+++ /dev/null
-/*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 "_cv.h"
-
-#define CONV( A, B, C) ( (float)( A + (B<<1) + C ) )
-
-typedef struct
-{
- float xx;
- float xy;
- float yy;
- float xt;
- float yt;
- float alpha; /* alpha = 1 / ( 1/lambda + xx + yy ) */
-}
-icvDerProductEx;
-
-/*F///////////////////////////////////////////////////////////////////////////////////////
-// Name: icvCalcOpticalFlowHS_8u32fR (Horn & Schunck method )
-// Purpose: calculate Optical flow for 2 images using Horn & Schunck algorithm
-// Context:
-// Parameters:
-// imgA - pointer to first frame ROI
-// imgB - pointer to second frame ROI
-// imgStep - width of single row of source images in bytes
-// imgSize - size of the source image ROI
-// usePrevious - use previous (input) velocity field.
-// velocityX - pointer to horizontal and
-// velocityY - vertical components of optical flow ROI
-// velStep - width of single row of velocity frames in bytes
-// lambda - Lagrangian multiplier
-// criteria - criteria of termination processmaximum number of iterations
-//
-// Returns: CV_OK - all ok
-// CV_OUTOFMEM_ERR - insufficient memory for function work
-// CV_NULLPTR_ERR - if one of input pointers is NULL
-// CV_BADSIZE_ERR - wrong input sizes interrelation
-//
-// Notes: 1.Optical flow to be computed for every pixel in ROI
-// 2.For calculating spatial derivatives we use 3x3 Sobel operator.
-// 3.We use the following border mode.
-// The last row or column is replicated for the border
-// ( IPL_BORDER_REPLICATE in IPL ).
-//
-//
-//F*/
-static CvStatus CV_STDCALL
-icvCalcOpticalFlowHS_8u32fR( uchar* imgA,
- uchar* imgB,
- int imgStep,
- CvSize imgSize,
- int usePrevious,
- float* velocityX,
- float* velocityY,
- int velStep,
- float lambda,
- CvTermCriteria criteria )
-{
- /* Loops indexes */
- int i, j, k, address;
-
- /* Buffers for Sobel calculations */
- float *MemX[2];
- float *MemY[2];
-
- float ConvX, ConvY;
- float GradX, GradY, GradT;
-
- int imageWidth = imgSize.width;
- int imageHeight = imgSize.height;
-
- int ConvLine;
- int LastLine;
-
- int BufferSize;
-
- float Ilambda = 1 / lambda;
- int iter = 0;
- int Stop;
-
- /* buffers derivatives product */
- icvDerProductEx *II;
-
- float *VelBufX[2];
- float *VelBufY[2];
-
- /* variables for storing number of first pixel of image line */
- int Line1;
- int Line2;
- int Line3;
-
- int pixNumber;
-
- /* auxiliary */
- int NoMem = 0;
-
- /* Checking bad arguments */
- if( imgA == NULL )
- return CV_NULLPTR_ERR;
- if( imgB == NULL )
- return CV_NULLPTR_ERR;
-
- if( imgSize.width <= 0 )
- return CV_BADSIZE_ERR;
- if( imgSize.height <= 0 )
- return CV_BADSIZE_ERR;
- if( imgSize.width > imgStep )
- return CV_BADSIZE_ERR;
-
- if( (velStep & 3) != 0 )
- return CV_BADSIZE_ERR;
-
- velStep /= 4;
-
- /****************************************************************************************/
- /* Allocating memory for all buffers */
- /****************************************************************************************/
- for( k = 0; k < 2; k++ )
- {
- MemX[k] = (float *) cvAlloc( (imgSize.height) * sizeof( float ));
-
- if( MemX[k] == NULL )
- NoMem = 1;
- MemY[k] = (float *) cvAlloc( (imgSize.width) * sizeof( float ));
-
- if( MemY[k] == NULL )
- NoMem = 1;
-
- VelBufX[k] = (float *) cvAlloc( imageWidth * sizeof( float ));
-
- if( VelBufX[k] == NULL )
- NoMem = 1;
