525 lines
19 KiB
C++
525 lines
19 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#define CONV( A, B, C) ( (float)( A + (B<<1) + C ) )
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typedef struct
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{
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float xx;
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float xy;
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float yy;
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float xt;
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float yt;
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float alpha; /* alpha = 1 / ( 1/lambda + xx + yy ) */
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}
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icvDerProductEx;
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/*F///////////////////////////////////////////////////////////////////////////////////////
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// Name: icvCalcOpticalFlowHS_8u32fR (Horn & Schunck method )
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// Purpose: calculate Optical flow for 2 images using Horn & Schunck algorithm
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// Context:
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// Parameters:
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// imgA - pointer to first frame ROI
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// imgB - pointer to second frame ROI
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// imgStep - width of single row of source images in bytes
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// imgSize - size of the source image ROI
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// usePrevious - use previous (input) velocity field.
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// velocityX - pointer to horizontal and
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// velocityY - vertical components of optical flow ROI
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// velStep - width of single row of velocity frames in bytes
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// lambda - Lagrangian multiplier
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// criteria - criteria of termination processmaximum number of iterations
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//
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// Returns: CV_OK - all ok
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// CV_OUTOFMEM_ERR - insufficient memory for function work
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// CV_NULLPTR_ERR - if one of input pointers is NULL
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// CV_BADSIZE_ERR - wrong input sizes interrelation
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//
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// Notes: 1.Optical flow to be computed for every pixel in ROI
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// 2.For calculating spatial derivatives we use 3x3 Sobel operator.
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// 3.We use the following border mode.
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// The last row or column is replicated for the border
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// ( IPL_BORDER_REPLICATE in IPL ).
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//
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//
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//F*/
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static CvStatus CV_STDCALL
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icvCalcOpticalFlowHS_8u32fR( uchar* imgA,
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uchar* imgB,
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int imgStep,
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CvSize imgSize,
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int usePrevious,
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float* velocityX,
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float* velocityY,
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int velStep,
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float lambda,
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CvTermCriteria criteria )
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{
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/* Loops indexes */
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int i, j, k, address;
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/* Buffers for Sobel calculations */
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float *MemX[2];
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float *MemY[2];
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float ConvX, ConvY;
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float GradX, GradY, GradT;
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int imageWidth = imgSize.width;
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int imageHeight = imgSize.height;
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int ConvLine;
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int LastLine;
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int BufferSize;
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float Ilambda = 1 / lambda;
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int iter = 0;
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int Stop;
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/* buffers derivatives product */
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icvDerProductEx *II;
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float *VelBufX[2];
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float *VelBufY[2];
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/* variables for storing number of first pixel of image line */
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int Line1;
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int Line2;
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int Line3;
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int pixNumber;
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/* auxiliary */
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int NoMem = 0;
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/* Checking bad arguments */
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if( imgA == NULL )
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return CV_NULLPTR_ERR;
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if( imgB == NULL )
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return CV_NULLPTR_ERR;
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if( imgSize.width <= 0 )
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return CV_BADSIZE_ERR;
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if( imgSize.height <= 0 )
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return CV_BADSIZE_ERR;
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if( imgSize.width > imgStep )
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return CV_BADSIZE_ERR;
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if( (velStep & 3) != 0 )
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return CV_BADSIZE_ERR;
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velStep /= 4;
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/****************************************************************************************/
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/* Allocating memory for all buffers */
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/****************************************************************************************/
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for( k = 0; k < 2; k++ )
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{
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MemX[k] = (float *) cvAlloc( (imgSize.height) * sizeof( float ));
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if( MemX[k] == NULL )
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NoMem = 1;
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MemY[k] = (float *) cvAlloc( (imgSize.width) * sizeof( float ));
