unit test / example to debug opt_flow_pyr_lk results

Author: sjbeskur

tests/data/optflow/1080p_00.png

@@ -0,0 +1,81 @@
+#![cfg(ocvrs_has_module_video)]
+
+use std::cmp::Ordering;
+
+use opencv as cv;
+use opencv::core as cv_core;
+use cv::{features2d::*,  Result};
+use cv_core::{ Size, TermCriteria, VectorToVec, KeyPoint, Mat, Ptr, Vector, Point2f};
+use cv::imgcodecs::*;
+
+#[test]
+pub fn check_optical_flow_points() -> Result<()>{
+    //let mut detector = ORBFeatureDetector::create();
+    let mut detector = AKAZE::create_def()?;
+
+    let prev_img = imread("tests/data/optflow/1080p_00.png", ImreadModes::IMREAD_GRAYSCALE.into()).unwrap();
+    let cur_img = imread("tests/data/optflow/1080p_01.png", ImreadModes::IMREAD_GRAYSCALE.into()).unwrap();
+
+    let mut prev_kps = Vector::<KeyPoint>::new();
+    let mut prev_desc = Mat::default();
+	let mask = Mat::default();
+    let _ = detector.detect_and_compute(&prev_img, &mask,&mut prev_kps, &mut prev_desc, false);
+
+    let mut ref_pts = Vector::<Point2f>::new();
+    let _ = KeyPoint::convert_def(&prev_kps, &mut ref_pts); //Converts the KeyPoints to raw Points2f
+
+   	debug_keypoints(&ref_pts);
+
+    let next_kps = track_pyr_lk(&prev_img, &cur_img, &ref_pts);
+
+	println!("dumping key_points: ");
+	debug_keypoints(&next_kps);
+
+    let detects = next_kps.len();
+    println!("detects: {}", detects);
+
+    // This should fail 
+    next_kps.to_vec().iter().for_each(|k| assert!( k.x.partial_cmp(&0.0) == Some(Ordering::Equal) && k.y.partial_cmp(&0.0) == Some(Ordering::Equal) ));
+
+	Ok(())
+}
+
+fn track_pyr_lk(prev_img: &Mat, cur_img: &Mat, ref_pts: &Vector<Point2f>) -> Vector::<Point2f>{
+
+    let mut cur_key_points = Vector::<Point2f>::new();
+	let min_eig = 1e-4;
+	let flags = 0; // OPTFLOW_LK_GET_MIN_EIGENVALS vs OPTFLOW_USE_INITIAL_FLOW
+	let size = Size::new(21,21);
+		let crit = TermCriteria::default().unwrap(); // TermCriteria::new(typ, 30 , 0.01).unwrap();
+	let max_levels=3;
+	let mut err = Vector::<f64>::new();
+	let mut status = Vector::<u8>::new();
+
+	let _ =cv::video::calc_optical_flow_pyr_lk(
+		&prev_img,
+		&cur_img,
+		&ref_pts,
+		&mut cur_key_points,
+		&mut status,
+		&mut err,
+		size,
+		max_levels,
+		crit,
+		flags,
+		min_eig,
+	);
+
+    cur_key_points
+
+}
+
+pub fn debug_keypoints(kps: &Vector<Point2f>){
+	let points = kps.to_vec();
+	println!("[debug] keypoints len:{}" , kps.len());
+
+	if kps.len() < 3 { return ; };
+
+	points[0..3].iter().for_each(|v| println!("{}, {}", v.x, v.y));
+	println!("....,");
+	points[points.len()-3..].iter().for_each(|v| println!("{}, {}", v.x, v.y));
+}