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