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if( MemY[k] == NULL )
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NoMem = 1;
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VelBufX[k] = (float *) cvAlloc( imageWidth * sizeof( float ));
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if( VelBufX[k] == NULL )
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NoMem = 1;
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VelBufY[k] = (float *) cvAlloc( imageWidth * sizeof( float ));
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if( VelBufY[k] == NULL )
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NoMem = 1;
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}
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BufferSize = imageHeight * imageWidth;
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II = (icvDerProductEx *) cvAlloc( BufferSize * sizeof( icvDerProductEx ));
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if( II == NULL )
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NoMem = 1;
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if( NoMem )
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{
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for( k = 0; k < 2; k++ )
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{
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if( MemX[k] )
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cvFree( &MemX[k] );
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if( MemY[k] )
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cvFree( &MemY[k] );
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if( VelBufX[k] )
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cvFree( &VelBufX[k] );
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if( VelBufY[k] )
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cvFree( &VelBufY[k] );
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}
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if( II )
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cvFree( &II );
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return CV_OUTOFMEM_ERR;
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}
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/****************************************************************************************\
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* Calculate first line of memX and memY *
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\****************************************************************************************/
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MemY[0][0] = MemY[1][0] = CONV( imgA[0], imgA[0], imgA[1] );
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MemX[0][0] = MemX[1][0] = CONV( imgA[0], imgA[0], imgA[imgStep] );
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for( j = 1; j < imageWidth - 1; j++ )
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{
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MemY[0][j] = MemY[1][j] = CONV( imgA[j - 1], imgA[j], imgA[j + 1] );
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}
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pixNumber = imgStep;
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for( i = 1; i < imageHeight - 1; i++ )
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{
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MemX[0][i] = MemX[1][i] = CONV( imgA[pixNumber - imgStep],
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imgA[pixNumber], imgA[pixNumber + imgStep] );
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pixNumber += imgStep;
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}
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MemY[0][imageWidth - 1] =
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MemY[1][imageWidth - 1] = CONV( imgA[imageWidth - 2],
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imgA[imageWidth - 1], imgA[imageWidth - 1] );
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MemX[0][imageHeight - 1] =
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MemX[1][imageHeight - 1] = CONV( imgA[pixNumber - imgStep],
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imgA[pixNumber], imgA[pixNumber] );
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/****************************************************************************************\
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* begin scan image, calc derivatives *
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\****************************************************************************************/
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ConvLine = 0;
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Line2 = -imgStep;
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address = 0;
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LastLine = imgStep * (imageHeight - 1);
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while( ConvLine < imageHeight )
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{
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/*Here we calculate derivatives for line of image */
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int memYline = (ConvLine + 1) & 1;
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Line2 += imgStep;
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Line1 = Line2 - ((Line2 == 0) ? 0 : imgStep);
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Line3 = Line2 + ((Line2 == LastLine) ? 0 : imgStep);
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/* Process first pixel */
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ConvX = CONV( imgA[Line1 + 1], imgA[Line2 + 1], imgA[Line3 + 1] );
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ConvY = CONV( imgA[Line3], imgA[Line3], imgA[Line3 + 1] );
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GradY = (ConvY - MemY[memYline][0]) * 0.125f;
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GradX = (ConvX - MemX[1][ConvLine]) * 0.125f;
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MemY[memYline][0] = ConvY;
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MemX[1][ConvLine] = ConvX;
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GradT = (float) (imgB[Line2] - imgA[Line2]);
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II[address].xx = GradX * GradX;
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II[address].xy = GradX * GradY;
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II[address].yy = GradY * GradY;
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II[address].xt = GradX * GradT;
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II[address].yt = GradY * GradT;
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II[address].alpha = 1 / (Ilambda + II[address].xx + II[address].yy);
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address++;
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/* Process middle of line */
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for( j = 1; j < imageWidth - 1; j++ )
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{
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ConvX = CONV( imgA[Line1 + j + 1], imgA[Line2 + j + 1], imgA[Line3 + j + 1] );
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ConvY = CONV( imgA[Line3 + j - 1], imgA[Line3 + j], imgA[Line3 + j + 1] );
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GradY = (ConvY - MemY[memYline][j]) * 0.125f;
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GradX = (ConvX - MemX[(j - 1) & 1][ConvLine]) * 0.125f;
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MemY[memYline][j] = ConvY;
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MemX[(j - 1) & 1][ConvLine] = ConvX;
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GradT = (float) (imgB[Line2 + j] - imgA[Line2 + j]);
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II[address].xx = GradX * GradX;
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II[address].xy = GradX * GradY;
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II[address].yy = GradY * GradY;
