CV_Error( CV_StsNullPtr, "Some of the precomputed pyramids are missing" );
if( level < 0 )
- CV_Error( CV_StsOutOfRange, "The number of pyramid layers is negative" );
+ CV_Error( CV_StsOutOfRange, "The number of pyramid levels is negative" );
switch( criteria->type )
{
}
-CV_IMPL void
-cvCalcOpticalFlowPyrLK( const void* arrA, const void* arrB,
- void* pyrarrA, void* pyrarrB,
- const CvPoint2D32f * featuresA,
- CvPoint2D32f * featuresB,
- int count, CvSize winSize, int level,
- char *status, float *error,
- CvTermCriteria criteria, int flags )
+namespace cv
{
- cv::AutoBuffer<uchar> pyrBuffer;
- cv::AutoBuffer<uchar> buffer;
- cv::AutoBuffer<char> _status;
-
- const int MAX_ITERS = 100;
-
- CvMat stubA, *imgA = (CvMat*)arrA;
- CvMat stubB, *imgB = (CvMat*)arrB;
- CvMat pstubA, *pyrA = (CvMat*)pyrarrA;
- CvMat pstubB, *pyrB = (CvMat*)pyrarrB;
- CvSize imgSize;
- static const float smoothKernel[] = { 0.09375, 0.3125, 0.09375 }; /* 3/32, 10/32, 3/32 */
-
- int bufferBytes = 0;
- uchar **imgI = 0;
- uchar **imgJ = 0;
- int *step = 0;
- double *scale = 0;
- CvSize* size = 0;
-
- int threadCount = cvGetNumThreads();
- float* _patchI[CV_MAX_THREADS];
- float* _patchJ[CV_MAX_THREADS];
- float* _Ix[CV_MAX_THREADS];
- float* _Iy[CV_MAX_THREADS];
-
- int i, l;
-
- CvSize patchSize = cvSize( winSize.width * 2 + 1, winSize.height * 2 + 1 );
- int patchLen = patchSize.width * patchSize.height;
- int srcPatchLen = (patchSize.width + 2)*(patchSize.height + 2);
-
- imgA = cvGetMat( imgA, &stubA );
- imgB = cvGetMat( imgB, &stubB );
-
- if( CV_MAT_TYPE( imgA->type ) != CV_8UC1 )
- CV_Error( CV_StsUnsupportedFormat, "" );
-
- if( !CV_ARE_TYPES_EQ( imgA, imgB ))
- CV_Error( CV_StsUnmatchedFormats, "" );
-
- if( !CV_ARE_SIZES_EQ( imgA, imgB ))
- CV_Error( CV_StsUnmatchedSizes, "" );
-
- if( imgA->step != imgB->step )
- CV_Error( CV_StsUnmatchedSizes, "imgA and imgB must have equal steps" );
-
- imgSize = cvGetMatSize( imgA );
-
- if( pyrA )
- {
- pyrA = cvGetMat( pyrA, &pstubA );
-
- if( pyrA->step*pyrA->height < icvMinimalPyramidSize( imgSize ) )
- CV_Error( CV_StsBadArg, "pyramid A has insufficient size" );
- }
- else
- {
- pyrA = &pstubA;
- pyrA->data.ptr = 0;
- }
-
- if( pyrB )
- {
- pyrB = cvGetMat( pyrB, &pstubB );
-
- if( pyrB->step*pyrB->height < icvMinimalPyramidSize( imgSize ) )
- CV_Error( CV_StsBadArg, "pyramid B has insufficient size" );
- }
- else
- {
- pyrB = &pstubB;
- pyrB->data.ptr = 0;
- }
-
- if( count == 0 )
- return;
- if( !featuresA || !featuresB )
- CV_Error( CV_StsNullPtr, "Some of arrays of point coordinates are missing" );
-
- if( count < 0 )
- CV_Error( CV_StsOutOfRange, "The number of tracked points is negative or zero" );
