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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencv2/ximgproc/sparse_match_interpolator.hpp"
using namespace std;
namespace cv {
namespace optflow {
CV_EXPORTS_W void calcOpticalFlowSparseToDense(InputArray from, InputArray to, OutputArray flow,
int grid_step, int k,
float sigma, bool use_post_proc,
float fgs_lambda, float fgs_sigma)
{
CV_Assert( grid_step>1 && k>3 && sigma>0.0001f && fgs_lambda>1.0f && fgs_sigma>0.01f );
CV_Assert( !from.empty() && from.depth() == CV_8U && (from.channels() == 3 || from.channels() == 1) );
CV_Assert( !to .empty() && to .depth() == CV_8U && (to .channels() == 3 || to .channels() == 1) );
CV_Assert( from.sameSize(to) );
Mat prev = from.getMat();
Mat cur = to.getMat();
Mat prev_grayscale, cur_grayscale;
while( (prev.cols/grid_step)*(prev.rows/grid_step) > SHRT_MAX ) //ensure that the number matches is not too big
grid_step*=2;
if(prev.channels()==3)
{
cvtColor(prev,prev_grayscale,COLOR_BGR2GRAY);
cvtColor(cur, cur_grayscale, COLOR_BGR2GRAY);
}
else
{
prev.copyTo(prev_grayscale);
cur .copyTo(cur_grayscale);
}
vector<Point2f> points;
vector<Point2f> dst_points;
vector<unsigned char> status;
vector<float> err;
vector<Point2f> points_filtered, dst_points_filtered;
for(int i=0;i<prev.rows;i+=grid_step)
for(int j=0;j<prev.cols;j+=grid_step)
points.push_back(Point2f((float)j,(float)i));
calcOpticalFlowPyrLK(prev_grayscale,cur_grayscale,points,dst_points,status,err,Size(21,21));
for(unsigned int i=0;i<points.size();i++)
{
if(status[i]!=0)
{
points_filtered.push_back(points[i]);
dst_points_filtered.push_back(dst_points[i]);
}
}
flow.create(from.size(),CV_32FC2);
Mat dense_flow = flow.getMat();
Ptr<ximgproc::EdgeAwareInterpolator> gd = ximgproc::createEdgeAwareInterpolator();
gd->setK(k);
gd->setSigma(sigma);
gd->setUsePostProcessing(use_post_proc);
gd->setFGSLambda(fgs_lambda);
gd->setFGSSigma (fgs_sigma);
gd->interpolate(prev,points_filtered,cur,dst_points_filtered,dense_flow);
}
}
}