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diff --git a/thirdparty/linux/include/opencv2/optflow.hpp b/thirdparty/linux/include/opencv2/optflow.hpp new file mode 100644 index 0000000..e68d5b7 --- /dev/null +++ b/thirdparty/linux/include/opencv2/optflow.hpp @@ -0,0 +1,364 @@ +/* +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. + + + License Agreement + For Open Source Computer Vision Library + (3-clause BSD License) + +Copyright (C) 2013, OpenCV Foundation, 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: + + * Redistributions of source code must retain the above copyright notice, + this list of conditions and the following disclaimer. + + * Redistributions 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. + + * Neither the names of the copyright holders nor the names of the contributors + may 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 copyright holders 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. +*/ + +#ifndef __OPENCV_OPTFLOW_HPP__ +#define __OPENCV_OPTFLOW_HPP__ + +#include "opencv2/core.hpp" +#include "opencv2/video.hpp" + +/** +@defgroup optflow Optical Flow Algorithms + +Dense optical flow algorithms compute motion for each point: + +- cv::optflow::calcOpticalFlowSF +- cv::optflow::createOptFlow_DeepFlow + +Motion templates is alternative technique for detecting motion and computing its direction. +See samples/motempl.py. + +- cv::motempl::updateMotionHistory +- cv::motempl::calcMotionGradient +- cv::motempl::calcGlobalOrientation +- cv::motempl::segmentMotion + +Functions reading and writing .flo files in "Middlebury" format, see: <http://vision.middlebury.edu/flow/code/flow-code/README.txt> + +- cv::optflow::readOpticalFlow +- cv::optflow::writeOpticalFlow + + */ + +#include "opencv2/optflow/pcaflow.hpp" +#include "opencv2/optflow/sparse_matching_gpc.hpp" + +namespace cv +{ +namespace optflow +{ + +//! @addtogroup optflow +//! @{ + +/** @overload */ +CV_EXPORTS_W void calcOpticalFlowSF( InputArray from, InputArray to, OutputArray flow, + int layers, int averaging_block_size, int max_flow); + +/** @brief Calculate an optical flow using "SimpleFlow" algorithm. + +@param from First 8-bit 3-channel image. +@param to Second 8-bit 3-channel image of the same size as prev +@param flow computed flow image that has the same size as prev and type CV_32FC2 +@param layers Number of layers +@param averaging_block_size Size of block through which we sum up when calculate cost function +for pixel +@param max_flow maximal flow that we search at each level +@param sigma_dist vector smooth spatial sigma parameter +@param sigma_color vector smooth color sigma parameter +@param postprocess_window window size for postprocess cross bilateral filter +@param sigma_dist_fix spatial sigma for postprocess cross bilateralf filter +@param sigma_color_fix color sigma for postprocess cross bilateral filter +@param occ_thr threshold for detecting occlusions +@param upscale_averaging_radius window size for bilateral upscale operation +@param upscale_sigma_dist spatial sigma for bilateral upscale operation +@param upscale_sigma_color color sigma for bilateral upscale operation +@param speed_up_thr threshold to detect point with irregular flow - where flow should be +recalculated after upscale + +See @cite Tao2012 . And site of project - <http://graphics.berkeley.edu/papers/Tao-SAN-2012-05/>. + +@note + - An example using the simpleFlow algorithm can be found at samples/simpleflow_demo.cpp + */ +CV_EXPORTS_W void calcOpticalFlowSF( InputArray from, InputArray to, OutputArray flow, 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_radius, double upscale_sigma_dist, + double upscale_sigma_color, double speed_up_thr ); + +/** @brief Fast dense optical flow based on PyrLK sparse matches interpolation. + +@param from first 8-bit 3-channel or 1-channel image. +@param to second 8-bit 3-channel or 1-channel image of the same size as from +@param flow computed flow image that has the same size as from and CV_32FC2 type +@param grid_step stride used in sparse match computation. Lower values usually + result in higher quality but slow down the algorithm. +@param k number of nearest-neighbor matches considered, when fitting a locally affine + model. Lower values can make the algorithm noticeably faster at the cost of + some quality degradation. +@param sigma parameter defining how fast the weights decrease in the locally-weighted affine + fitting. Higher values can help preserve fine details, lower values can help to get rid + of the noise in the output flow. +@param use_post_proc defines whether the ximgproc::fastGlobalSmootherFilter() is used + for post-processing after interpolation +@param fgs_lambda see the respective parameter of the ximgproc::fastGlobalSmootherFilter() +@param fgs_sigma see the respective parameter of the ximgproc::fastGlobalSmootherFilter() + */ +CV_EXPORTS_W void calcOpticalFlowSparseToDense ( InputArray from, InputArray to, OutputArray flow, + int grid_step = 8, int k = 128, float sigma = 0.05f, + bool use_post_proc = true, float fgs_lambda = 500.0f, + float fgs_sigma = 1.5f ); + +/** @brief Read a .flo file + +@param path Path to the file to be loaded + +The function readOpticalFlow loads a flow field from a file and returns it as a single matrix. +Resulting Mat has a type CV_32FC2 - floating-point, 2-channel. First channel corresponds to the +flow in the horizontal direction (u), second - vertical (v). + */ +CV_EXPORTS_W Mat readOpticalFlow( const String& path ); +/** @brief Write a .flo to disk + +@param path Path to the file to be written +@param flow Flow field to be stored + +The function stores a flow field in a file, returns true on success, false otherwise. +The flow field must be a 2-channel, floating-point matrix (CV_32FC2). First channel corresponds +to the flow in the horizontal direction (u), second - vertical (v). + */ +CV_EXPORTS_W bool writeOpticalFlow( const String& path, InputArray flow ); + +/** @brief Variational optical flow refinement + +This class implements variational refinement of the input flow field, i.e. +it uses input flow to initialize the minimization of the following functional: +\f$E(U) = \int_{\Omega} \delta \Psi(E_I) + \gamma \Psi(E_G) + \alpha \Psi(E_S) \f$, +where \f$E_I,E_G,E_S\f$ are color constancy, gradient constancy and smoothness terms +respectively. \f$\Psi(s^2)=\sqrt{s^2+\epsilon^2}\f$ is a robust penalizer to limit the +influence of outliers. A complete formulation and a description of the minimization +procedure can be found in @cite Brox2004 +*/ +class CV_EXPORTS_W VariationalRefinement : public DenseOpticalFlow +{ +public: + /** @brief @ref calc function overload to handle separate horizontal (u) and vertical (v) flow components + (to avoid extra splits/merges) */ + CV_WRAP virtual void calcUV(InputArray I0, InputArray I1, InputOutputArray flow_u, InputOutputArray flow_v) = 0; + + /** @brief Number of outer (fixed-point) iterations in the minimization procedure. + @see setFixedPointIterations */ + CV_WRAP virtual int getFixedPointIterations() const = 0; + /** @copybrief getFixedPointIterations @see getFixedPointIterations */ + CV_WRAP virtual void setFixedPointIterations(int val) = 0; + + /** @brief Number of inner successive over-relaxation (SOR) iterations + in the minimization procedure to solve the respective linear system. + @see setSorIterations */ + CV_WRAP virtual int getSorIterations() const = 0; + /** @copybrief getSorIterations @see getSorIterations */ + CV_WRAP virtual void setSorIterations(int val) = 0; + + /** @brief Relaxation factor in SOR + @see setOmega */ + CV_WRAP virtual float getOmega() const = 0; + /** @copybrief getOmega @see getOmega */ + CV_WRAP virtual void setOmega(float val) = 0; + + /** @brief Weight of the smoothness term + @see setAlpha */ + CV_WRAP virtual float getAlpha() const = 0; + /** @copybrief getAlpha @see getAlpha */ + CV_WRAP virtual void setAlpha(float val) = 0; + + /** @brief Weight of the color constancy term + @see setDelta */ + CV_WRAP virtual float getDelta() const = 0; + /** @copybrief getDelta @see getDelta */ + CV_WRAP virtual void setDelta(float val) = 0; + + /** @brief Weight of the gradient constancy term + @see setGamma */ + CV_WRAP virtual float getGamma() const = 0; + /** @copybrief getGamma @see getGamma */ + CV_WRAP virtual void setGamma(float val) = 0; +}; + +/** @brief Creates an instance of VariationalRefinement +*/ +CV_EXPORTS_W Ptr<VariationalRefinement> createVariationalFlowRefinement(); + +/** @brief DeepFlow optical flow algorithm implementation. + +The class implements the DeepFlow optical flow algorithm described in @cite Weinzaepfel2013 . See +also <http://lear.inrialpes.fr/src/deepmatching/> . +Parameters - class fields - that may be modified after creating a class instance: +- member float alpha +Smoothness assumption weight +- member float delta +Color constancy assumption weight +- member float gamma +Gradient constancy weight +- member float sigma +Gaussian smoothing parameter +- member int minSize +Minimal dimension of an image in the pyramid (next, smaller images in the pyramid are generated +until one of the dimensions reaches this size) +- member float downscaleFactor +Scaling factor in the image pyramid (must be \< 1) +- member int fixedPointIterations +How many iterations on each level of the pyramid +- member int sorIterations +Iterations of Succesive Over-Relaxation (solver) +- member float omega +Relaxation factor in SOR + */ +CV_EXPORTS_W Ptr<DenseOpticalFlow> createOptFlow_DeepFlow(); + +//! Additional interface to the SimpleFlow algorithm - calcOpticalFlowSF() +CV_EXPORTS_W Ptr<DenseOpticalFlow> createOptFlow_SimpleFlow(); + +//! Additional interface to the Farneback's algorithm - calcOpticalFlowFarneback() +CV_EXPORTS_W Ptr<DenseOpticalFlow> createOptFlow_Farneback(); + +//! Additional interface to the SparseToDenseFlow algorithm - calcOpticalFlowSparseToDense() +CV_EXPORTS_W Ptr<DenseOpticalFlow> createOptFlow_SparseToDense(); + +/** @brief DIS optical flow algorithm. + +This class implements the Dense Inverse Search (DIS) optical flow algorithm. More +details about the algorithm