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II[address].xt = GradX * GradT;
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II[address].yt = GradY * GradT;
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II[address].alpha = 1 / (Ilambda + II[address].xx + II[address].yy);
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address++;
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}
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/* Process last pixel of line */
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ConvX = CONV( imgA[Line1 + imageWidth - 1], imgA[Line2 + imageWidth - 1],
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imgA[Line3 + imageWidth - 1] );
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ConvY = CONV( imgA[Line3 + imageWidth - 2], imgA[Line3 + imageWidth - 1],
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imgA[Line3 + imageWidth - 1] );
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GradY = (ConvY - MemY[memYline][imageWidth - 1]) * 0.125f;
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GradX = (ConvX - MemX[(imageWidth - 2) & 1][ConvLine]) * 0.125f;
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MemY[memYline][imageWidth - 1] = ConvY;
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GradT = (float) (imgB[Line2 + imageWidth - 1] - imgA[Line2 + imageWidth - 1]);
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II[address].xx = GradX * GradX;
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II[address].xy = GradX * GradY;
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II[address].yy = GradY * GradY;
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II[address].xt = GradX * GradT;
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II[address].yt = GradY * GradT;
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II[address].alpha = 1 / (Ilambda + II[address].xx + II[address].yy);
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address++;
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ConvLine++;
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}
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/****************************************************************************************\
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* Prepare initial approximation *
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\****************************************************************************************/
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if( !usePrevious )
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{
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float *vx = velocityX;
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float *vy = velocityY;
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for( i = 0; i < imageHeight; i++ )
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{
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memset( vx, 0, imageWidth * sizeof( float ));
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memset( vy, 0, imageWidth * sizeof( float ));
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vx += velStep;
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vy += velStep;
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}
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}
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/****************************************************************************************\
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* Perform iterations *
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\****************************************************************************************/
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iter = 0;
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Stop = 0;
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LastLine = velStep * (imageHeight - 1);
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while( !Stop )
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{
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float Eps = 0;
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address = 0;
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iter++;
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/****************************************************************************************\
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* begin scan velocity and update it *
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\****************************************************************************************/
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Line2 = -velStep;
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for( i = 0; i < imageHeight; i++ )
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{
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/* Here average velocity */
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float averageX;
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float averageY;
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float tmp;
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Line2 += velStep;
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Line1 = Line2 - ((Line2 == 0) ? 0 : velStep);
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Line3 = Line2 + ((Line2 == LastLine) ? 0 : velStep);
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/* Process first pixel */
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averageX = (velocityX[Line2] +
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velocityX[Line2 + 1] + velocityX[Line1] + velocityX[Line3]) / 4;
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averageY = (velocityY[Line2] +
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velocityY[Line2 + 1] + velocityY[Line1] + velocityY[Line3]) / 4;
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VelBufX[i & 1][0] = averageX -
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(II[address].xx * averageX +
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II[address].xy * averageY + II[address].xt) * II[address].alpha;
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VelBufY[i & 1][0] = averageY -
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(II[address].xy * averageX +
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II[address].yy * averageY + II[address].yt) * II[address].alpha;
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/* update Epsilon */
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if( criteria.type & CV_TERMCRIT_EPS )
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{
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tmp = (float)fabs(velocityX[Line2] - VelBufX[i & 1][0]);
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Eps = MAX( tmp, Eps );
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tmp = (float)fabs(velocityY[Line2] - VelBufY[i & 1][0]);
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Eps = MAX( tmp, Eps );
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}
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address++;
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/* Process middle of line */
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for( j = 1; j < imageWidth - 1; j++ )
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{
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averageX = (velocityX[Line2 + j - 1] +
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velocityX[Line2 + j + 1] +
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velocityX[Line1 + j] + velocityX[Line3 + j]) / 4;
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averageY = (velocityY[Line2 + j - 1] +
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velocityY[Line2 + j + 1] +
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velocityY[Line1 + j] + velocityY[Line3 + j]) / 4;
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VelBufX[i & 1][j] = averageX -
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(II[address].xx * averageX +
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II[address].xy * averageY + II[address].xt) * II[address].alpha;
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VelBufY[i & 1][j] = averageY -