- VelBufY[k] = (float *) cvAlloc( imageWidth * sizeof( float ));
-
- if( VelBufY[k] == NULL )
- NoMem = 1;
- }
-
- BufferSize = imageHeight * imageWidth;
-
- II = (icvDerProductEx *) cvAlloc( BufferSize * sizeof( icvDerProductEx ));
- if( (II == NULL) )
- NoMem = 1;
-
- if( NoMem )
- {
- for( k = 0; k < 2; k++ )
- {
- if( MemX[k] )
- cvFree( &MemX[k] );
-
- if( MemY[k] )
- cvFree( &MemY[k] );
-
- if( VelBufX[k] )
- cvFree( &VelBufX[k] );
-
- if( VelBufY[k] )
- cvFree( &VelBufY[k] );
- }
- if( II )
- cvFree( &II );
- return CV_OUTOFMEM_ERR;
- }
-/****************************************************************************************\
-* Calculate first line of memX and memY *
-\****************************************************************************************/
- MemY[0][0] = MemY[1][0] = CONV( imgA[0], imgA[0], imgA[1] );
- MemX[0][0] = MemX[1][0] = CONV( imgA[0], imgA[0], imgA[imgStep] );
-
- for( j = 1; j < imageWidth - 1; j++ )
- {
- MemY[0][j] = MemY[1][j] = CONV( imgA[j - 1], imgA[j], imgA[j + 1] );
- }
-
- pixNumber = imgStep;
- for( i = 1; i < imageHeight - 1; i++ )
- {
- MemX[0][i] = MemX[1][i] = CONV( imgA[pixNumber - imgStep],
- imgA[pixNumber], imgA[pixNumber + imgStep] );
- pixNumber += imgStep;
- }
-
- MemY[0][imageWidth - 1] =
- MemY[1][imageWidth - 1] = CONV( imgA[imageWidth - 2],
- imgA[imageWidth - 1], imgA[imageWidth - 1] );
-
- MemX[0][imageHeight - 1] =
- MemX[1][imageHeight - 1] = CONV( imgA[pixNumber - imgStep],
- imgA[pixNumber], imgA[pixNumber] );
-
-
-/****************************************************************************************\
-* begin scan image, calc derivatives *
-\****************************************************************************************/
-
- ConvLine = 0;
- Line2 = -imgStep;
- address = 0;
- LastLine = imgStep * (imageHeight - 1);
- while( ConvLine < imageHeight )
- {
- /*Here we calculate derivatives for line of image */
- int memYline = (ConvLine + 1) & 1;
-
- Line2 += imgStep;
- Line1 = Line2 - ((Line2 == 0) ? 0 : imgStep);
- Line3 = Line2 + ((Line2 == LastLine) ? 0 : imgStep);
-
- /* Process first pixel */
- ConvX = CONV( imgA[Line1 + 1], imgA[Line2 + 1], imgA[Line3 + 1] );
- ConvY = CONV( imgA[Line3], imgA[Line3], imgA[Line3 + 1] );
-
- GradY = (ConvY - MemY[memYline][0]) * 0.125f;
- GradX = (ConvX - MemX[1][ConvLine]) * 0.125f;
-
- MemY[memYline][0] = ConvY;
- MemX[1][ConvLine] = ConvX;
-
- GradT = (float) (imgB[Line2] - imgA[Line2]);
-
- II[address].xx = GradX * GradX;
- II[address].xy = GradX * GradY;
- II[address].yy = GradY * GradY;
- II[address].xt = GradX * GradT;
- II[address].yt = GradY * GradT;
-
- II[address].alpha = 1 / (Ilambda + II[address].xx + II[address].yy);
- address++;
-
- /* Process middle of line */
- for( j = 1; j < imageWidth - 1; j++ )
- {
- ConvX = CONV( imgA[Line1 + j + 1], imgA[Line2 + j + 1], imgA[Line3 + j + 1] );
- ConvY = CONV( imgA[Line3 + j - 1], imgA[Line3 + j], imgA[Line3 + j + 1] );
-
- GradY = (ConvY - MemY[memYline][j]) * 0.125f;
- GradX = (ConvX - MemX[(j - 1) & 1][ConvLine]) * 0.125f;
-
- MemY[memYline][j] = ConvY;
- MemX[(j - 1) & 1][ConvLine] = ConvX;
-
- GradT = (float) (imgB[Line2 + j] - imgA[Line2 + j]);
-
- II[address].xx = GradX * GradX;
- II[address].xy = GradX * GradY;
- II[address].yy = GradY * GradY;
- II[address].xt = GradX * GradT;
- II[address].yt = GradY * GradT;
-
