void handleKeyboardspecial(int key, int x, int y)
{
/* keyboard handler */
switch(key) {
case GLUT_KEY_F1:
/* call help menu */
print_console_line();
printf("\n\n F1 ........this help\n");
printf(" F2 ........write out displacement field in colour code \n");
printf(" F8 ........write out motion compensated 2nd frame \n");
printf(" ESC ........program termination\n");
printf(" p ........select presmoothing parameter\n");
printf(" a ........select smoothness weight\n");
printf(" i ........select number of iterations\n");
printf(" o ........select SOR overrelaxation parameter\n");
printf(" w ........select number of warping levels\n");
printf(" e ........select warping rescaling factor\n");
printf(" g ........select max displacement magnitude\n");
printf(" up ........increase active parameter\n");
printf(" down ........decrease active parameter\n");
printf(" , ........direct computation on/off \n");
printf(" . ........compute displacement field \n");
print_console_line();
fflush(stdout);
break;
case GLUT_KEY_F2:
/* write out displacement field */
if (g_u_ref!=NULL)
{
int i,j;
for (i=g_bx; i<g_nx+g_bx; i++)
for (j=g_by; j<g_ny+g_by; j++)
{
if((g_u_ref[i][j]==100.0)&&(g_v_ref[i][j]==100.0))
{
g_u[i][j]=100.0;
g_v[i][j]=100.0;
}
}
}
write_ppm_blank_header("out.ppm",g_nx,g_ny);
write_ppm_data("out.ppm",g_p6,g_nx,g_ny,g_bx+g_nx,g_by);
write_ppm_blank_header("displacement.ppm",g_nx,g_ny);
write_ppm_data("displacement.ppm",g_disp,g_nx,g_ny,g_bx,g_by);
break;
case GLUT_KEY_F8:
/* write out motion compensated 2nd frame */
backward_registration(g_f1,g_f2,g_f2_bw,g_u,g_v,
g_nx,g_ny,g_bx,g_by,g_hx,g_hy);
write_pgm_blank_header("frame2_bw.pgm",g_nx,g_ny);
write_pgm_data("frame2_bw.pgm",g_f2_bw,g_nx,g_ny,g_bx,g_by);
break;
case GLUT_KEY_DOWN:
/* decrease sigma */
if (g_active_param==0)
{
g_e_sigma-=0.1;
if (g_e_sigma<0.1)
g_e_sigma=0.1;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* decrease alpha */
if (g_active_param==1)
{
g_m_alpha--;
if (g_m_alpha<=0) g_m_alpha=1;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* decrease number of iterations */
if (g_active_param==2)
{
g_n_iter-=100;
if (g_n_iter<0)
g_n_iter=0;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* decrease displacement field magnitude (visualsiation) */
if (g_active_param==4)
{
if (g_g_max_disp>=0.01)
g_g_max_disp=g_g_max_disp/1.1;
break;
}
/* decrease omega */
if (g_active_param==5)
{
g_n_omega=g_n_omega-0.01;
if (g_n_omega<0.01)
g_n_omega=0.01;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* decrease number of warping levels */
if (g_active_param==6)
{
g_n_warp_levels-=1;
if (g_n_warp_levels<0)
g_n_warp_levels=0;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* decrease type */
if (g_active_param==8)
{
g_m_type-=1;
if (g_m_type<0)
g_m_type=0;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* decrease eta */
if (g_active_param==7)
{
g_n_warp_eta-=0.05;
if (g_n_warp_eta<0.05)
g_n_warp_eta=0.05;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
case GLUT_KEY_UP:
/* increase sigma */
if (g_active_param==0)
{
g_e_sigma+=0.1;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* increase alpha */
if (g_active_param==1)
{
g_m_alpha++;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* increase number of iterations */
if (g_active_param==2)
{
g_n_iter+=100;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* increase displacement field magnitude (visualisation) */
if (g_active_param==4)
{
g_g_max_disp=g_g_max_disp*1.1;
break;
}
/* increase omega */
if (g_active_param==5)
{
g_n_omega+=0.01;
if (g_n_omega>1.99)
g_n_omega=1.99;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* decrease number of warping levels */
if (g_active_param==6)
{
g_n_warp_levels+=1;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* increase eta */
if (g_active_param==7)
{
g_n_warp_eta+=0.05;
if (g_n_warp_eta>0.95)
g_n_warp_eta=0.95;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
/* increase type */
if (g_active_param==8)
{
g_m_type+=1;
if (g_m_type>10)
g_m_type=10;
if (g_direct_compute==1) handleComputeDisplacements(); break;
}
default:
printf("\nUnknown key pressed (Code %d).",key);
}
/* show new parameters and displacement field */
showParams();
handleDraw();
return;
}
void HORN_SCHUNCK_WARP
(