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(II[address].xy * averageX +
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II[address].yy * averageY + II[address].yt) * II[address].alpha;
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/* update Epsilon */
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if( criteria.type & CV_TERMCRIT_EPS )
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{
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tmp = (float)fabs(velocityX[Line2 + j] - VelBufX[i & 1][j]);
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Eps = MAX( tmp, Eps );
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tmp = (float)fabs(velocityY[Line2 + j] - VelBufY[i & 1][j]);
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Eps = MAX( tmp, Eps );
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}
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address++;
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}
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/* Process last pixel of line */
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averageX = (velocityX[Line2 + imageWidth - 2] +
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velocityX[Line2 + imageWidth - 1] +
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velocityX[Line1 + imageWidth - 1] +
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velocityX[Line3 + imageWidth - 1]) / 4;
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averageY = (velocityY[Line2 + imageWidth - 2] +
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velocityY[Line2 + imageWidth - 1] +
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velocityY[Line1 + imageWidth - 1] +
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velocityY[Line3 + imageWidth - 1]) / 4;
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VelBufX[i & 1][imageWidth - 1] = averageX -
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(II[address].xx * averageX +
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II[address].xy * averageY + II[address].xt) * II[address].alpha;
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VelBufY[i & 1][imageWidth - 1] = averageY -
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(II[address].xy * averageX +
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II[address].yy * averageY + II[address].yt) * II[address].alpha;
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/* update Epsilon */
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if( criteria.type & CV_TERMCRIT_EPS )
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{
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tmp = (float)fabs(velocityX[Line2 + imageWidth - 1] -
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VelBufX[i & 1][imageWidth - 1]);
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Eps = MAX( tmp, Eps );
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tmp = (float)fabs(velocityY[Line2 + imageWidth - 1] -
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VelBufY[i & 1][imageWidth - 1]);
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Eps = MAX( tmp, Eps );
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}
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address++;
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/* store new velocity from old buffer to velocity frame */
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if( i > 0 )
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{
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memcpy( &velocityX[Line1], VelBufX[(i - 1) & 1], imageWidth * sizeof( float ));
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memcpy( &velocityY[Line1], VelBufY[(i - 1) & 1], imageWidth * sizeof( float ));
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}
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} /*for */
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/* store new velocity from old buffer to velocity frame */
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memcpy( &velocityX[imageWidth * (imageHeight - 1)],
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VelBufX[(imageHeight - 1) & 1], imageWidth * sizeof( float ));
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memcpy( &velocityY[imageWidth * (imageHeight - 1)],
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VelBufY[(imageHeight - 1) & 1], imageWidth * sizeof( float ));
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if( (criteria.type & CV_TERMCRIT_ITER) && (iter == criteria.max_iter) )
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Stop = 1;
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if( (criteria.type & CV_TERMCRIT_EPS) && (Eps < criteria.epsilon) )
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Stop = 1;
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}
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/* Free memory */
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for( k = 0; k < 2; k++ )
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{
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cvFree( &MemX[k] );
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cvFree( &MemY[k] );
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cvFree( &VelBufX[k] );
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cvFree( &VelBufY[k] );
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}
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cvFree( &II );
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return CV_OK;
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} /*icvCalcOpticalFlowHS_8u32fR*/
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/*F///////////////////////////////////////////////////////////////////////////////////////
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// Name: cvCalcOpticalFlowHS
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// Purpose: Optical flow implementation
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// Context:
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// Parameters:
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// srcA, srcB - source image
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// velx, vely - destination image
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// Returns:
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//
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// Notes:
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//F*/
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CV_IMPL void
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cvCalcOpticalFlowHS( const void* srcarrA, const void* srcarrB, int usePrevious,
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void* velarrx, void* velarry,
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double lambda, CvTermCriteria criteria )
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{
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CvMat stubA, *srcA = cvGetMat( srcarrA, &stubA );
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CvMat stubB, *srcB = cvGetMat( srcarrB, &stubB );
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CvMat stubx, *velx = cvGetMat( velarrx, &stubx );
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CvMat stuby, *vely = cvGetMat( velarry, &stuby );
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if( !CV_ARE_TYPES_EQ( srcA, srcB ))
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CV_Error( CV_StsUnmatchedFormats, "Source images have different formats" );
|
|
|
|
if( !CV_ARE_TYPES_EQ( velx, vely ))
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CV_Error( CV_StsUnmatchedFormats, "Destination images have different formats" );
|
|
|
|
if( !CV_ARE_SIZES_EQ( srcA, srcB ) ||
|
|
!CV_ARE_SIZES_EQ( velx, vely ) ||
|
|
!CV_ARE_SIZES_EQ( srcA, velx ))
|
|
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, "source and destination images have different step" );
|
|
|
|
IPPI_CALL( icvCalcOpticalFlowHS_8u32fR( (uchar*)srcA->data.ptr, (uchar*)srcB->data.ptr,
|
|
srcA->step, cvGetMatSize( srcA ), usePrevious,
|
|
velx->data.fl, vely->data.fl,
|
|
velx->step, (float)lambda, criteria ));
|
|
}
|
|
|
|
/* End of file. */
|