-
- if( winSize.width <= 1 || winSize.height <= 1 )
- CV_Error( CV_StsBadSize, "Invalid search window size" );
-
- for( i = 0; i < threadCount; i++ )
- _patchI[i] = _patchJ[i] = _Ix[i] = _Iy[i] = 0;
-
- icvInitPyramidalAlgorithm( imgA, imgB, pyrA, pyrB,
- level, &criteria, MAX_ITERS, flags,
- &imgI, &imgJ, &step, &size, &scale, &pyrBuffer );
-
- if( !status )
+struct LKTrackerInvoker
+{
+ LKTrackerInvoker( const CvMat* _imgI, const CvMat* _imgJ,
+ const CvPoint2D32f* _featuresA,
+ CvPoint2D32f* _featuresB,
+ char* _status, float* _error,
+ CvTermCriteria _criteria,
+ CvSize _winSize, int _level, int _flags )
{
- _status.allocate(count);
+ imgI = _imgI;
+ imgJ = _imgJ;
+ featuresA = _featuresA;
+ featuresB = _featuresB;
status = _status;
+ error = _error;
+ criteria = _criteria;
+ winSize = _winSize;
+ level = _level;
+ flags = _flags;
}
-
- /* buffer_size = <size for patches> + <size for pyramids> */
- bufferBytes = (srcPatchLen + patchLen * 3) * sizeof( _patchI[0][0] ) * threadCount;
- buffer.allocate(bufferBytes);
-
- for( i = 0; i < threadCount; i++ )
- {
- _patchI[i] = i == 0 ? (float*)(uchar*)buffer : _Iy[i-1] + patchLen;
- _patchJ[i] = _patchI[i] + srcPatchLen;
- _Ix[i] = _patchJ[i] + patchLen;
- _Iy[i] = _Ix[i] + patchLen;
- }
-
- memset( status, 1, count );
- if( error )
- memset( error, 0, count*sizeof(error[0]) );
-
- if( !(flags & CV_LKFLOW_INITIAL_GUESSES) )
- memcpy( featuresB, featuresA, count*sizeof(featuresA[0]));
-
- /* do processing from top pyramid level (smallest image)
- to the bottom (original image) */
- for( l = level; l >= 0; l-- )
+
+ void operator()(const BlockedRange& range) const
{
- CvSize levelSize = size[l];
- int levelStep = step[l];
-
- {
-#ifdef _OPENMP
- #pragma omp parallel for num_threads(threadCount) schedule(dynamic)
-#endif // _OPENMP
- /* find flow for each given point */
- for( i = 0; i < count; i++ )
+ static const float smoothKernel[] = { 0.09375, 0.3125, 0.09375 }; // 3/32, 10/32, 3/32
+
+ int i, i1 = range.begin(), i2 = range.end();
+
+ CvSize patchSize = cvSize( winSize.width * 2 + 1, winSize.height * 2 + 1 );
+ int patchLen = patchSize.width * patchSize.height;
+ int srcPatchLen = (patchSize.width + 2)*(patchSize.height + 2);
+
+ AutoBuffer<float> buf(patchLen*3 + srcPatchLen);
+ float* patchI = buf;
+ float* patchJ = patchI + srcPatchLen;
+ float* Ix = patchJ + patchLen;
+ float* Iy = Ix + patchLen;
+ float scaleL = 1.f/(1 << level);
+ CvSize levelSize = cvGetMatSize(imgI);
+
+ // find flow for each given point
+ for( i = i1; i < i2; i++ )
{
CvPoint2D32f v;
CvPoint minI, maxI, minJ, maxJ;
double Gxx = 0, Gxy = 0, Gyy = 0, D = 0, minEig = 0;
float prev_mx = 0, prev_my = 0;