/*****************************************************/
float **f1_orig, /* in : 1st image (original resolution) */
float **f2_orig, /* in : 2nd image (original resolution) */
int nx_orig, /* in : size in x-direction (original resolution)*/
int ny_orig, /* in : size in y-direction (original resoluiton)*/
float **f1_res, /* in+out : 1st image, resampled */
float **f2_res, /* in+out : 2nd image, resampled */
float **f2_res_warp, /* in+out : 2nd image, resampled and warped */
float **du, /* in+out : x-component of flow increment */
float **dv, /* in+out : y-component of flow increment */
float **u, /* in+out : x-component of flow field */
float **v, /* in+out : y-component of flow field */
float **tmp, /* in+out : temporary aray for resampling */
int nx_fine, /* in : size in x-direction (current resolution) */
int ny_fine, /* in : size in y-direction (current resolution) */
int bx, /* in : boundary size in x-direction */
int by, /* in : boundary size in y-direction */
float hx_fine, /* in : spacing in x-direction (current resol.) */
float hy_fine, /* in : spacing in y-direction (current resol.) */
float m_alpha, /* in : smoothness weight */
float epsilon_d, /* in : diffusivity param data term */
float epsilon_s,
float w_bright_grad,
int num_iter_inner, /* in : inner solver iterations */
int num_iter_outer, /* in : outer nonlin update iterations */
float n_omega, /* in : SOR overrelaxation parameter */
float n_warp_eta, /* in : warping reduction factor between levels */
int max_rec_depth, /* in : maximum recursion depth */
int rec_depth /* in : current recursion depth */
/*****************************************************/
)
/* implements warping for the Horn and Schunck method */
{
/************************************************/
int nx_coarse,ny_coarse; /* dimensions on previous coarser grid */
float hx_coarse,hy_coarse; /* grid sizes on previous coarser grid */
/************************************************/
/* compute dimensions and grid sizes for previous coarser grid */
nx_coarse=(int)ceil(nx_orig*pow(n_warp_eta,rec_depth+1));
ny_coarse=(int)ceil(ny_orig*pow(n_warp_eta,rec_depth+1));
hx_coarse=(float)nx_orig/(float)nx_coarse;
hy_coarse=(float)ny_orig/(float)ny_coarse;
/* start at coarsest level by recursively calling the routine */
if (rec_depth<max_rec_depth)
{
HORN_SCHUNCK_WARP(f1_orig, f2_orig, nx_orig, ny_orig,
f1_res, f2_res, f2_res_warp,
du, dv, u, v, tmp,
nx_coarse, ny_coarse, bx, by, hx_coarse, hy_coarse,
m_alpha, epsilon_d,epsilon_s, w_bright_grad,
num_iter_inner,num_iter_outer, n_omega, n_warp_eta,
max_rec_depth,rec_depth+1);
}
/* ---- resample images ---------------------------------------------------- */
/* restrict original image pair to resolution of current level */
resample_2d(f1_orig,nx_orig,ny_orig,bx,by,f1_res,nx_fine,ny_fine,tmp);
resample_2d(f2_orig,nx_orig,ny_orig,bx,by,f2_res,nx_fine,ny_fine,tmp);
/* ---- get overall flow field from previous resolution level -------------- */
/* if on coarsest resolution */
if(rec_depth==max_rec_depth)
{
/* set flow field zero */
set_matrix_2d(u,nx_fine+2*bx,ny_fine+2*by,0,0,(float)0.0);
set_matrix_2d(v,nx_fine+2*bx,ny_fine+2*by,0,0,(float)0.0);
}
/* if not on coarsest resolution */
else
{
/* interpolate solution from previous coarser level */
resample_2d(u,nx_coarse,ny_coarse,bx,by,u,nx_fine,ny_fine,tmp);
resample_2d(v,nx_coarse,ny_coarse,bx,by,v,nx_fine,ny_fine,tmp);
}
/* ---- set up difference problem at current resolution -------------------- */
/* warp second image by overall flow field from previous coarser resolution */
backward_registration(f1_res,f2_res,f2_res_warp,u,v,
nx_fine,ny_fine,bx,by,hx_fine,hy_fine);
/* ---- solve difference problem at current resolution --------------------- */
/* solve difference problem at current resolution to obtain increment */
HORN_SCHUNCK_WARP_LEVEL(f1_res, f2_res_warp, du, dv, u, v,
nx_fine, ny_fine, bx, by, hx_fine, hy_fine,
m_alpha, epsilon_d, epsilon_s, w_bright_grad,
num_iter_inner, num_iter_outer, n_omega);
/* ---- compute overall flow field at current resolution ------------------- */
/* sum up flow increment */
add_matrix_2d(u,du,u,nx_fine,ny_fine,bx,by);
add_matrix_2d(v,dv,v,nx_fine,ny_fine,bx,by);
// printf (" current depth: -- %d -- \n", rec_depth);
}
