--- /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