           1.646    1.346      1.22   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (9, 9), 11, false)         9.824    8.622      1.14   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (9, 9), 11, true)          3.107    2.420      1.28   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (15, 15), 7, false)        11.637   10.183     1.14   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (15, 15), 7, true)         4.854    3.981      1.22   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (15, 15), 11, false)       16.239   13.861     1.17   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 3, (15, 15), 11, true)        10.211   7.806      1.31   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (9, 9), 7, false)          10.106   9.366      1.08   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (9, 9), 7, true)           1.884    1.521      1.24   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (9, 9), 11, false)         13.038   11.570     1.13   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (9, 9), 11, true)          4.079    3.311      1.23   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (15, 15), 7, false)        14.732   12.861     1.15   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (15, 15), 7, true)         5.918    4.639      1.28   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (15, 15), 11, false)       22.224   18.071     1.23   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 1, 4, (15, 15), 11, true)        13.851   10.507     1.32   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (9, 9), 7, false)          2.505    2.480      1.01   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (9, 9), 7, true)           0.734    0.655      1.12   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (9, 9), 11, false)         3.179    2.913      1.09   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (9, 9), 11, true)          1.275    1.010      1.26   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (15, 15), 7, false)        3.993    3.804      1.05   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (15, 15), 7, true)         2.118    1.898      1.12   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (15, 15), 11, false)       5.501    4.773      1.15   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 1, (15, 15), 11, true)        3.465    2.766      1.25   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (9, 9), 7, false)          7.833    7.194      1.09   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (9, 9), 7, true)           1.640    1.348      1.22   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (9, 9), 11, false)         9.782    8.604      1.14   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (9, 9), 11, true)          3.068    2.374      1.29   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (15, 15), 7, false)        11.557   10.127     1.14   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (15, 15), 7, true)         4.794    3.846      1.25   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (15, 15), 11, false)       16.317   13.772     1.18   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 3, (15, 15), 11, true)        10.139   7.748      1.31   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (9, 9), 7, false)          10.085   9.326      1.08   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (9, 9), 7, true)           1.884    1.526      1.24   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (9, 9), 11, false)         13.061   11.515     1.13   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (9, 9), 11, true)          4.029    3.312      1.22   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (15, 15), 7, false)        14.561   12.706     1.15   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (15, 15), 7, true)         5.723    4.487      1.28   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (15, 15), 11, false)       22.049   18.008     1.22   
OpticalFlowPyrLK_self::Path_Idx_Cn_NPoints_WSize_Deriv::("cv/optflow/frames/VGA_%02d.png", 2, 4, (15, 15), 11, true)        13.923   10.415     1.34

perf-pyrlk.zip

@asmorkalov asmorkalov merged commit 881440c into opencv:4.x Sep 16, 2024
@asmorkalov asmorkalov mentioned this pull request Sep 20, 2024
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@asmorkalov asmorkalov mentioned this pull request Oct 2, 2024
Merged
6 tasks
savuor pushed a commit to savuor/opencv that referenced this pull request Nov 1, 2024
@asmorkalov
Merge pull request opencv#26143 from asmorkalov:as/HAL_opticalFlowLK
5a2e561 
Added HAL interface for Lukas-Kanade optical flow opencv#26143

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
@savuor savuor mentioned this pull request Nov 1, 2024
Closed
6 tasks
savuor pushed a commit to savuor/opencv that referenced this pull request Nov 5, 2024
@asmorkalov
Merge pull request opencv#26143 from asmorkalov:as/HAL_opticalFlowLK
24dad2a 
Added HAL interface for Lukas-Kanade optical flow opencv#26143

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
savuor pushed a commit to savuor/opencv that referenced this pull request Nov 8, 2024
@asmorkalov
Merge pull request opencv#26143 from asmorkalov:as/HAL_opticalFlowLK
7cb074b 
Added HAL interface for Lukas-Kanade optical flow opencv#26143

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
savuor pushed a commit to savuor/opencv that referenced this pull request Nov 21, 2024
@asmorkalov
Merge pull request opencv#26143 from asmorkalov:as/HAL_opticalFlowLK
3726a5c 
Added HAL interface for Lukas-Kanade optical flow opencv#26143

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
thewoz pushed a commit to CobbsLab/OPENCV that referenced this pull request Feb 13, 2025
@asmorkalov @thewoz
Merge pull request opencv#26143 from asmorkalov:as/HAL_opticalFlowLK
be9304a 
Added HAL interface for Lukas-Kanade optical flow opencv#26143

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [ ] The PR is proposed to the proper branch
- [ ] There is a reference to the original bug report and related work
- [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [ ] The feature is well documented and sample code can be built with the project CMake
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@vpisarev vpisarev vpisarev approved these changes

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category: video feature

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OpenCV 4.x HAL improvement
Status: Done

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4.11.0

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@asmorkalov @vpisarev