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Small fixes for SimpleFlow algorithm

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+ Fixed warnings
+ Add new function calcOpticalFlow with smaller number of arguments
+ Add asserts to algorithm and remove 'exit(1)'
This commit is contained in:
Yury Zemlyanskiy 2012-08-31 13:27:14 +04:00
parent 5ee632fe90
commit 7ad4c25452
5 changed files with 32 additions and 22 deletions
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2
modules/video/doc/motion_analysis_and_object_tracking.rst
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@ -601,6 +601,8 @@ calcOpticalFlowSF
-----------
Calculate an optical flow using "SimpleFlow" algorithm.
.. ocv:function:: void calcOpticalFlowSF( Mat& prev, Mat& next, Mat& flowX, Mat& flowY, int layers, int averaging_block_size, int max_flow)
.. ocv:function:: void calcOpticalFlowSF( Mat& prev, Mat& next, Mat& flowX, Mat& flowY, int layers, int averaging_block_size, int max_flow, double sigma_dist, double sigma_color, int postprocess_window, double sigma_dist_fix, double sigma_color_fix, double occ_thr, int upscale_averaging_radiud, double upscale_sigma_dist, double upscale_sigma_color, double speed_up_thr)
:param prev: First 8-bit 3-channel image.

7
modules/video/include/opencv2/video/tracking.hpp
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@ -328,6 +328,13 @@ CV_EXPORTS_W Mat estimateRigidTransform( InputArray src, InputArray dst,
bool fullAffine);
//! computes dense optical flow using Simple Flow algorithm
CV_EXPORTS_W void calcOpticalFlowSF(Mat& from,
Mat& to,
Mat& flow,
int layers,
int averaging_block_size,
int max_flow);
CV_EXPORTS_W void calcOpticalFlowSF(Mat& from,
Mat& to,
Mat& flow,

