| 1 | // created: 2012/04/12
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| 2 | // filename: OpticalFlow.cpp
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| 3 | //
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| 4 | // author: Guillaume Sanahuja
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| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 6 | //
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| 7 | // version: $Id: $
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| 8 | //
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| 9 | // purpose: calcul flux optique lk
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| 10 | //
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| 11 | //
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| 12 | /*********************************************************************/
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| 13 |
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| 14 | #include "OpticalFlow.h"
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| 15 | #include "OpticalFlowData.h"
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| 16 | #include "VisionFilter.h"
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| 17 | #include <Image.h>
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| 18 | #include <Layout.h>
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| 19 | #include <GroupBox.h>
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| 20 | #include <SpinBox.h>
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| 21 | //#include <dspcv_gpp.h>
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| 22 | #include <algorithm>
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| 23 | #include <OneAxisRotation.h>
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| 24 | #include <Vector3D.h>
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| 25 | #include <typeinfo>
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| 26 |
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| 27 | #define LEVEL_PYR 2
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| 28 |
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| 29 | using std::string;
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| 30 | using std::swap;
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| 31 | using namespace flair::core;
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| 32 | using namespace flair::gui;
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| 33 |
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| 34 | class OpticalFlow_impl {
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| 35 | public:
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| 36 | OpticalFlow_impl(flair::filter::OpticalFlow *self,const LayoutPosition* position,string name) {
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| 37 | this->self=self;
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| 38 | is_init=false;
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| 39 |
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| 40 | GroupBox* reglages_groupbox=new GroupBox(position,name);
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| 41 | rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation",OneAxisRotation::PostRotation);
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| 42 | max_features=new SpinBox(reglages_groupbox->NewRow(),"max features:",1,65535,1,1);
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| 43 |
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| 44 | try{
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| 45 | Image::Type const &imageType=dynamic_cast<Image::Type const &>(((IODevice*)(self->Parent()))->GetOutputDataType());
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| 46 | pyr=new Image(self,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
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| 47 | pyr_old=new Image(self,imageType.GetWidth(),imageType.GetHeight(),Image::Type::Format::Gray);
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| 48 | output=new flair::filter::OpticalFlowData(self->Parent(),max_features->Value());
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| 49 | /*
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| 50 | pointsA=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
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| 51 | pointsB=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
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| 52 |
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| 53 | found_feature=(char*)AllocFunction(max_features->Value()*sizeof(char));
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| 54 | feature_error=(unsigned int*)AllocFunction(max_features->Value()*sizeof(unsigned int));
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| 55 |
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| 56 | iplgimg = (IplImage*)AllocFunction(sizeof(IplImage));
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| 57 | iplgimg_old = (IplImage*)AllocFunction(sizeof(IplImage));
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| 58 | iplpyr = (IplImage*)AllocFunction(sizeof(IplImage));
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| 59 | iplpyr_old = (IplImage*)AllocFunction(sizeof(IplImage));
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| 60 |
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| 61 | iplpyr->width=imageType.GetWidth();
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| 62 | iplpyr->height=imageType.GetHeight();
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| 63 | iplpyr_old->width=imageType.GetWidth();
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| 64 | iplpyr_old->height=imageType.GetHeight();
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| 65 | */
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| 66 | } catch(std::bad_cast& bc) {
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| 67 | self->Err("io type mismatch\n");
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| 68 | pyr=NULL;
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| 69 | pyr_old=NULL;
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| 70 | }
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| 71 |
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| 72 | }
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| 73 |
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| 74 | ~OpticalFlow_impl() {
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| 75 | /*
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| 76 | FreeFunction((char*)pointsA);
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| 77 | FreeFunction((char*)pointsB);
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| 78 | FreeFunction((char*)found_feature);
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| 79 | FreeFunction((char*)feature_error);
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| 80 | FreeFunction((char*)iplgimg);
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| 81 | FreeFunction((char*)iplgimg_old);
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| 82 | FreeFunction((char*)iplpyr);
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| 83 | FreeFunction((char*)iplpyr_old);*/
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| 84 | }
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| 85 |
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| 86 | void UpdateFrom(const io_data *data){
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| 87 | //Time tStart=GetTime();
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| 88 | Image *img=(Image*)data;
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| 89 | Image *img_old=((Image*)data->Prev(1));
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| 90 | /*
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| 91 | iplgimg->width=img->GetDataType().GetWidth();
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| 92 | iplgimg->height=img->GetDataType().GetHeight();
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| 93 | iplgimg->imageData=img->buffer;
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| 94 |
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| 95 | iplgimg_old->width=img_old->GetDataType().GetWidth();
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| 96 | iplgimg_old->height=img_old->GetDataType().GetHeight();
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| 97 | iplgimg_old->imageData=img_old->buffer;
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| 98 |
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| 99 | iplpyr->imageData=pyr->buffer;
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| 100 | iplpyr_old->imageData=pyr_old->buffer;
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| 101 |
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| 102 | unsigned int count;
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| 103 | CvSize window = {3,3};
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| 104 | CvTermCriteria termination_criteria ={CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 };
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| 105 | unsigned int i;
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| 106 |
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| 107 | if(max_features->ValueChanged()==true) {
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| 108 | FreeFunction((char*)pointsA);
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| 109 | FreeFunction((char*)pointsB);
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| 110 | FreeFunction((char*)found_feature);
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| 111 | FreeFunction((char*)feature_error);
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| 112 | pointsA=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
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| 113 | pointsB=(CvPoint*)AllocFunction(max_features->Value()*sizeof(CvPoint));
