| /*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" |
| |
| typedef struct |
| { |
| float xx; |
| float xy; |
| float yy; |
| float xt; |
| float yt; |
| } |
| icvDerProduct; |
| |
| |
| #define CONV( A, B, C) ((float)( A + (B<<1) + C )) |
| /*F/////////////////////////////////////////////////////////////////////////////////////// |
| // Name: icvCalcOpticalFlowLK_8u32fR ( Lucas & Kanade method ) |
| // Purpose: calculate Optical flow for 2 images using Lucas & Kanade 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 |
| // winSize, // size of the averaging window used for grouping |
| // velocityX, // pointer to horizontal and |
| // velocityY, // vertical components of optical flow ROI |
| // velStep // width of single row of velocity frames in bytes |
| // |
| // 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 |
| icvCalcOpticalFlowLK_8u32fR( uchar * imgA, |
| uchar * imgB, |
| int imgStep, |
| CvSize imgSize, |
| CvSize winSize, |
| float *velocityX, |
| float *velocityY, int velStep ) |
| { |
| /* Loops indexes */ |
| int i, j, k; |
| |
| /* Gaussian separable kernels */ |
| float GaussX[16]; |
| float GaussY[16]; |
| float *KerX; |
| float *KerY; |
| |
| /* Buffers for Sobel calculations */ |
| float *MemX[2]; |
| float *MemY[2]; |
| |
| float ConvX, ConvY; |
| float GradX, GradY, GradT; |
| |
| int winWidth = winSize.width; |
| int winHeight = winSize.height; |
| |
| int imageWidth = imgSize.width; |
| int imageHeight = imgSize.height; |
| |
| int HorRadius = (winWidth - 1) >> 1; |
| int VerRadius = (winHeight - 1) >> 1; |
| |
| int PixelLine; |
| int ConvLine; |
| |
| int BufferAddress; |
| |
| int BufferHeight = 0; |
| int BufferWidth; |
| int BufferSize; |
| |
| /* buffers derivatives product */ |
| icvDerProduct *II; |
| |
| /* buffers for gaussian horisontal convolution */ |
| icvDerProduct *WII; |
| |
| /* variables for storing number of first pixel of image line */ |
| int Line1; |
| int Line2; |
| int Line3; |
| |
| /* we must have 2*2 linear system coeffs |
| | A1B2 B1 | {u} {C1} {0} |
| | | { } + { } = { } |
| | A2 A1B2 | {v} {C2} {0} |
| */ |
| float A1B2, A2, B1, C1, C2; |
| |
| int pixNumber; |
| |
| /* auxiliary */ |
| int NoMem = 0; |
| |
| velStep /= sizeof(velocityX[0]); |
| |
| /* Checking bad arguments */ |
| if( imgA == NULL ) |
| return CV_NULLPTR_ERR; |
| if( imgB == NULL ) |
| return CV_NULLPTR_ERR; |
| |
| if( imageHeight < winHeight ) |
| return CV_BADSIZE_ERR; |
| if( imageWidth < winWidth ) |
| return CV_BADSIZE_ERR; |
| |
| if( winHeight >= 16 ) |
| return CV_BADSIZE_ERR; |
| if( winWidth >= 16 ) |
| return CV_BADSIZE_ERR; |
| |
| if( !(winHeight & 1) ) |
| return CV_BADSIZE_ERR; |
| if( !(winWidth & 1) ) |
| return CV_BADSIZE_ERR; |
| |
| BufferHeight = winHeight; |
| BufferWidth = imageWidth; |
| |
| /****************************************************************************************/ |
| /* Computing Gaussian coeffs */ |
| /****************************************************************************************/ |
| GaussX[0] = 1; |
| GaussY[0] = 1; |
| for( i = 1; i < winWidth; i++ ) |
| { |
| GaussX[i] = 1; |
| for( j = i - 1; j > 0; j-- ) |
| { |
| GaussX[j] += GaussX[j - 1]; |
| } |
| } |
| for( i = 1; i < winHeight; i++ ) |
| { |
| GaussY[i] = 1; |
| for( j = i - 1; j > 0; j-- ) |
| { |
| GaussY[j] += GaussY[j - 1]; |
| } |
| } |
| KerX = &GaussX[HorRadius]; |
| KerY = &GaussY[VerRadius]; |
| |
| /****************************************************************************************/ |
| /* 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; |
| } |
| |
| BufferSize = BufferHeight * BufferWidth; |
| |
| II = (icvDerProduct *) cvAlloc( BufferSize * sizeof( icvDerProduct )); |
| WII = (icvDerProduct *) cvAlloc( BufferSize * sizeof( icvDerProduct )); |
| |
| |
| if( (II == NULL) || (WII == NULL) ) |