35
modules/video/src/simpleflow.cpp
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@ -72,26 +72,27 @@ static void removeOcclusions(const Mat& flow,
}
static void wd(Mat& d, int top_shift, int bottom_shift, int left_shift, int right_shift, float sigma) {
const float factor = 1.0 / (2.0 * sigma * sigma);
for (int dr = -top_shift, r = 0; dr <= bottom_shift; ++dr, ++r) {
for (int dc = -left_shift, c = 0; dc <= right_shift; ++dc, ++c) {
d.at<float>(r, c) = -(dr*dr + dc*dc) * factor;
d.at<float>(r, c) = -(dr*dr + dc*dc);
}
}
d *= 1.0 / (2.0 * sigma * sigma);
exp(d, d);
}
static void wc(const Mat& image, Mat& d, int r0, int c0,
int top_shift, int bottom_shift, int left_shift, int right_shift, float sigma) {
const float factor = 1.0 / (2.0 * sigma * sigma);
const Vec3b centeral_point = image.at<Vec3b>(r0, c0);
int left_border = c0-left_shift, right_border = c0+right_shift;
for (int dr = r0-top_shift, r = 0; dr <= r0+bottom_shift; ++dr, ++r) {
const Vec3b *row = image.ptr<Vec3b>(dr);
float *d_row = d.ptr<float>(r);
for (int dc = c0-left_shift, c = 0; dc <= c0+right_shift; ++dc, ++c) {
d_row[c] = -dist(centeral_point, row[dc]) * factor;
for (int dc = left_border, c = 0; dc <= right_border; ++dc, ++c) {
d_row[c] = -dist(centeral_point, row[dc]);
}
}
d *= 1.0 / (2.0 * sigma * sigma);
exp(d, d);
}
@ -163,7 +164,7 @@ static void calcOpticalFlowSingleScaleSF(const Mat& prev,
Mat diff_storage(averaging_radius*2 + 1, averaging_radius*2 + 1, CV_32F);
Mat w_full_window(averaging_radius*2 + 1, averaging_radius*2 + 1, CV_32F);
Mat wd_full_window(averaging_radius*2 + 1, averaging_radius*2 + 1, CV_32F);
float w_full_window_sum;
float w_full_window_sum = 1e-9;
Mat prev_extended;
copyMakeBorder(prev, prev_extended,
@ -197,7 +198,7 @@ static void calcOpticalFlowSingleScaleSF(const Mat& prev,
}
bool first_flow_iteration = true;
float sum_e, min_e;
float sum_e = 0, min_e = 0;
for (int u = min_row_shift; u <= max_row_shift; ++u) {
for (int v = min_col_shift; v <= max_col_shift; ++v) {
@ -286,7 +287,7 @@ static Mat upscaleOpticalFlow(int new_rows,
int averaging_radius,
float sigma_dist,
float sigma_color) {
crossBilateralFilter(flow, image, confidence, flow, averaging_radius, sigma_color, sigma_dist, false);
crossBilateralFilter(flow, image, confidence, flow, averaging_radius, sigma_color, sigma_dist, true);
Mat new_flow;
resize(flow, new_flow, Size(new_cols, new_rows), 0, 0, INTER_NEAREST);
new_flow *= 2;
@ -495,13 +496,7 @@ void calcOpticalFlowSF(Mat& from,
buildPyramidWithResizeMethod(from, pyr_from_images, layers - 1, INTER_CUBIC);
buildPyramidWithResizeMethod(to, pyr_to_images, layers - 1, INTER_CUBIC);
if ((int)pyr_from_images.size() != layers) {
exit(1);
}
if ((int)pyr_to_images.size() != layers) {
exit(1);
}
CV_Assert((int)pyr_from_images.size() == layers && (int)pyr_to_images.size() == layers);
Mat first_from_image = pyr_from_images[layers - 1];
Mat first_to_image = pyr_to_images[layers - 1];
@ -635,5 +630,15 @@ void calcOpticalFlowSF(Mat& from,
mixChannels(&flow, 1, &resulted_flow, 1, from_to, 2);
}
CV_EXPORTS_W void calcOpticalFlowSF(Mat& from,
Mat& to,
Mat& flow,
int layers,
int averaging_block_size,
int max_flow) {
calcOpticalFlowSF(from, to, flow, layers, averaging_block_size, max_flow,
4.1, 25.5, 18, 55.0, 25.5, 0.35, 18, 55.0, 25.5, 10);
}
}

8
modules/video/test/test_simpleflow.cpp
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@ -91,7 +91,7 @@ static bool isFlowCorrect(float u) {
}
static float calc_rmse(cv::Mat flow1, cv::Mat flow2) {
float sum;
float sum = 0;
int counter = 0;
const int rows = flow1.rows;
const int cols = flow1.cols;
@ -116,8 +116,6 @@ static float calc_rmse(cv::Mat flow1, cv::Mat flow2) {
}
void CV_SimpleFlowTest::run(int) {
int code = cvtest::TS::OK;
const float MAX_RMSE = 0.6;
const string frame1_path = ts->get_data_path() + "optflow/RubberWhale1.png";
const string frame2_path = ts->get_data_path() + "optflow/RubberWhale2.png";
@ -171,9 +169,7 @@ void CV_SimpleFlowTest::run(int) {
fclose(gt_flow_file);
cv::Mat flow;
cv::calcOpticalFlowSF(frame1, frame2,
flow,
3, 4, 2, 4.1, 25.5, 18, 55.0, 25.5, 0.35, 18, 55.0, 25.5, 10);
cv::calcOpticalFlowSF(frame1, frame2, flow, 3, 2, 4);
float rmse = calc_rmse(flow_gt, flow);

2
samples/cpp/simpleflow_demo.cpp
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@ -135,7 +135,7 @@ static bool isFlowCorrect(float u) {
}
static float calc_rmse(Mat flow1, Mat flow2) {
float sum;
float sum = 0;
int counter = 0;
const int rows = flow1.rows;
const int cols = flow1.cols;