int j, x, y;
- int threadIdx = cvGetThreadNum();
- float* patchI = _patchI[threadIdx];
- float* patchJ = _patchJ[threadIdx];
- float* Ix = _Ix[threadIdx];
- float* Iy = _Iy[threadIdx];
-
- v.x = featuresB[i].x;
- v.y = featuresB[i].y;
- if( l < level )
- {
- v.x += v.x;
- v.y += v.y;
- }
- else
- {
- v.x = (float)(v.x * scale[l]);
- v.y = (float)(v.y * scale[l]);
- }
-
+
+ v.x = featuresB[i].x*2;
+ v.y = featuresB[i].y*2;
+
pt_status = status[i];
if( !pt_status )
continue;
-
- minI = maxI = minJ = maxJ = cvPoint( 0, 0 );
-
- u.x = (float) (featuresA[i].x * scale[l]);
- u.y = (float) (featuresA[i].y * scale[l]);
-
+
+ minI = maxI = minJ = maxJ = cvPoint(0, 0);
+
+ u.x = featuresA[i].x * scaleL;
+ u.y = featuresA[i].y * scaleL;
+
intersect( u, winSize, levelSize, &minI, &maxI );
isz = jsz = cvSize(maxI.x - minI.x + 2, maxI.y - minI.y + 2);
u.x += (minI.x - (patchSize.width - maxI.x + 1))*0.5f;
u.y += (minI.y - (patchSize.height - maxI.y + 1))*0.5f;
-
+
if( isz.width < 3 || isz.height < 3 ||
- icvGetRectSubPix_8u32f_C1R( imgI[l], levelStep, levelSize,
- patchI, isz.width*sizeof(patchI[0]), isz, u ) < 0 )
+ icvGetRectSubPix_8u32f_C1R( imgI->data.ptr, imgI->step, levelSize,
+ patchI, isz.width*sizeof(patchI[0]), isz, u ) < 0 )
{
- /* point is outside the image. take the next */
+ // point is outside the first image. take the next
status[i] = 0;
continue;
}
-
+
icvCalcIxIy_32f( patchI, isz.width*sizeof(patchI[0]), Ix, Iy,
- (isz.width-2)*sizeof(patchI[0]), isz, smoothKernel, patchJ );
-
+ (isz.width-2)*sizeof(patchI[0]), isz, smoothKernel, patchJ );
+
for( j = 0; j < criteria.max_iter; j++ )
{
double bx = 0, by = 0;
float mx, my;
CvPoint2D32f _v;
-
+
intersect( v, winSize, levelSize, &minJ, &maxJ );
-
+
minJ.x = MAX( minJ.x, minI.x );
minJ.y = MAX( minJ.y, minI.y );
-
+
maxJ.x = MIN( maxJ.x, maxI.x );
maxJ.y = MIN( maxJ.y, maxI.y );
-
+
jsz = cvSize(maxJ.x - minJ.x, maxJ.y - minJ.y);
-
+
_v.x = v.x + (minJ.x - (patchSize.width - maxJ.x + 1))*0.5f;
_v.y = v.y + (minJ.y - (patchSize.height - maxJ.y + 1))*0.5f;
-
+
if( jsz.width < 1 || jsz.height < 1 ||
- icvGetRectSubPix_8u32f_C1R( imgJ[l], levelStep, levelSize, patchJ,
+ icvGetRectSubPix_8u32f_C1R( imgJ->data.ptr, imgJ->step, levelSize, patchJ,
jsz.width*sizeof(patchJ[0]), jsz, _v ) < 0 )
{
- /* point is outside image. take the next */
+ // point is outside of the second image. take the next
pt_status = 0;
break;
}
-
+
if( maxJ.x == prev_maxJ.x && maxJ.y == prev_maxJ.y &&
minJ.x == prev_minJ.x && minJ.y == prev_minJ.y )
{
for( y = 0; y < jsz.height; y++ )
{
const float* pi = patchI +
- (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
+ (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