| NoMem = 1; |
| |
| if( NoMem ) |
| { |
| for( k = 0; k < 2; k++ ) |
| { |
| if( MemX[k] ) |
| cvFree( &MemX[k] ); |
| |
| if( MemY[k] ) |
| cvFree( &MemY[k] ); |
| } |
| if( II ) |
| cvFree( &II ); |
| if( WII ) |
| cvFree( &WII ); |
| |
| 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 and solve system */ |
| /****************************************************************************************/ |
| |
| PixelLine = -VerRadius; |
| ConvLine = 0; |
| BufferAddress = -BufferWidth; |
| |
| while( PixelLine < imageHeight ) |
| { |
| if( ConvLine < imageHeight ) |
| { |
| /*Here we calculate derivatives for line of image */ |
| int address; |
| |
| i = ConvLine; |
| int L1 = i - 1; |
| int L2 = i; |
| int L3 = i + 1; |
| |
| int memYline = L3 & 1; |
| |
| if( L1 < 0 ) |
| L1 = 0; |
| if( L3 >= imageHeight ) |
| L3 = imageHeight - 1; |
| |
| BufferAddress += BufferWidth; |
| BufferAddress -= ((BufferAddress >= BufferSize) ? 0xffffffff : 0) & BufferSize; |
| |
| address = BufferAddress; |
| |
| Line1 = L1 * imgStep; |
| Line2 = L2 * imgStep; |
| Line3 = L3 * 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]; |
| GradX = ConvX - MemX[1][L2]; |
| |
| MemY[memYline][0] = ConvY; |
| MemX[1][L2] = 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; |
| 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]; |
| GradX = ConvX - MemX[(j - 1) & 1][L2]; |
| |
| MemY[memYline][j] = ConvY; |
| MemX[(j - 1) & 1][L2] = 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; |
| |
| 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]; |
| GradX = ConvX - MemX[(imageWidth - 2) & 1][L2]; |
| |
| 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; |
| address++; |
| |
| /* End of derivatives for line */ |
| |
| /****************************************************************************************/ |
| /* ---------Calculating horizontal convolution of processed line----------------------- */ |
| /****************************************************************************************/ |
| address -= BufferWidth; |
| /* process first HorRadius pixels */ |
| for( j = 0; j < HorRadius; j++ ) |
| { |
| int jj; |
| |
| WII[address].xx = 0; |
| WII[address].xy = 0; |
| WII[address].yy = 0; |
| WII[address].xt = 0; |
| WII[address].yt = 0; |
| |
| for( jj = -j; jj <= HorRadius; jj++ ) |
| { |
| float Ker = KerX[jj]; |
| |
| WII[address].xx += II[address + jj].xx * Ker; |
| WII[address].xy += II[address + jj].xy * Ker; |
| WII[address].yy += II[address + jj].yy * Ker; |
| WII[address].xt += II[address + jj].xt * Ker; |
| WII[address].yt += II[address + jj].yt * Ker; |
| } |
| address++; |
| } |
| /* process inner part of line */ |
| for( j = HorRadius; j < imageWidth - HorRadius; j++ ) |
| { |
| int jj; |
| float Ker0 = KerX[0]; |
| |
| WII[address].xx = 0; |
| WII[address].xy = 0; |
| WII[address].yy = 0; |
| WII[address].xt = 0; |
| WII[address].yt = 0; |
| |
| for( jj = 1; jj <= HorRadius; jj++ ) |
| { |
| float Ker = KerX[jj]; |
| |
| WII[address].xx += (II[address - jj].xx + II[address + jj].xx) * Ker; |
| WII[address].xy += (II[address - jj].xy + II[address + jj].xy) * Ker; |
| WII[address].yy += (II[address - jj].yy + II[address + jj].yy) * Ker; |
| WII[address].xt += (II[address - jj].xt + II[address + jj].xt) * Ker; |
| WII[address].yt += (II[address - jj].yt + II[address + jj].yt) * Ker; |
| } |
| WII[address].xx += II[address].xx * Ker0; |
| WII[address].xy += II[address].xy * Ker0; |
| WII[address].yy += II[address].yy * Ker0; |
| WII[address].xt += II[address].xt * Ker0; |
| WII[address].yt += II[address].yt * Ker0; |
| |
| address++; |
| } |
| /* process right side */ |
| for( j = imageWidth - HorRadius; j < imageWidth; j++ ) |
| { |
| int jj; |
| |
| WII[address].xx = 0; |
| WII[address].xy = 0; |
| WII[address].yy = 0; |
| WII[address].xt = 0; |
