cv::Point2f pyramidIteration(char& status, const cv::Point2f& pointI, const cv::Point2f& pointJ, const cv::Mat& I,
const cv::Mat& J, const int patchSize = 5)
{
try
{
cv::Point2f result;
// Extract a patch around the image
std::vector<std::vector<float>> patch(patchSize + 2, std::vector<float>(patchSize + 2));
std::vector<std::vector<float>> patchIt(patchSize, std::vector<float>(patchSize));
status = extractPatch(patch, (int)pointI.x,(int)pointI.y, patchSize + 2, I);
// if (status)
// return result;
status = extractPatchIt(patchIt, pointI.x, pointI.y, pointJ.x, pointJ.y, I, J, patchSize);
// if (status)
// return result;
// Get the Ix, Iy and It vectors
std::vector<float> ix, iy, it;
getVectors(ix, iy, it, patch, patchIt, patchSize);
// Calculate optical flow
cv::Point2f delta;
status = computeLK(delta, ix, iy, it);
// if (status)
// return result;
result = pointJ + delta;
return result;
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
return cv::Point2f{};
}
}
// The compute() method does the actual work of the node using the inputs
// of the node to generate its output.
//
// Compute takes two parameters: plug and data.
// - Plug is the the data value that needs to be recomputed
// - Data provides handles to all of the nodes attributes, only these
// handles should be used when performing computations.
//
MStatus motionPathNode::compute( const MPlug& plug, MDataBlock& data )
{
double f;
MStatus status;
// Read the attributes we need from the datablock.
//
double uVal = data.inputValue( uValue ).asDouble();
bool fractionModeVal = data.inputValue( fractionMode ).asBool();
bool followVal = data.inputValue( follow ).asBool();
int frontAxisVal = data.inputValue( frontAxis ).asShort();
int upAxisVal = data.inputValue( upAxis ).asShort();
bool bankVal = data.inputValue( bank ).asBool();
double bankScaleVal = data.inputValue( bankScale ).asDouble();
double bankThresholdVal= data.inputValue( bankThreshold ).asDouble();
double offsetVal = data.inputValue( offset ).asDouble();
double wobbleRateVal = data.inputValue( wobbleRate ).asDouble();
// Make sure the value is fractional.
//
if ( fractionModeVal ) {
f = uVal;
} else {
f = parametricToFractional( uVal, &status );
}
CHECK_MSTATUS_AND_RETURN_IT( status );
// To compute the sample location on the path, first wrap the fraction
// around the start of the the path in case it goes past the end
// to prevent clamping, then compute the sample location on the path.
//
f = wraparoundFractionalValue( f, &status );
CHECK_MSTATUS_AND_RETURN_IT( status );
MPoint location = position( data, f, &status );
CHECK_MSTATUS_AND_RETURN_IT( status );
// Get the orthogonal vectors on the motion path.
//
const MVector worldUp = MGlobal::upAxis();
MVector front, side, up;
CHECK_MSTATUS_AND_RETURN_IT( getVectors( data, f, front, side, up,
&worldUp ) );
// If follow (i.e. rotation) is enabled, check if banking is also
// enabled and if so, bank into the turn.
//
if ( followVal && bankVal ) {
MQuaternion bankQuat = banking( data, f, worldUp,
bankScaleVal, bankThresholdVal, &status );
CHECK_MSTATUS_AND_RETURN_IT( status );
up = up.rotateBy( bankQuat );
side = front ^ up;
}
// Compute the wobble that moves the sphere back and forth as it
// traverses the path.
//
if ( fabs( offsetVal ) > ALMOST_ZERO
&& fabs( wobbleRateVal ) > ALMOST_ZERO ) {
double wobble = offsetVal * sin( TWO_PI * wobbleRateVal * f );
MVector tmp = side * wobble;
location += tmp;
}
// Write the result values to the output plugs.
//
data.outputValue( allCoordinates ).set( location.x, location.y,
location.z );
if ( followVal ) {
MTransformationMatrix resultOrientation = matrix( front, side,
up, frontAxisVal, upAxisVal, &status );
CHECK_MSTATUS_AND_RETURN_IT( status );
MTransformationMatrix::RotationOrder ro
= (MTransformationMatrix::RotationOrder)
( data.inputValue( rotateOrder ).asShort() + 1 );
double rot[3];
status = MTransformationMatrix( resultOrientation ).getRotation(
rot, ro );
CHECK_MSTATUS_AND_RETURN_IT( status );
data.outputValue( rotate ).set( rot[0], rot[1], rot[2] );
}
return( MS::kSuccess );
}