const float* pj = patchJ + y*jsz.width;
const float* ix = Ix +
- (y + minJ.y - minI.y)*(isz.width-2) + minJ.x - minI.x;
+ (y + minJ.y - minI.y)*(isz.width-2) + minJ.x - minI.x;
const float* iy = Iy + (ix - Ix);
-
+
for( x = 0; x < jsz.width; x++ )
{
double t0 = pi[x] - pj[x];
for( y = 0; y < jsz.height; y++ )
{
const float* pi = patchI +
- (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
+ (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
const float* pj = patchJ + y*jsz.width;
const float* ix = Ix +
- (y + minJ.y - minI.y)*(isz.width-2) + minJ.x - minI.x;
+ (y + minJ.y - minI.y)*(isz.width-2) + minJ.x - minI.x;
const float* iy = Iy + (ix - Ix);
-
+
for( x = 0; x < jsz.width; x++ )
{
double t = pi[x] - pj[x];
Gyy += iy[x] * iy[x];
}
}
-
+
D = Gxx * Gyy - Gxy * Gxy;
if( D < DBL_EPSILON )
{
pt_status = 0;
break;
}
-
+
// Adi Shavit - 2008.05
if( flags & CV_LKFLOW_GET_MIN_EIGENVALS )
minEig = (Gyy + Gxx - sqrt((Gxx-Gyy)*(Gxx-Gyy) + 4.*Gxy*Gxy))/(2*jsz.height*jsz.width);
-
+
D = 1. / D;
-
+
prev_minJ = minJ;
prev_maxJ = maxJ;
}
-
+
mx = (float) ((Gyy * bx - Gxy * by) * D);
my = (float) ((Gxx * by - Gxy * bx) * D);
-
+
v.x += mx;
v.y += my;
-
+
if( mx * mx + my * my < criteria.epsilon )
break;
-
+
if( j > 0 && fabs(mx + prev_mx) < 0.01 && fabs(my + prev_my) < 0.01 )
{
v.x -= mx*0.5f;
prev_mx = mx;
prev_my = my;
}
-
+
featuresB[i] = v;
status[i] = (char)pt_status;
- if( l == 0 && error && pt_status )
+ if( level == 0 && error && pt_status )
{
- /* calc error */
+ // calc error
double err = 0;
if( flags & CV_LKFLOW_GET_MIN_EIGENVALS )
err = minEig;
for( y = 0; y < jsz.height; y++ )
{
const float* pi = patchI +
- (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
+ (y + minJ.y - minI.y + 1)*isz.width + minJ.x - minI.x + 1;
const float* pj = patchJ + y*jsz.width;
-
+
for( x = 0; x < jsz.width; x++ )
{
double t = pi[x] - pj[x];
error[i] = (float)err;
}
} // end of point processing loop (i)
- }
+ }
+
+ const CvMat* imgI;
+ const CvMat* imgJ;
+ const CvPoint2D32f* featuresA;
+ CvPoint2D32f* featuresB;
+ char* status;
+ float* error;
+ CvTermCriteria criteria;
+ CvSize winSize;
+ int level;
+ int flags;
+};
+
+
+}
+
+
+CV_IMPL void
+cvCalcOpticalFlowPyrLK( const void* arrA, const void* arrB,
+ void* pyrarrA, void* pyrarrB,
+ const CvPoint2D32f * featuresA,
+ CvPoint2D32f * featuresB,
+ int count, CvSize winSize, int level,
+ char *status, float *error,
+ CvTermCriteria criteria, int flags )
+{
+ cv::AutoBuffer<uchar> pyrBuffer;
+ cv::AutoBuffer<uchar> buffer;
+ cv::AutoBuffer<char> _status;
+
+ const int MAX_ITERS = 100;
+
+ CvMat stubA, *imgA = (CvMat*)arrA;
+ CvMat stubB, *imgB = (CvMat*)arrB;
