boofcv.abst.flow.FlowKlt_to_DenseOpticalFlow Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of boofcv-feature Show documentation

BoofCV is an open source Java library for real-time computer vision and robotics applications.

There is a newer version: 1.1.7

/*
 * Copyright (c) 2011-2020, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.abst.flow;

import boofcv.abst.filter.derivative.ImageGradient;
import boofcv.alg.flow.DenseOpticalFlowKlt;
import boofcv.alg.transform.pyramid.PyramidOps;
import boofcv.core.image.GeneralizedImageOps;
import boofcv.struct.flow.ImageFlow;
import boofcv.struct.image.ImageGray;
import boofcv.struct.image.ImageType;
import boofcv.struct.pyramid.ImagePyramid;

import java.lang.reflect.Array;

/**
 * Wrapper around {@link DenseOpticalFlowKlt} for {@link DenseOpticalFlow}.
 *
 * @author Peter Abeles
 */
public class FlowKlt_to_DenseOpticalFlow, D extends ImageGray>
	implements DenseOpticalFlow
{
	DenseOpticalFlowKlt flowKlt;
	ImageGradient gradient;

	ImagePyramid pyramidSrc;
	ImagePyramid pyramidDst;

	Class derivType;
	D[] srcDerivX;
	D[] srcDerivY;

	ImageType imageType;

	public FlowKlt_to_DenseOpticalFlow(DenseOpticalFlowKlt flowKlt,
									   ImageGradient gradient,
									   ImagePyramid pyramidSrc,
									   ImagePyramid pyramidDst,
									   Class inputType , Class derivType )
	{
		this.flowKlt = flowKlt;
		this.gradient = gradient;
		this.pyramidSrc = pyramidSrc;
		this.pyramidDst = pyramidDst;
		this.derivType = derivType;


		imageType = ImageType.single(inputType);
	}

	@Override
	public void process(I source, I destination, ImageFlow flow) {
		pyramidSrc.process(source);
		pyramidDst.process(destination);

		if( pyramidSrc.getNumLayers() != pyramidDst.getNumLayers() )
			throw new IllegalArgumentException("Pyramids do not have the same number of layers!");

		if( srcDerivX == null || srcDerivX.length != pyramidSrc.getNumLayers() ) {
			srcDerivX = (D[]) Array.newInstance(derivType, pyramidSrc.getNumLayers());
			srcDerivY = (D[]) Array.newInstance(derivType, pyramidSrc.getNumLayers());

			for (int i = 0; i < srcDerivX.length; i++) {
				srcDerivX[i] = GeneralizedImageOps.createSingleBand(derivType, 1, 1);
				srcDerivY[i] = GeneralizedImageOps.createSingleBand(derivType, 1, 1);
			}
		}

		PyramidOps.reshapeOutput(pyramidSrc,srcDerivX);
		PyramidOps.reshapeOutput(pyramidSrc,srcDerivY);

		PyramidOps.gradient(pyramidSrc, gradient, srcDerivX,srcDerivY);

		flowKlt.process(pyramidSrc,srcDerivX,srcDerivY,pyramidDst,flow);
	}

	@Override
	public ImageType getInputType() {
		return imageType;
	}
}