/**
*
* Horn & Schunck method for optical flow estimation at a single scale
*
*/
void horn_schunck_optical_flow(
const float *I1, // source image
const float *I2, // target image
float *u, // x component of optical flow
float *v, // y component of optical flow
const int nx, // image width
const int ny, // image height
const float alpha, // smoothing parameter
const int warps, // number of warpings per scale
const float TOL, // stopping criterion threshold
const int maxiter, // maximum number of iterations
const bool verbose // switch on messages
)
{
if (verbose) fprintf(stderr, "Single-scale Horn-Schunck of a %dx%d "
"image\n\ta=%g nw=%d eps=%g mi=%d v=%d\n", nx, ny,
alpha, warps, TOL, maxiter, verbose);
const int size = nx * ny;
const float alpha2 = alpha * alpha;
//allocate memory
int sf = sizeof(float);
float *I2x = xmalloc(size * sf); // x derivative of I2
float *I2y = xmalloc(size * sf); // y derivative of I2
float *I2w = xmalloc(size * sf); // warping of I2
float *I2wx = xmalloc(size * sf); // warping of I2x
float *I2wy = xmalloc(size * sf); // warping of I2y
float *Au = xmalloc(size * sf); // constant part of numerator of u
float *Av = xmalloc(size * sf); // constant part of numerator of v
float *Du = xmalloc(size * sf); // denominator of u
float *Dv = xmalloc(size * sf); // denominator of v
float *D = xmalloc(size * sf); // common numerator of u and v
// compute the gradient of the second image
gradient(I2, I2x, I2y, nx, ny);
// iterative approximation to the Taylor expansions
for(int n = 0; n < warps; n++)
{
if(verbose) fprintf(stderr, "Warping %d:", n);
// warp the second image and its derivatives
bicubic_interpolation_warp(I2, u, v, I2w, nx, ny, true);
bicubic_interpolation_warp(I2x, u, v, I2wx, nx, ny, true);
bicubic_interpolation_warp(I2y, u, v, I2wy, nx, ny, true);
// store the constant parts of the system
for(int i = 0; i < size; i++)
{
const float I2wl = I2wx[i] * u[i] + I2wy[i] * v[i];
const float dif = I1[i] - I2w[i] + I2wl;
Au[i] = dif * I2wx[i];
Av[i] = dif * I2wy[i];
Du[i] = I2wx[i] * I2wx[i] + alpha2;
Dv[i] = I2wy[i] * I2wy[i] + alpha2;
D[i] = I2wx[i] * I2wy[i];
}
int niter = 0;
float error = 1000;
// iterations of the SOR numerical scheme
while(error > TOL && niter < maxiter)
{
niter++;
error = 0;
//process the central part of the optical flow
#pragma omp parallel for reduction(+:error)
for(int i = 1; i < ny-1; i++)
for(int j = 1; j < nx-1; j++)
{
const int k = i * nx + j;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx-1, k-nx+1, k+nx-1,
k+nx+1, k-nx, k-1, k+nx, k+1
);
}
// process the first and last rows
for(int j = 1; j < nx-1; j++)
{
// first row
int k = j;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-1, k+1, k+nx-1, k+nx+1,
k, k-1, k+nx, k+1
);
// last row
k = (ny-1) * nx + j;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx-1, k-nx+1, k-1, k+1,
k-nx, k-1, k, k+1
);
}
// process the first and last columns
for(int i = 1; i < ny-1; i++)
{
// first column
int k = i * nx;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx, k-nx+1, k+nx, k+nx+1,
k-nx, k, k+nx, k+1
);
// last column
k = (i+1) * nx - 1;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx-1, k-nx, k+nx-1, k+nx,
k-nx, k-1, k+nx, k
);
}
// process the corners
// up-left corner
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
0, 0, 1, nx, nx+1,
0, 0, nx, 1
);
// up-right corner
int k = nx - 1;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-1, k, k+nx-1, k+nx,
k, k-1, k+nx, k
);
// bottom-left corner
k = (ny-1) * nx;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx, k-nx+1,k, k+1,
k-nx, k, k, k+1
);
// bottom-right corner
k = ny * nx - 1;
error += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-1, k, k-nx-1, k-nx,
k-nx, k-1, k, k
);
error = sqrt(error / size);
}
if(verbose)
fprintf(stderr, "Iterations %d (%g)\n", niter, error);
}
// free the allocated memory
free(I2x);
free(I2y);
free(I2w);
free(I2wx);
free(I2wy);
free(Au);
free(Av);
free(Du);
free(Dv);
free(D);
}
/**
*
* Horn & Schunck method for optical flow estimation at a single scale
*
*/
static void horn_schunck_optical_flow(
const float *I1, // source image
const float *I2, // target image
float *u, // x component of optical flow