can be found at @cite Kroeger2016 . Includes three presets with preselected +parameters to provide reasonable trade-off between speed and quality. However, even the slowest preset is +still relatively fast, use DeepFlow if you need better quality and don't care about speed. + +This implementation includes several additional features compared to the algorithm described in the paper, +including spatial propagation of flow vectors (@ref getUseSpatialPropagation), as well as an option to +utilize an initial flow approximation passed to @ref calc (which is, essentially, temporal propagation, +if the previous frame's flow field is passed). +*/ +class CV_EXPORTS_W DISOpticalFlow : public DenseOpticalFlow +{ +public: + enum + { + PRESET_ULTRAFAST = 0, + PRESET_FAST = 1, + PRESET_MEDIUM = 2 + }; + + /** @brief Finest level of the Gaussian pyramid on which the flow is computed (zero level + corresponds to the original image resolution). The final flow is obtained by bilinear upscaling. + @see setFinestScale */ + CV_WRAP virtual int getFinestScale() const = 0; + /** @copybrief getFinestScale @see getFinestScale */ + CV_WRAP virtual void setFinestScale(int val) = 0; + + /** @brief Size of an image patch for matching (in pixels). Normally, default 8x8 patches work well + enough in most cases. + @see setPatchSize */ + CV_WRAP virtual int getPatchSize() const = 0; + /** @copybrief getPatchSize @see getPatchSize */ + CV_WRAP virtual void setPatchSize(int val) = 0; + + /** @brief Stride between neighbor patches. Must be less than patch size. Lower values correspond + to higher flow quality. + @see setPatchStride */ + CV_WRAP virtual int getPatchStride() const = 0; + /** @copybrief getPatchStride @see getPatchStride */ + CV_WRAP virtual void setPatchStride(int val) = 0; + + /** @brief Maximum number of gradient descent iterations in the patch inverse search stage. Higher values + may improve quality in some cases. + @see setGradientDescentIterations */ + CV_WRAP virtual int getGradientDescentIterations() const = 0; + /** @copybrief getGradientDescentIterations @see getGradientDescentIterations */ + CV_WRAP virtual void setGradientDescentIterations(int val) = 0; + + /** @brief Number of fixed point iterations of variational refinement per scale. Set to zero to + disable variational refinement completely. Higher values will typically result in more smooth and + high-quality flow. + @see setGradientDescentIterations */ + CV_WRAP virtual int getVariationalRefinementIterations() const = 0; + /** @copybrief getGradientDescentIterations @see getGradientDescentIterations */ + CV_WRAP virtual void setVariationalRefinementIterations(int val) = 0; + + /** @brief Weight of the smoothness term + @see setVariationalRefinementAlpha */ + CV_WRAP virtual float getVariationalRefinementAlpha() const = 0; + /** @copybrief getVariationalRefinementAlpha @see getVariationalRefinementAlpha */ + CV_WRAP virtual void setVariationalRefinementAlpha(float val) = 0; + + /** @brief Weight of the color constancy term + @see setVariationalRefinementDelta */ + CV_WRAP virtual float getVariationalRefinementDelta() const = 0; + /** @copybrief getVariationalRefinementDelta @see getVariationalRefinementDelta */ + CV_WRAP virtual void setVariationalRefinementDelta(float val) = 0; + + /** @brief Weight of the gradient constancy term + @see setVariationalRefinementGamma */ + CV_WRAP virtual float getVariationalRefinementGamma() const = 0; + /** @copybrief getVariationalRefinementGamma @see getVariationalRefinementGamma */ + CV_WRAP virtual void setVariationalRefinementGamma(float val) = 0; + + + /** @brief Whether to use mean-normalization of patches when computing patch distance. It is turned on + by default as it typically provides a noticeable quality boost because of increased robustness to + illumination variations. Turn it off if you are certain that your sequence doesn't contain any changes + in illumination. + @see setUseMeanNormalization */ + CV_WRAP virtual bool getUseMeanNormalization() const = 0; + /** @copybrief getUseMeanNormalization @see getUseMeanNormalization */ + CV_WRAP virtual void setUseMeanNormalization(bool val) = 0; + + /** @brief Whether to use spatial propagation of good optical flow vectors. This option is turned on by + default, as it tends to work better on average and can sometimes help recover from major errors + introduced by the coarse-to-fine scheme employed by the DIS optical flow algorithm. Turning this + option off can make the output flow field a bit smoother, however. + @see setUseSpatialPropagation */ + CV_WRAP virtual bool getUseSpatialPropagation() const = 0; + /** @copybrief getUseSpatialPropagation @see getUseSpatialPropagation */ + CV_WRAP virtual void setUseSpatialPropagation(bool val) = 0; +}; + +/** @brief Creates an instance of DISOpticalFlow + +@param preset one of PRESET_ULTRAFAST, PRESET_FAST and PRESET_MEDIUM +*/ +CV_EXPORTS_W Ptr<DISOpticalFlow> createOptFlow_DIS(int preset = DISOpticalFlow::PRESET_FAST); + +//! @} + +} //optflow +} + +#include "opencv2/optflow/motempl.hpp" + +#endif |