/*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); } } }