+ CvMat pstubA, *pyrA = (CvMat*)pyrarrA;
+ CvMat pstubB, *pyrB = (CvMat*)pyrarrB;
+ CvSize imgSize;
+
+ uchar **imgI = 0;
+ uchar **imgJ = 0;
+ int *step = 0;
+ double *scale = 0;
+ CvSize* size = 0;
+
+ int i, l;
+
+ imgA = cvGetMat( imgA, &stubA );
+ imgB = cvGetMat( imgB, &stubB );
+
+ if( CV_MAT_TYPE( imgA->type ) != CV_8UC1 )
+ CV_Error( CV_StsUnsupportedFormat, "" );
+
+ if( !CV_ARE_TYPES_EQ( imgA, imgB ))
+ CV_Error( CV_StsUnmatchedFormats, "" );
+
+ if( !CV_ARE_SIZES_EQ( imgA, imgB ))
+ CV_Error( CV_StsUnmatchedSizes, "" );
+
+ if( imgA->step != imgB->step )
+ CV_Error( CV_StsUnmatchedSizes, "imgA and imgB must have equal steps" );
+
+ imgSize = cvGetMatSize( imgA );
+
+ if( pyrA )
+ {
+ pyrA = cvGetMat( pyrA, &pstubA );
+
+ if( pyrA->step*pyrA->height < icvMinimalPyramidSize( imgSize ) )
+ CV_Error( CV_StsBadArg, "pyramid A has insufficient size" );
+ }
+ else
+ {
+ pyrA = &pstubA;
+ pyrA->data.ptr = 0;
+ }
+
+ if( pyrB )
+ {
+ pyrB = cvGetMat( pyrB, &pstubB );
+
+ if( pyrB->step*pyrB->height < icvMinimalPyramidSize( imgSize ) )
+ CV_Error( CV_StsBadArg, "pyramid B has insufficient size" );
+ }
+ else
+ {
+ pyrB = &pstubB;
+ pyrB->data.ptr = 0;
+ }
+
+ if( count == 0 )
+ return;
+
+ if( !featuresA || !featuresB )
+ CV_Error( CV_StsNullPtr, "Some of arrays of point coordinates are missing" );
+
+ if( count < 0 )
+ CV_Error( CV_StsOutOfRange, "The number of tracked points is negative or zero" );
+
+ if( winSize.width <= 1 || winSize.height <= 1 )
+ CV_Error( CV_StsBadSize, "Invalid search window size" );
+
+ icvInitPyramidalAlgorithm( imgA, imgB, pyrA, pyrB,
+ level, &criteria, MAX_ITERS, flags,
+ &imgI, &imgJ, &step, &size, &scale, &pyrBuffer );
+
+ if( !status )
+ {
+ _status.allocate(count);
+ status = _status;
+ }
+
+ memset( status, 1, count );
+ if( error )
+ memset( error, 0, count*sizeof(error[0]) );
+
+ if( !(flags & CV_LKFLOW_INITIAL_GUESSES) )
+ memcpy( featuresB, featuresA, count*sizeof(featuresA[0]));
+
+ for( i = 0; i < count; i++ )
+ {
+ featuresB[i].x = (float)(featuresB[i].x * scale[level] * 0.5);
+ featuresB[i].y = (float)(featuresB[i].y * scale[level] * 0.5);
+ }
+
+ /* do processing from top pyramid level (smallest image)
+ to the bottom (original image) */
+ for( l = level; l >= 0; l-- )
+ {
+ CvMat imgI_l, imgJ_l;
+ cvInitMatHeader(&imgI_l, size[l].height, size[l].width, imgA->type, imgI[l], step[l]);
+ cvInitMatHeader(&imgJ_l, size[l].height, size[l].width, imgB->type, imgJ[l], step[l]);
+
+ cv::parallel_for(cv::BlockedRange(0, count),
+ cv::LKTrackerInvoker(&imgI_l, &imgJ_l, featuresA,
+ featuresB, status, error,
+ criteria, winSize, l, flags));
} // end of pyramid levels loop (l)
}
projects / opencv.git / blobdiff