calculate the optical flow for some points in the image More...

#include <OpticalFlow.h>

Inheritance diagram for OpticalFlow:

Collaboration diagram for OpticalFlow:

Classes
class	Particle
	position of an edge in the image More...

Public Member Functions
	OpticalFlow ()

virtual	~OpticalFlow ()

void	SetSize (const CvSize &size)
	set the size of images More...

void	SetFocus (const CvPoint &focus)
	set the current focus More...

void	FocusNotify (const CvPoint &p)

void	AddImage (IplImage *img)
	add a new image More...

void	Calc ()
	calculate the flow field More...

void	PrintInfo ()
	debugging stuff More...

double	GetWinkel ()
	get the overall angle of the flow field More...

void	PrintFlowField (IplImage *img)
	print arrows into img showing the flow More...

void	PrintFocus (IplImage *img)
	mark the focus point More...

Public Member Functions inherited from FocusObserver
virtual	~FocusObserver ()

Public Member Functions inherited from ReferenceCount
	ReferenceCount ()

virtual	~ReferenceCount ()

void	IncRefCount ()

void	DecRefCount ()

Protected Member Functions
void	FreeStatusData ()
	free prevFeatures, curFeatures, and featStatus More...

virtual int	GetXMin ()

virtual int	GetXMax ()

virtual int	GetYMin ()

virtual int	GetYMax ()

void	MaskUseFullArea ()

void	MaskUseGridCell (int x, int y, int lenX, int lenY)

void	SelectFeatures ()
	use cvGoodFeaturesToTrack More...

Protected Attributes
RingBuf< GCPointer < ImageHolder >, 2 >	imgBuf
	the current image and its predecessor More...

RingBuf< GCPointer < ImageHolder >, 2 >	pyrBuf
	the pyramids More...

int	numFeatures
	the number of features to track More...

CvPoint2D32f *	prevFeatures
	Positions of the features in the last image. More...

CvPoint2D32f *	curFeatures
	Positions of the features in the current image. More...

char *	featStatus
	status is true when a feature has been found in the current image More...

std::vector< GCPointer < Particle > >	particles
	all the particles More...

ExpGlaett< Pos< 2, double > >	focusOfExpansion
	the focus of expansion, exponentially smoothed More...

KalmanFilter< 2 >	kalmanFOE
	kalman filter for the focus of expansion More...

float	kalmanState [4]

CvSize	imgSize
	the size of the image More...

CvPoint	focus
	the current focus More...

int	numCalls
	number of calls to Calc More...

GCPointer< ImageHolder >	eigenBuf

GCPointer< ImageHolder >	tempBuf

CvMat *	mask

Detailed Description

calculate the optical flow for some points in the image

images must be 8 bit, one channel

Definition at line 74 of file OpticalFlow.h.

Constructor & Destructor Documentation

OpticalFlow::OpticalFlow ( )

Definition at line 44 of file OpticalFlow.cpp.

References focusOfExpansion, KalmanFilter< _dims >::InitRandom(), kalmanFOE, and ExpGlaett< _t >::setNeuAnteil().

OpticalFlow::~OpticalFlow ( )

virtual

Definition at line 56 of file OpticalFlow.cpp.

References RingBuf< _t, len >::Add(), eigenBuf, FreeStatusData(), imgBuf, mask, MHDBGMSG, pyrBuf, and tempBuf.

Member Function Documentation

void OpticalFlow::AddImage ( IplImage * img)

add a new image

Definition at line 183 of file OpticalFlow.h.

References RingBuf< _t, len >::Add(), and imgBuf.

Referenced by OFlowObs::FrameNotifyGray().

void OpticalFlow::Calc ( )

calculate the flow field

Warning: No checking is done whether the image buffer is full and the size is set.

the actual calculation

Definition at line 365 of file OpticalFlow.cpp.

References curFeatures, featStatus, focus, RingBuf< _t, len >::GetCur(), ImageHolder::GetImage(), RingBuf< _t, len >::GetPrev(), imgBuf, RingBuf< _t, len >::IncIndex(), MHDBGMSG, numCalls, numFeatures, particles, prevFeatures, pyrBuf, and SelectFeatures().

