generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
opencv/modules/legacy/src/optflowbm.cpp
Andrey Kamaev 2a6fb2867e Remove all using directives for STL namespace and members 
Made all STL usages explicit to be able automatically find all usages of
particular class or function.
2013-02-25 15:04:17 +04:00

304 lines
9.6 KiB
C++
Raw Blame History

/*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.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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"
static inline int cmpBlocks(const uchar* A, const uchar* B, int Bstep, CvSize blockSize )
{
int x, s = 0;
for( ; blockSize.height--; A += blockSize.width, B += Bstep )
{
for( x = 0; x <= blockSize.width - 4; x += 4 )
s += std::abs(A[x] - B[x]) + std::abs(A[x+1] - B[x+1]) +
std::abs(A[x+2] - B[x+2]) + std::abs(A[x+3] - B[x+3]);
for( ; x < blockSize.width; x++ )
s += std::abs(A[x] - B[x]);
}
return s;
}
CV_IMPL void
cvCalcOpticalFlowBM( const void* srcarrA, const void* srcarrB,
CvSize blockSize, CvSize shiftSize,
CvSize maxRange, int usePrevious,
void* velarrx, void* velarry )
{
CvMat stubA, *srcA = cvGetMat( srcarrA, &stubA );
CvMat stubB, *srcB = cvGetMat( srcarrB, &stubB );
CvMat stubx, *velx = cvGetMat( velarrx, &stubx );
CvMat stuby, *vely = cvGetMat( velarry, &stuby );
if( !CV_ARE_TYPES_EQ( srcA, srcB ))
CV_Error( CV_StsUnmatchedFormats, "Source images have different formats" );
if( !CV_ARE_TYPES_EQ( velx, vely ))
CV_Error( CV_StsUnmatchedFormats, "Destination images have different formats" );
CvSize velSize =
{
(srcA->width - blockSize.width + shiftSize.width)/shiftSize.width,
(srcA->height - blockSize.height + shiftSize.height)/shiftSize.height
};
if( !CV_ARE_SIZES_EQ( srcA, srcB ) ||
!CV_ARE_SIZES_EQ( velx, vely ) ||
velx->width != velSize.width ||
vely->height != velSize.height )
CV_Error( CV_StsUnmatchedSizes, "" );
if( CV_MAT_TYPE( srcA->type ) != CV_8UC1 ||
CV_MAT_TYPE( velx->type ) != CV_32FC1 )
CV_Error( CV_StsUnsupportedFormat, "Source images must have 8uC1 type and "
"destination images must have 32fC1 type" );
if( srcA->step != srcB->step || velx->step != vely->step )
CV_Error( CV_BadStep, "two source or two destination images have different steps" );
const int SMALL_DIFF=2;
const int BIG_DIFF=128;
// scanning scheme coordinates
std::vector<CvPoint> _ss((2 * maxRange.width + 1) * (2 * maxRange.height + 1));
CvPoint* ss = &_ss[0];
int ss_count = 0;
int blWidth = blockSize.width, blHeight = blockSize.height;
int blSize = blWidth*blHeight;
int acceptLevel = blSize * SMALL_DIFF;
int escapeLevel = blSize * BIG_DIFF;
int i, j;
std::vector<uchar> _blockA(cvAlign(blSize + 16, 16));
uchar* blockA = (uchar*)cvAlignPtr(&_blockA[0], 16);
// Calculate scanning scheme
int min_count = MIN( maxRange.width, maxRange.height );
// use spiral search pattern
//
// 9 10 11 12
// 8 1 2 13
// 7 * 3 14
// 6 5 4 15
//... 20 19 18 17
//
for( i = 0; i < min_count; i++ )
{
// four cycles along sides
int x = -i-1, y = x;
// upper side