| WII[address].yt = 0; |
| |
| for( jj = -HorRadius; jj < imageWidth - j; jj++ ) |
| { |
| float Ker = KerX[jj]; |
| |
| WII[address].xx += II[address + jj].xx * Ker; |
| WII[address].xy += II[address + jj].xy * Ker; |
| WII[address].yy += II[address + jj].yy * Ker; |
| WII[address].xt += II[address + jj].xt * Ker; |
| WII[address].yt += II[address + jj].yt * Ker; |
| } |
| address++; |
| } |
| } |
| |
| /****************************************************************************************/ |
| /* Calculating velocity line */ |
| /****************************************************************************************/ |
| if( PixelLine >= 0 ) |
| { |
| int USpace; |
| int BSpace; |
| int address; |
| |
| if( PixelLine < VerRadius ) |
| USpace = PixelLine; |
| else |
| USpace = VerRadius; |
| |
| if( PixelLine >= imageHeight - VerRadius ) |
| BSpace = imageHeight - PixelLine - 1; |
| else |
| BSpace = VerRadius; |
| |
| address = ((PixelLine - USpace) % BufferHeight) * BufferWidth; |
| for( j = 0; j < imageWidth; j++ ) |
| { |
| int addr = address; |
| |
| A1B2 = 0; |
| A2 = 0; |
| B1 = 0; |
| C1 = 0; |
| C2 = 0; |
| |
| for( i = -USpace; i <= BSpace; i++ ) |
| { |
| A2 += WII[addr + j].xx * KerY[i]; |
| A1B2 += WII[addr + j].xy * KerY[i]; |
| B1 += WII[addr + j].yy * KerY[i]; |
| C2 += WII[addr + j].xt * KerY[i]; |
| C1 += WII[addr + j].yt * KerY[i]; |
| |
| addr += BufferWidth; |
| addr -= ((addr >= BufferSize) ? 0xffffffff : 0) & BufferSize; |
| } |
| /****************************************************************************************\ |
| * Solve Linear System * |
| \****************************************************************************************/ |
| { |
| float delta = (A1B2 * A1B2 - A2 * B1); |
| |
| if( delta ) |
| { |
| /* system is not singular - solving by Kramer method */ |
| float deltaX; |
| float deltaY; |
| float Idelta = 8 / delta; |
| |
| deltaX = -(C1 * A1B2 - C2 * B1); |
| deltaY = -(A1B2 * C2 - A2 * C1); |
| |
| velocityX[j] = deltaX * Idelta; |
| velocityY[j] = deltaY * Idelta; |
| } |
| else |
| { |
| /* singular system - find optical flow in gradient direction */ |
| float Norm = (A1B2 + A2) * (A1B2 + A2) + (B1 + A1B2) * (B1 + A1B2); |
| |
| if( Norm ) |
| { |
| float IGradNorm = 8 / Norm; |
| float temp = -(C1 + C2) * IGradNorm; |
| |
| velocityX[j] = (A1B2 + A2) * temp; |
| velocityY[j] = (B1 + A1B2) * temp; |
| |
| } |
| else |
| { |
| velocityX[j] = 0; |
| velocityY[j] = 0; |
| } |
| } |
| } |
| /****************************************************************************************\ |
| * End of Solving Linear System * |
| \****************************************************************************************/ |
| } /*for */ |
| velocityX += velStep; |
| velocityY += velStep; |
| } /*for */ |
| PixelLine++; |
| ConvLine++; |
| } |
| |
| /* Free memory */ |
| for( k = 0; k < 2; k++ ) |
| { |
| cvFree( &MemX[k] ); |
| cvFree( &MemY[k] ); |
| } |
| cvFree( &II ); |
| cvFree( &WII ); |
| |
| return CV_OK; |
| } /*icvCalcOpticalFlowLK_8u32fR*/ |
| |
| |
| /*F/////////////////////////////////////////////////////////////////////////////////////// |
| // Name: cvCalcOpticalFlowLK |
| // Purpose: Optical flow implementation |
| // Context: |
| // Parameters: |
| // srcA, srcB - source image |
| // velx, vely - destination image |
| // Returns: |
| // |
| // Notes: |
| //F*/ |
| CV_IMPL void |
| cvCalcOpticalFlowLK( const void* srcarrA, const void* srcarrB, CvSize winSize, |
| void* velarrx, void* velarry ) |
| { |
| CV_FUNCNAME( "cvCalcOpticalFlowLK" ); |
| |
| __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( icvCalcOpticalFlowLK_8u32fR( (uchar*)srcA->data.ptr, (uchar*)srcB->data.ptr, |
| srcA->step, cvGetMatSize( srcA ), winSize, |
| velx->data.fl, vely->data.fl, velx->step )); |
| |
| __END__; |
| } |
| |
| /* End of file. */ |