- II[address].alpha = 1 / (Ilambda + II[address].xx + II[address].yy);
- address++;
- }
- /* Process last pixel of line */
- ConvX = CONV( imgA[Line1 + imageWidth - 1], imgA[Line2 + imageWidth - 1],
- imgA[Line3 + imageWidth - 1] );
-
- ConvY = CONV( imgA[Line3 + imageWidth - 2], imgA[Line3 + imageWidth - 1],
- imgA[Line3 + imageWidth - 1] );
-
-
- GradY = (ConvY - MemY[memYline][imageWidth - 1]) * 0.125f;
- GradX = (ConvX - MemX[(imageWidth - 2) & 1][ConvLine]) * 0.125f;
-
- MemY[memYline][imageWidth - 1] = ConvY;
-
- GradT = (float) (imgB[Line2 + imageWidth - 1] - imgA[Line2 + imageWidth - 1]);
-
- II[address].xx = GradX * GradX;
- II[address].xy = GradX * GradY;
- II[address].yy = GradY * GradY;
- II[address].xt = GradX * GradT;
- II[address].yt = GradY * GradT;
-
- II[address].alpha = 1 / (Ilambda + II[address].xx + II[address].yy);
- address++;
-
- ConvLine++;
- }
-/****************************************************************************************\
-* Prepare initial approximation *
-\****************************************************************************************/
- if( !usePrevious )
- {
- float *vx = velocityX;
- float *vy = velocityY;
-
- for( i = 0; i < imageHeight; i++ )
- {
- memset( vx, 0, imageWidth * sizeof( float ));
- memset( vy, 0, imageWidth * sizeof( float ));
-
- vx += velStep;
- vy += velStep;
- }
- }
-/****************************************************************************************\
-* Perform iterations *
-\****************************************************************************************/
- iter = 0;
- Stop = 0;
- LastLine = velStep * (imageHeight - 1);
- while( !Stop )
- {
- float Eps = 0;
- address = 0;
-
- iter++;
-/****************************************************************************************\
-* begin scan velocity and update it *
-\****************************************************************************************/
- Line2 = -velStep;
- for( i = 0; i < imageHeight; i++ )
- {
- /* Here average velocity */
-
- float averageX;
- float averageY;
- float tmp;
-
- Line2 += velStep;
- Line1 = Line2 - ((Line2 == 0) ? 0 : velStep);
- Line3 = Line2 + ((Line2 == LastLine) ? 0 : velStep);
- /* Process first pixel */
- averageX = (velocityX[Line2] +
- velocityX[Line2 + 1] + velocityX[Line1] + velocityX[Line3]) / 4;
-
- averageY = (velocityY[Line2] +
- velocityY[Line2 + 1] + velocityY[Line1] + velocityY[Line3]) / 4;
-
- VelBufX[i & 1][0] = averageX -
- (II[address].xx * averageX +
- II[address].xy * averageY + II[address].xt) * II[address].alpha;
-
- VelBufY[i & 1][0] = averageY -
- (II[address].xy * averageX +
- II[address].yy * averageY + II[address].yt) * II[address].alpha;
-
- /* update Epsilon */
- if( criteria.type & CV_TERMCRIT_EPS )
- {
- tmp = (float)fabs(velocityX[Line2] - VelBufX[i & 1][0]);
- Eps = MAX( tmp, Eps );
- tmp = (float)fabs(velocityY[Line2] - VelBufY[i & 1][0]);
- Eps = MAX( tmp, Eps );
- }
- address++;
- /* Process middle of line */
- for( j = 1; j < imageWidth - 1; j++ )
- {
- averageX = (velocityX[Line2 + j - 1] +
- velocityX[Line2 + j + 1] +
- velocityX[Line1 + j] + velocityX[Line3 + j]) / 4;
- averageY = (velocityY[Line2 + j - 1] +
- velocityY[Line2 + j + 1] +
- velocityY[Line1 + j] + velocityY[Line3 + j]) / 4;
-
- VelBufX[i & 1][j] = averageX -
- (II[address].xx * averageX +
- II[address].xy * averageY + II[address].xt) * II[address].alpha;
-