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| 114 | found_feature=(char*)AllocFunction(max_features->Value()*sizeof(char));
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| 115 | feature_error=(unsigned int*)AllocFunction(max_features->Value()*sizeof(unsigned int));
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| 116 |
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| 117 | output->Resize(max_features->Value());
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| 118 | }
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| 119 |
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| 120 | if(is_init==false) {
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| 121 | data->GetMutex();
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| 122 | //init image old
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| 123 | dspPyrDown(iplgimg,iplpyr_old,LEVEL_PYR);
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| 124 | data->ReleaseMutex();
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| 125 | is_init=true;
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| 126 | printf("ajouter mise a 0 des points\n");
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| 127 | return;
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| 128 | }
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| 129 |
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| 130 | data->GetMutex();
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| 131 | data->Prev(1)->GetMutex();
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| 132 |
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| 133 | //select good features
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| 134 | count=max_features->Value();
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| 135 | dspGoodFeaturesToTrack(iplgimg_old,pointsA,&count,0.08,5);
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| 136 | //pyramide
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| 137 | dspPyrDown(iplgimg,iplpyr,LEVEL_PYR);
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| 138 | //lk
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| 139 | dspCalcOpticalFlowPyrLK(iplgimg_old,iplgimg,iplpyr_old,iplpyr,pointsA,pointsB,count,window,LEVEL_PYR,found_feature,feature_error,termination_criteria,0) ;
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| 140 |
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| 141 | data->Prev(1)->ReleaseMutex();
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| 142 | data->ReleaseMutex();
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| 143 |
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| 144 | //apply rotation
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| 145 | for(i=0;i<count;i++) {
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| 146 | Vector3Df tmp;
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| 147 | tmp.x=pointsA[i].x;
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| 148 | tmp.y=pointsA[i].y;
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| 149 | tmp.z=0;
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| 150 | rotation->ComputeRotation(tmp);
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| 151 | pointsA[i].x=tmp.x;
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| 152 | pointsA[i].y=tmp.y;
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| 153 |
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| 154 | tmp.x=pointsB[i].x;
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| 155 | tmp.y=pointsB[i].y;
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| 156 | tmp.z=0;
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| 157 | rotation->ComputeRotation(tmp);
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| 158 | pointsB[i].x=tmp.x;
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| 159 | pointsB[i].y=tmp.y;
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| 160 | }
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| 161 |
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| 162 | output->GetMutex();
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| 163 | CvPoint2D32f* pointsBf= output->PointsB();
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| 164 | for(i=0;i<count;i++) {
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| 165 | pointsBf[i].x=pointsA[i].x+((float)pointsB[i].x)/256;
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| 166 | pointsBf[i].y=pointsA[i].y+((float)pointsB[i].y)/256;
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| 167 | }
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| 168 | output->ReleaseMutex();
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| 169 |
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| 170 | output->SetPointsA(pointsA);
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| 171 | output->SetFoundFeature(found_feature);
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| 172 | output->SetFeatureError(feature_error);
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| 173 | output->SetNbFeatures(count);
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| 174 |
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| 175 | //rotation
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| 176 | swap(pyr,pyr_old);
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| 177 | */
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| 178 | output->SetDataTime(data->DataTime());
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| 179 | //Printf("Optical flow computation time=%f\n",(GetTime()-tStart)/(1000.*1000));
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| 180 | };
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| 181 |
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| 182 | flair::filter::OpticalFlowData *output;
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| 183 |
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| 184 | private:
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| 185 | flair::filter::OpticalFlow *self;
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| 186 | SpinBox *max_features;
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| 187 | OneAxisRotation* rotation;
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| 188 |
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| 189 | //CvPoint* pointsA;
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| 190 | //CvPoint* pointsB;
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| 191 | char *found_feature;
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| 192 | unsigned int *feature_error;
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| 193 | Image *pyr,*pyr_old;
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| 194 | //IplImage *iplgimg,*iplgimg_old;
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| 195 | //IplImage *iplpyr,*iplpyr_old;
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| 196 |
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| 197 | bool is_init;
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| 198 | };
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| 199 |
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| 200 |
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| 201 | namespace flair
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| 202 | {
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| 203 | namespace filter
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| 204 | {
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| 205 |
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| 206 | OpticalFlow::OpticalFlow(const IODevice* parent,const LayoutPosition* position,string name) : IODevice(parent,name) {
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| 207 | Printf("optical flow: voir pour faire du multiple output\n");//pour pts A et B, found et error
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| 208 | pimpl_=new OpticalFlow_impl(this,position,name);
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| 209 | }
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| 210 |
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| 211 | OpticalFlow::~OpticalFlow(void) {
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| 212 | delete pimpl_;
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| 213 | }
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| 214 |
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| 215 | void OpticalFlow::UpdateFrom(const io_data *data) {
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| 216 | pimpl_->UpdateFrom(data);
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| 217 | ProcessUpdate(pimpl_->output);
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| 218 | }
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| 219 |
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| 220 | OpticalFlowData* OpticalFlow::Output(void) {
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| 221 | return pimpl_->output;
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| 222 |
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| 223 | }
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| 224 |
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| 225 | DataType const &OpticalFlow::GetOutputDataType() const {
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| 226 | if(pimpl_->output!=NULL) {
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| 227 | return pimpl_->output->GetDataType();
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| 228 | } else {
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| 229 | return dummyType;
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| 230 | }
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| 231 | }
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| 232 |
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| 233 | } // end namespace filter
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| 234 | } // end namespace flair
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