static Mat endpointError( const Mat_<Point2f>& flow1, const Mat_<Point2f>& flow2 )
{
Mat result(flow1.size(), CV_32FC1);
for ( int i = 0; i < flow1.rows; ++i )
{
for ( int j = 0; j < flow1.cols; ++j )
{
const Point2f u1 = flow1(i, j);
const Point2f u2 = flow2(i, j);
if ( isFlowCorrect(u1) && isFlowCorrect(u2) )
{
const Point2f diff = u1 - u2;
result.at<float>(i, j) = sqrt((float)diff.ddot(diff)); //distance
} else
result.at<float>(i, j) = std::numeric_limits<float>::quiet_NaN();
}
}
return result;
}
static int intersectConvexConvex_( const Point2f* P, int n, const Point2f* Q, int m,
Point2f* result, float* _area )
{
Point2f* result0 = result;
// P has n vertices, Q has m vertices.
int a=0, b=0; // indices on P and Q (resp.)
Point2f Origin(0,0);
tInFlag inflag=Unknown; // {Pin, Qin, Unknown}: which inside
int aa=0, ba=0; // # advances on a & b indices (after 1st inter.)
bool FirstPoint=true;// Is this the first point? (used to initialize).
Point2f p0; // The first point.
*result++ = Point2f(FLT_MAX, FLT_MAX);
do
{
// Computations of key variables.
int a1 = (a + n - 1) % n; // a-1, b-1 (resp.)
int b1 = (b + m - 1) % m;
Point2f A = P[a] - P[a1], B = Q[b] - Q[b1]; // directed edges on P and Q (resp.)
int cross = areaSign( Origin, A, B ); // sign of z-component of A x B
int aHB = areaSign( Q[b1], Q[b], P[a] ); // a in H(b).
int bHA = areaSign( P[a1], P[a], Q[b] ); // b in H(A);
// If A & B intersect, update inflag.
Point2f p, q;
int code = segSegInt( P[a1], P[a], Q[b1], Q[b], p, q );
if( code == '1' || code == 'v' )
{
if( inflag == Unknown && FirstPoint )
{
aa = ba = 0;
FirstPoint = false;
p0 = p;
*result++ = p;
}
inflag = inOut( p, inflag, aHB, bHA, result );
}
//-----Advance rules-----
// Special case: A & B overlap and oppositely oriented.
if( code == 'e' && A.ddot(B) < 0 )
{
addSharedSeg( p, q, result );
return (int)(result - result0);
}
// Special case: A & B parallel and separated.
if( cross == 0 && aHB < 0 && bHA < 0 )
return (int)(result - result0);
// Special case: A & B collinear.
else if ( cross == 0 && aHB == 0 && bHA == 0 ) {
// Advance but do not output point.
if ( inflag == Pin )
b = advance( b, &ba, m, inflag == Qin, Q[b], result );
else
a = advance( a, &aa, n, inflag == Pin, P[a], result );
}
// Generic cases.
else if( cross >= 0 )
{
if( bHA > 0)
a = advance( a, &aa, n, inflag == Pin, P[a], result );
else
b = advance( b, &ba, m, inflag == Qin, Q[b], result );
}
else
{
if( aHB > 0)
b = advance( b, &ba, m, inflag == Qin, Q[b], result );
else
a = advance( a, &aa, n, inflag == Pin, P[a], result );
}
// Quit when both adv. indices have cycled, or one has cycled twice.
}
while ( ((aa < n) || (ba < m)) && (aa < 2*n) && (ba < 2*m) );
// Deal with special cases: not implemented.
if( inflag == Unknown )
{
// The boundaries of P and Q do not cross.
// ...
}
int i, nr = (int)(result - result0);
double area = 0;
Point2f prev = result0[nr-1];
for( i = 1; i < nr; i++ )
{
result0[i-1] = result0[i];
area += (double)prev.x*result0[i].y - (double)prev.y*result0[i].x;
prev = result0[i];
}
*_area = (float)(area*0.5);
if( result0[nr-2] == result0[0] && nr > 1 )
nr--;
return nr-1;
}
bool CV_OptFlowTest::runSparse()
{
Mat prev = imread(string(ts->get_data_path()) + "optflow/rock_1.bmp", 0);
Mat next = imread(string(ts->get_data_path()) + "optflow/rock_2.bmp", 0);
if (prev.empty() || next.empty())
{
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
return false;
}
Mat cprev, cnext;
cvtColor(prev, cprev, CV_GRAY2BGR);
cvtColor(next, cnext, CV_GRAY2BGR);
vector<Point2f> prev_pts;
vector<Point2f> next_ptsOpt;
vector<Point2f> next_ptsAff;
vector<uchar> status_Opt;
vector<uchar> status_Aff;
vector<float> error;
vector<float> matrices;
Size netSize(10, 10);
Point2f center = Point(prev.cols/2, prev.rows/2);
for(int i = 0 ; i < netSize.width; ++i)
for(int j = 0 ; j < netSize.width; ++j)
{
Point2f p(i * float(prev.cols)/netSize.width, j * float(prev.rows)/netSize.height);
prev_pts.push_back((p - center) * 0.5f + center);
}
calcOpticalFlowPyrLK( prev, next, prev_pts, next_ptsOpt, status_Opt, error );
calcAffineFlowPyrLK ( prev, next, prev_pts, next_ptsAff, status_Aff, error, matrices);
const double expected_shift = 25;
const double thres = 1;
for(size_t i = 0; i < prev_pts.size(); ++i)
{
circle(cprev, prev_pts[i], 2, CV_RGB(255, 0, 0));
if (status_Opt[i])
{
circle(cnext, next_ptsOpt[i], 2, CV_RGB(0, 0, 255));
Point2f shift = prev_pts[i] - next_ptsOpt[i];
double n = sqrt(shift.ddot(shift));
if (fabs(n - expected_shift) > thres)
{
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return false;
}
}
if (status_Aff[i])
{
circle(cnext, next_ptsAff[i], 4, CV_RGB(0, 255, 0));
Point2f shift = prev_pts[i] - next_ptsAff[i];
double n = sqrt(shift.ddot(shift));
if (fabs(n - expected_shift) > thres)
{
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
return false;
}
}
}
/*namedWindow("P"); imshow("P", cprev);
namedWindow("N"); imshow("N", cnext);
waitKey();*/
return true;
}