for( j = -i; j <= i + 1; j++, ss_count++ )
{
ss[ss_count].x = ++x;
ss[ss_count].y = y;
}
// right side
for( j = -i; j <= i + 1; j++, ss_count++ )
{
ss[ss_count].x = x;
ss[ss_count].y = ++y;
}
// bottom side
for( j = -i; j <= i + 1; j++, ss_count++ )
{
ss[ss_count].x = --x;
ss[ss_count].y = y;
}
// left side
for( j = -i; j <= i + 1; j++, ss_count++ )
{
ss[ss_count].x = x;
ss[ss_count].y = --y;
}
}
// the rest part
if( maxRange.width < maxRange.height )
{
int xleft = -min_count;
// cycle by neighbor rings
for( i = min_count; i < maxRange.height; i++ )
{
// two cycles by x
int y = -(i + 1);
int x = xleft;
// upper side
for( j = -maxRange.width; j <= maxRange.width; j++, ss_count++, x++ )
{
ss[ss_count].x = x;
ss[ss_count].y = y;
}
x = xleft;
y = -y;
// bottom side
for( j = -maxRange.width; j <= maxRange.width; j++, ss_count++, x++ )
{
ss[ss_count].x = x;
ss[ss_count].y = y;
}
}
}
else if( maxRange.width > maxRange.height )
{
int yupper = -min_count;
// cycle by neighbor rings
for( i = min_count; i < maxRange.width; i++ )
{
// two cycles by y
int x = -(i + 1);
int y = yupper;
// left side
for( j = -maxRange.height; j <= maxRange.height; j++, ss_count++, y++ )
{
ss[ss_count].x = x;
ss[ss_count].y = y;
}
y = yupper;
x = -x;
// right side
for( j = -maxRange.height; j <= maxRange.height; j++, ss_count++, y++ )
{
ss[ss_count].x = x;
ss[ss_count].y = y;
}
}
}
int maxX = srcB->cols - blockSize.width, maxY = srcB->rows - blockSize.height;
const uchar* Adata = srcA->data.ptr;
const uchar* Bdata = srcB->data.ptr;
int Astep = srcA->step, Bstep = srcB->step;
// compute the flow
for( i = 0; i < velx->rows; i++ )
{
float* vx = (float*)(velx->data.ptr + velx->step*i);
float* vy = (float*)(vely->data.ptr + vely->step*i);
for( j = 0; j < velx->cols; j++ )
{
int X1 = j*shiftSize.width, Y1 = i*shiftSize.height, X2, Y2;
int offX = 0, offY = 0;
if( usePrevious )
{
offX = cvRound(vx[j]);
offY = cvRound(vy[j]);
}
int k;
for( k = 0; k < blHeight; k++ )
memcpy( blockA + k*blWidth, Adata + Astep*(Y1 + k) + X1, blWidth );
X2 = X1 + offX;
Y2 = Y1 + offY;
int dist = INT_MAX;
if( 0 <= X2 && X2 <= maxX && 0 <= Y2 && Y2 <= maxY )
dist = cmpBlocks( blockA, Bdata + Bstep*Y2 + X2, Bstep, blockSize );
int countMin = 1;
int sumx = offX, sumy = offY;
if( dist > acceptLevel )
{
// do brute-force search
for( k = 0; k < ss_count; k++ )
{
int dx = offX + ss[k].x;
int dy = offY + ss[k].y;
X2 = X1 + dx;
Y2 = Y1 + dy;
if( !(0 <= X2 && X2 <= maxX && 0 <= Y2 && Y2 <= maxY) )
continue;
int tmpDist = cmpBlocks( blockA, Bdata + Bstep*Y2 + X2, Bstep, blockSize );
if( tmpDist < acceptLevel )
{
sumx = dx; sumy = dy;
countMin = 1;
break;
}
if( tmpDist < dist )
{
dist = tmpDist;
sumx = dx; sumy = dy;
countMin = 1;
}
else if( tmpDist == dist )
{
sumx += dx; sumy += dy;
countMin++;
}
}
if( dist > escapeLevel )
{
sumx = offX;
sumy = offY;
countMin = 1;
}
}
vx[j] = (float)sumx/countMin;
vy[j] = (float)sumy/countMin;
}
}
}
/* End of file. */
Reference in New Issue View Git Blame Copy Permalink