diff options
Diffstat (limited to 'thirdparty/linux/include/opencv2/optflow/pcaflow.hpp')
| -rw-r--r-- | thirdparty/linux/include/opencv2/optflow/pcaflow.hpp | 149 |
1 files changed, 149 insertions, 0 deletions
diff --git a/thirdparty/linux/include/opencv2/optflow/pcaflow.hpp b/thirdparty/linux/include/opencv2/optflow/pcaflow.hpp new file mode 100644 index 0000000..6645363 --- /dev/null +++ b/thirdparty/linux/include/opencv2/optflow/pcaflow.hpp @@ -0,0 +1,149 @@ +/* +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) 2016, 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. +*/ + +/** + * @file pcaflow.hpp + * @author Vladislav Samsonov <vvladxx@gmail.com> + * @brief Implementation of the PCAFlow algorithm from the following paper: + * http://files.is.tue.mpg.de/black/papers/cvpr2015_pcaflow.pdf + * + * @cite Wulff:CVPR:2015 + * + * There are some key differences which distinguish this algorithm from the original PCAFlow (see paper): + * - Discrete Cosine Transform basis is used instead of basis extracted with PCA. + * Reasoning: DCT basis has comparable performance and it doesn't require additional storage space. + * Also, this decision helps to avoid overloading the algorithm with a lot of external input. + * - Usage of built-in OpenCV feature tracking instead of libviso. +*/ + +#ifndef __OPENCV_OPTFLOW_PCAFLOW_HPP__ +#define __OPENCV_OPTFLOW_PCAFLOW_HPP__ + +#include "opencv2/core.hpp" +#include "opencv2/video.hpp" + +namespace cv +{ +namespace optflow +{ + +//! @addtogroup optflow +//! @{ + +/** @brief + * This class can be used for imposing a learned prior on the resulting optical flow. + * Solution will be regularized according to this prior. + * You need to generate appropriate prior file with "learn_prior.py" script beforehand. + */ +class CV_EXPORTS_W PCAPrior +{ +private: + Mat L1; + Mat L2; + Mat c1; + Mat c2; + +public: + PCAPrior( const char *pathToPrior ); + + int getPadding() const { return L1.size().height; } + + int getBasisSize() const { return L1.size().width; } + + void fillConstraints( float *A1, float *A2, float *b1, float *b2 ) const; +}; + +/** @brief PCAFlow algorithm. + */ +class CV_EXPORTS_W OpticalFlowPCAFlow : public DenseOpticalFlow +{ +protected: + const Ptr<const PCAPrior> prior; + const Size basisSize; + const float sparseRate; // (0 .. 0.1) + const float retainedCornersFraction; // [0 .. 1] + const float occlusionsThreshold; + const float dampingFactor; + const float claheClip; + bool useOpenCL; + +public: + /** @brief Creates an instance of PCAFlow algorithm. + * @param _prior Learned prior or no prior (default). @see cv::optflow::PCAPrior + * @param _basisSize Number of basis vectors. + * @param _sparseRate Controls density of sparse matches. + * @param _retainedCornersFraction Retained corners fraction. + * @param _occlusionsThreshold Occlusion threshold. + * @param _dampingFactor Regularization term for solving least-squares. It is not related to the prior regularization. + * @param _claheClip Clip parameter for CLAHE. + */ + OpticalFlowPCAFlow( Ptr<const PCAPrior> _prior = Ptr<const PCAPrior>(), const Size _basisSize = Size( 18, 14 ), + float _sparseRate = 0.024, float _retainedCornersFraction = 0.2, + float _occlusionsThreshold = 0.0003, float _dampingFactor = 0.00002, float _claheClip = 14 ); + + void calc( InputArray I0, InputArray I1, InputOutputArray flow ); + void collectGarbage(); + +private: + void findSparseFeatures( UMat &from, UMat &to, std::vector<Point2f> &features, + std::vector<Point2f> &predictedFeatures ) const; + + void removeOcclusions( UMat &from, UMat &to, std::vector<Point2f> &features, + std::vector<Point2f> &predictedFeatures ) const; + + void getSystem( OutputArray AOut, OutputArray b1Out, OutputArray b2Out, const std::vector<Point2f> &features, + const std::vector<Point2f> &predictedFeatures, const Size size ); + + void getSystem( OutputArray A1Out, OutputArray A2Out, OutputArray b1Out, OutputArray b2Out, + const std::vector<Point2f> &features, const std::vector<Point2f> &predictedFeatures, + const Size size ); + + OpticalFlowPCAFlow& operator=( const OpticalFlowPCAFlow& ); // make it non-assignable +}; + +/** @brief Creates an instance of PCAFlow +*/ +CV_EXPORTS_W Ptr<DenseOpticalFlow> createOptFlow_PCAFlow(); + +//! @} + +} +} + +#endif |