- VelBufY[i & 1][j] = averageY -
- (II[address].xy * averageX +
- II[address].yy * averageY + II[address].yt) * II[address].alpha;
- /* update Epsilon */
- if( criteria.type & CV_TERMCRIT_EPS )
- {
- tmp = (float)fabs(velocityX[Line2 + j] - VelBufX[i & 1][j]);
- Eps = MAX( tmp, Eps );
- tmp = (float)fabs(velocityY[Line2 + j] - VelBufY[i & 1][j]);
- Eps = MAX( tmp, Eps );
- }
- address++;
- }
- /* Process last pixel of line */
- averageX = (velocityX[Line2 + imageWidth - 2] +
- velocityX[Line2 + imageWidth - 1] +
- velocityX[Line1 + imageWidth - 1] +
- velocityX[Line3 + imageWidth - 1]) / 4;
-
- averageY = (velocityY[Line2 + imageWidth - 2] +
- velocityY[Line2 + imageWidth - 1] +
- velocityY[Line1 + imageWidth - 1] +
- velocityY[Line3 + imageWidth - 1]) / 4;
-
-
- VelBufX[i & 1][imageWidth - 1] = averageX -
- (II[address].xx * averageX +
- II[address].xy * averageY + II[address].xt) * II[address].alpha;
-
- VelBufY[i & 1][imageWidth - 1] = averageY -
- (II[address].xy * averageX +
- II[address].yy * averageY + II[address].yt) * II[address].alpha;
-
- /* update Epsilon */
- if( criteria.type & CV_TERMCRIT_EPS )
- {
- tmp = (float)fabs(velocityX[Line2 + imageWidth - 1] -
- VelBufX[i & 1][imageWidth - 1]);
- Eps = MAX( tmp, Eps );
- tmp = (float)fabs(velocityY[Line2 + imageWidth - 1] -
- VelBufY[i & 1][imageWidth - 1]);
- Eps = MAX( tmp, Eps );
- }
- address++;
-
- /* store new velocity from old buffer to velocity frame */
- if( i > 0 )
- {
- memcpy( &velocityX[Line1], VelBufX[(i - 1) & 1], imageWidth * sizeof( float ));
- memcpy( &velocityY[Line1], VelBufY[(i - 1) & 1], imageWidth * sizeof( float ));
- }
- } /*for */
- /* store new velocity from old buffer to velocity frame */
- memcpy( &velocityX[imageWidth * (imageHeight - 1)],
- VelBufX[(imageHeight - 1) & 1], imageWidth * sizeof( float ));
-
- memcpy( &velocityY[imageWidth * (imageHeight - 1)],
- VelBufY[(imageHeight - 1) & 1], imageWidth * sizeof( float ));
-
- if( (criteria.type & CV_TERMCRIT_ITER) && (iter == criteria.max_iter) )
- Stop = 1;
- if( (criteria.type & CV_TERMCRIT_EPS) && (Eps < criteria.epsilon) )
- Stop = 1;
- }
- /* Free memory */
- for( k = 0; k < 2; k++ )
- {
- cvFree( &MemX[k] );
- cvFree( &MemY[k] );
- cvFree( &VelBufX[k] );
- cvFree( &VelBufY[k] );
- }
- cvFree( &II );
-
- return CV_OK;
-} /*icvCalcOpticalFlowHS_8u32fR*/
-
-
-/*F///////////////////////////////////////////////////////////////////////////////////////
-// Name: cvCalcOpticalFlowHS
-// Purpose: Optical flow implementation
-// Context:
-// Parameters:
-// srcA, srcB - source image
-// velx, vely - destination image
-// Returns:
-//
-// Notes:
-//F*/
-CV_IMPL void
-cvCalcOpticalFlowHS( const void* srcarrA, const void* srcarrB, int usePrevious,
- void* velarrx, void* velarry,
- double lambda, CvTermCriteria criteria )
-{
- CV_FUNCNAME( "cvCalcOpticalFlowHS" );
-
- __BEGIN__;
-
- CvMat stubA, *srcA = (CvMat*)srcarrA;
- CvMat stubB, *srcB = (CvMat*)srcarrB;
- CvMat stubx, *velx = (CvMat*)velarrx;
- CvMat stuby, *vely = (CvMat*)velarry;
-
- CV_CALL( srcA = cvGetMat( srcA, &stubA ));
- CV_CALL( srcB = cvGetMat( srcB, &stubB ));
-
- CV_CALL( velx = cvGetMat( velx, &stubx ));
- CV_CALL( vely = cvGetMat( vely, &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" );
-
- 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__;
-}
-
-/* End of file. */
projects / opencv / blobdiff