Skip to content

Tunned FastCV tracking test for OpenCV 5.x #4014

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Oct 2, 2025
Merged

Tunned FastCV tracking test for OpenCV 5.x #4014

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
27 changes: 13 additions & 14 deletions modules/fastcv/test/test_tracking.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ TEST_P(TrackingTest, accuracy)
ptsEst.push_back(p);
}

std::vector<int32_t> statusVec(nPts);
cv::Mat statusVec(nPts, 1, CV_32S, cv::Scalar::all(0));

cv::TermCriteria termCrit;
termCrit.type = cv::TermCriteria::COUNT | cv::TermCriteria::EPS;
Expand All @@ -90,16 +90,16 @@ TEST_P(TrackingTest, accuracy)
}

std::vector<cv::Point2f> ocvPtsOut;
std::vector<uint8_t> ocvStatusVec;
cv::Mat ocvStatusVec;
std::vector<float> ocvErrVec;
cv::calcOpticalFlowPyrLK(src, dst, ptsIn, ocvPtsOut, ocvStatusVec, ocvErrVec, {winSz, winSz}, nLevels - 1, termCrit);

cv::Mat refStatusVec(nPts, 1, CV_32S, Scalar::all(1));
cv::Mat ocvStatusVecInt;
cv::Mat(ocvStatusVec).convertTo(ocvStatusVecInt, CV_32S);
ocvStatusVec.convertTo(ocvStatusVecInt, CV_32S);

double statusNormOcv = cv::norm(ocvStatusVecInt, refStatusVec, NORM_INF);
double statusNorm = cv::norm(cv::Mat(statusVec), refStatusVec, NORM_INF);
double statusNorm = cv::norm(statusVec.t(), refStatusVec, NORM_INF);

EXPECT_EQ(statusNormOcv, 0);
EXPECT_EQ(statusNorm, 0);
Expand All @@ -108,7 +108,7 @@ TEST_P(TrackingTest, accuracy)
double diffNorm = cv::norm(ptsOut, ptsExpected, NORM_L2);

EXPECT_LT(diffNormOcv, 31.92);
EXPECT_LT(diffNorm, 6.69);
EXPECT_LT(diffNorm, 6.73);

if (cvtest::debugLevel > 0)
{
Expand All @@ -127,17 +127,16 @@ TEST_P(TrackingTest, accuracy)
drawPts(ptsOut, "track_w"+std::to_string(winSz)+"_warped.png");
drawPts(ocvPtsOut, "track_ocv_warped.png");

std::cout << "status vec:" << std::endl << cv::Mat(statusVec).t() << std::endl;
std::cout << "status vec ocv:" << std::endl << cv::Mat(ocvStatusVec).t() << std::endl;
std::cout << "status vec:" << std::endl << statusVec << std::endl;
std::cout << "status vec ocv:" << std::endl << ocvStatusVec << std::endl;
}
}

// BUG: https://github.com/opencv/opencv_contrib/issues/3958
//INSTANTIATE_TEST_CASE_P(FastCV_Extension, TrackingTest,
// ::testing::Combine(::testing::Values(5, 7, 9), // window size
// ::testing::Bool(), // useSobelPyramid
// ::testing::Bool(), // useFastCvPyramids
// ::testing::Bool() // useInitialEstimate
// ));
INSTANTIATE_TEST_CASE_P(FastCV_Extension, TrackingTest,
::testing::Combine(::testing::Values(5, 7, 9), // window size
::testing::Bool(), // useSobelPyramid
::testing::Bool(), // useFastCvPyramids
::testing::Bool() // useInitialEstimate
));

}} // namespaces opencv_test, ::
Loading