Fixed a bug in CudaSparsePyrLKOpticalFlow. ( issue #220 )

Emgu.CV.Cuda/Optflow/CudaSparsePyrLKOpticalFlow.cs

@@ -30,7 +30,7 @@ namespace Emgu.CV.Cuda
         public CudaSparsePyrLKOpticalFlow(Size winSize, int maxLevel = 3, int iters = 30, bool useInitialFlow = false)
         {
             _ptr = CudaInvoke.cudaSparsePyrLKOpticalFlowCreate(
-                winSize, maxLevel, iters, useInitialFlow,
+                ref winSize, maxLevel, iters, useInitialFlow,
                 ref _sparseFlow, ref _algorithm, ref _sharedPtr);
         }
 
@@ -69,7 +69,9 @@ namespace Emgu.CV.Cuda
     {
         [DllImport(CvInvoke.ExternCudaLibrary, CallingConvention = CvInvoke.CvCallingConvention)]
         internal extern static IntPtr cudaSparsePyrLKOpticalFlowCreate(
-            Size winSize, int maxLevel, int iters,
+            ref Size winSize, 
+            int maxLevel, 
+            int iters,
             [MarshalAs(CvInvoke.BoolMarshalType)]
             bool useInitialFlow,
             ref IntPtr sparseFlow,

Emgu.CV.Cuda/Optflow/ICudaSparseOpticalFlow.cs

@@ -35,16 +35,23 @@ namespace Emgu.CV.Cuda
       /// <param name="status">Output status vector. Each element of the vector is set to 1 if the flow for the corresponding features has been found. Otherwise, it is set to 0.</param>
       /// <param name="err">Optional output vector that contains error response for each point (inverse confidence).</param>
       /// <param name="stream">Use a Stream to call the function asynchronously (non-blocking) or null to call the function synchronously (blocking).</param>
-      public static void Calc(this ICudaSparseOpticalFlow sparseFlow, IInputArray prevImg, IInputArray nextImg, IInputArray prevPts, IInputOutputArray nextPts, IOutputArray status = null, IOutputArray err = null, Stream stream = null)
+      public static void Calc(this ICudaSparseOpticalFlow sparseFlow, IInputArray prevImg, IInputArray nextImg, IInputArray prevPts, IInputOutputArray nextPts, IOutputArray status, IOutputArray err = null, Stream stream = null)
       {
          using (InputArray iaPrevImg = prevImg.GetInputArray())
          using (InputArray iaNextImg = nextImg.GetInputArray())
          using (InputArray iaPrevPts = prevPts.GetInputArray())
          using (InputOutputArray ioaNextPts = nextPts.GetInputOutputArray())
-         using (OutputArray oaStatus = (status == null ? OutputArray.GetEmpty() : status.GetOutputArray()))
+         using (OutputArray oaStatus = status.GetOutputArray())
          using (OutputArray oaErr = (err == null ? OutputArray.GetEmpty() : err.GetOutputArray()))
-            cudaSparseOpticalFlowCalc(sparseFlow.SparseOpticalFlowPtr, iaPrevImg, iaNextImg, iaPrevPts, ioaNextPts,
-               oaStatus, oaErr, (stream == null) ? IntPtr.Zero : stream.Ptr);
+            cudaSparseOpticalFlowCalc(
+                sparseFlow.SparseOpticalFlowPtr, 
+                iaPrevImg, 
+                iaNextImg, 
+                iaPrevPts, 
+                ioaNextPts,
+                oaStatus, 
+                oaErr, 
+                (stream == null) ? IntPtr.Zero : stream.Ptr);
       }
 
       [DllImport(CvInvoke.ExternCudaLibrary, CallingConvention = CvInvoke.CvCallingConvention)]

Emgu.CV.Test/AutoTestCuda.cs

@@ -742,14 +742,30 @@ namespace Emgu.CV.Test
             Image<Gray, Byte> prevImg, currImg;
             AutoTestVarious.OpticalFlowImage(out prevImg, out currImg);
             Mat flow = new Mat();
-            CudaDensePyrLKOpticalFlow opticalflow = new CudaDensePyrLKOpticalFlow(new Size(21, 21), 3, 30, false);
+            using (CudaDensePyrLKOpticalFlow opticalflow = new CudaDensePyrLKOpticalFlow(new Size(21, 21), 3, 30, false))
+            using(CudaSparsePyrLKOpticalFlow opticalFlowSparse = new CudaSparsePyrLKOpticalFlow(new Size(21, 21)))
             using (CudaImage<Gray, Byte> prevGpu = new CudaImage<Gray, byte>(prevImg))
             using (CudaImage<Gray, byte> currGpu = new CudaImage<Gray, byte>(currImg))
             using (GpuMat flowGpu = new GpuMat())
+            using (VectorOfPointF prevPts = new VectorOfPointF())
+            using (GpuMat currPtrsGpu = new GpuMat())
+            using (GpuMat statusGpu = new GpuMat())
             {
                 opticalflow.Calc(prevGpu, currGpu, flowGpu);
 
                 flowGpu.Download(flow);
+
+                int pointsCount = 100;
+                Size s = prevGpu.Size;
+                PointF[] points = new PointF[pointsCount];
+                Random r = new Random(1234);
+                for (int i = 0; i < points.Length; i++)
+                {
+                    points[i] = new PointF(r.Next(s.Height), r.Next(s.Width));
+                }
+                prevPts.Push(points);
+                using (GpuMat prevPtsGpu = new GpuMat(prevPts))
+                    opticalFlowSparse.Calc(prevGpu, currGpu, prevPtsGpu, currPtrsGpu, statusGpu);
             }
         }