float *v, // y component of optical flow
const int nx, // image width
const int ny, // image height
const float alpha, // smoothing parameter
const int nwarps, // number of warpings per scale
const float epsilon, // stopping criterion threshold
const int nmaxiter, // maximum number of iterations
const bool verbose // switch on messages
)
{
if (verbose) fprintf(stderr, "Single-scale Horn-Schunck of a %dx%d "
"image\n\ta=%g nw=%d eps=%g mi=%d v=%d\n", nx, ny,
alpha, nwarps, epsilon, nmaxiter, verbose);
const int npixels = nx * ny;
const float alpha2 = alpha * alpha;
//allocate memory
int sf = sizeof(float);
float *I2x = xmalloc(npixels * sf); // x derivative of I2
float *I2y = xmalloc(npixels * sf); // y derivative of I2
float *I2w = xmalloc(npixels * sf); // warping of I2
float *I2wx = xmalloc(npixels * sf); // warping of I2x
float *I2wy = xmalloc(npixels * sf); // warping of I2y
float *Au = xmalloc(npixels * sf); // constant part of numerator of u
float *Av = xmalloc(npixels * sf); // constant part of numerator of v
float *Du = xmalloc(npixels * sf); // denominator of u
float *Dv = xmalloc(npixels * sf); // denominator of v
float *D = xmalloc(npixels * sf); // common numerator of u and v
// compute the gradient of the second image
compute_gradient_using_centered_differences(I2, I2x, I2y, nx, ny);
// iterative approximation to the Taylor expansions
for (int n = 0; n < nwarps; n++)
{
if(verbose) fprintf(stderr, "Warping %d:", n);
// warp the second image and its derivatives
bicubic_interpolation_warp(I2, u, v, I2w, nx, ny, true);
bicubic_interpolation_warp(I2x, u, v, I2wx, nx, ny, true);
bicubic_interpolation_warp(I2y, u, v, I2wy, nx, ny, true);
// store the constant parts of the system
// (including the starting values of (u,v) at this warp,
// denoted by u^n and v^n in the pseudocode of the article)
for(int i = 0; i < npixels; i++)
{
const float I2wl = I2wx[i] * u[i] + I2wy[i] * v[i];
const float dif = I1[i] - I2w[i] + I2wl;
Au[i] = dif * I2wx[i];
Av[i] = dif * I2wy[i];
Du[i] = I2wx[i] * I2wx[i] + alpha2;
Dv[i] = I2wy[i] * I2wy[i] + alpha2;
D[i] = I2wx[i] * I2wy[i];
}
// counter for the loop below (named "r" on article pseudocode)
int niter = 0;
// this variable starts with a dummy value to enter the loop
float stopping_criterion = epsilon + 1;
// iterations of the SOR numerical scheme
while (stopping_criterion > epsilon && niter < nmaxiter)
{
niter++;
stopping_criterion = 0;
//process the central part of the optical flow
#ifdef _OPENMP
#pragma omp parallel for reduction(+:stopping_criterion)
#endif
for(int i = 1; i < ny-1; i++)
for(int j = 1; j < nx-1; j++)
{
const int k = i * nx + j;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx-1, k-nx+1, k+nx-1,
k+nx+1, k-nx, k-1, k+nx, k+1
);
}
// process the first and last rows
for(int j = 1; j < nx-1; j++)
{
// first row
int k = j;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-1, k+1, k+nx-1, k+nx+1,
k, k-1, k+nx, k+1
);
// last row
k = (ny-1) * nx + j;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx-1, k-nx+1, k-1, k+1,
k-nx, k-1, k, k+1
);
}
// process the first and last columns
for(int i = 1; i < ny-1; i++)
{
// first column
int k = i * nx;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx, k-nx+1, k+nx, k+nx+1,
k-nx, k, k+nx, k+1
);
// last column
k = (i+1) * nx - 1;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx-1, k-nx, k+nx-1, k+nx,
k-nx, k-1, k+nx, k
);
}
// process the corners
// up-left corner
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
0, 0, 1, nx, nx+1,
0, 0, nx, 1
);
// up-right corner
int k = nx - 1;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-1, k, k+nx-1, k+nx,
k, k-1, k+nx, k
);
// bottom-left corner
k = (ny-1) * nx;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-nx, k-nx+1,k, k+1,
k-nx, k, k, k+1
);
// bottom-right corner
k = ny * nx - 1;
stopping_criterion += sor_iteration(
Au, Av, Du, Dv, D, u, v, alpha2,
k, k-1, k, k-nx-1, k-nx,
k-nx, k-1, k, k
);
stopping_criterion = sqrt(stopping_criterion / npixels);
}
if(verbose)
fprintf(stderr, "Iterations %d (%g)\n",
niter, stopping_criterion);
}
// free the allocated memory
free(I2x);
free(I2y);
free(I2w);
free(I2wx);
free(I2wy);
free(Au);
free(Av);
free(Du);
free(Dv);
free(D);
}