Referenced by OFlowObs::FrameNotifyGray().

void OpticalFlow::FocusNotify ( const CvPoint & p)

virtual

Implements FocusObserver.

Definition at line 178 of file OpticalFlow.h.

References SetFocus().

Referenced by OFlowObs::FocusNotify().

void OpticalFlow::FreeStatusData ( )

protected

free prevFeatures, curFeatures, and featStatus

The pointers are set to zero afterwards. Therefore this can always be called safely anytime

Definition at line 74 of file OpticalFlow.cpp.

References curFeatures, featStatus, and prevFeatures.

Referenced by SelectFeatures(), SetFocus(), and ~OpticalFlow().

double OpticalFlow::GetWinkel ( )

get the overall angle of the flow field

Returns: angle in degrees

Deprecated:

Definition at line 173 of file OpticalFlow.cpp.

References TrimmedMean::Add(), TrimmedMean::Compute(), curFeatures, featStatus, focus, focusOfExpansion, ExpGlaett< _t >::get(), Linie::GetLen(), TrimmedMean::GetMean(), TrimmedMean::GetNumCases(), TrimmedMean::GetStDev(), PolLinie::GetWinkel(), kalmanState, M_PI, numFeatures, prevFeatures, and VERSCHIEBUNG.

Referenced by OFlowObs::FrameNotifyGray(), and PrintFlowField().

int OpticalFlow::GetXMax ( )

protectedvirtual

Definition at line 502 of file OpticalFlow.cpp.

References IMG_MARGIN, and imgSize.

Referenced by MaskUseFullArea(), and MaskUseGridCell().

int OpticalFlow::GetXMin ( )

protectedvirtual

< mask for the selection of feature points

Definition at line 499 of file OpticalFlow.cpp.

References IMG_MARGIN.

Referenced by MaskUseFullArea(), and MaskUseGridCell().

int OpticalFlow::GetYMax ( )

protectedvirtual

Definition at line 511 of file OpticalFlow.cpp.

References IMG_MARGIN, and imgSize.

Referenced by MaskUseFullArea(), and MaskUseGridCell().

int OpticalFlow::GetYMin ( )

protectedvirtual

Definition at line 506 of file OpticalFlow.cpp.

References focus.

Referenced by MaskUseFullArea(), and MaskUseGridCell().

void OpticalFlow::MaskUseFullArea ( )

protected

Definition at line 516 of file OpticalFlow.cpp.

References GetXMax(), GetXMin(), GetYMax(), GetYMin(), and mask.

Referenced by SetFocus().

void OpticalFlow::MaskUseGridCell	(	int	x,
		int	y,
		int	lenX,
		int	lenY
	)

protected

Definition at line 525 of file OpticalFlow.cpp.

References GetXMax(), GetXMin(), GetYMax(), GetYMin(), and mask.

Referenced by SelectFeatures().

void OpticalFlow::PrintFlowField ( IplImage * img)

print arrows into img showing the flow

print lines to img

Warning: uses heuristics that will not work with bigger/smaller images

Todo:: enhance robustness

Definition at line 235 of file OpticalFlow.cpp.

References ExpGlaett< _t >::add(), Mean< _t >::add(), TrimmedMean::Add(), KalmanFilter< _dims >::AddMeasure(), TrimmedMean::Compute(), curFeatures, featStatus, focus, focusOfExpansion, ExpGlaett< _t >::get(), Mean< _t >::get_mean(), Linie::GetLen(), TrimmedMean::GetMean(), PolLinie::GetWinkel(), GetWinkel(), GetWinkelDiff(), kalmanFOE, kalmanState, M_PI, numCalls, numFeatures, particles, KalmanFilter< _dims >::Predict(), prevFeatures, PrintArrow(), and ExpGlaett< _t >::set().

Referenced by OFlowObs::FrameNotifyGray().

void OpticalFlow::PrintFocus ( IplImage * img)

mark the focus point

Definition at line 346 of file OpticalFlow.cpp.

References focus, and FOCUS_CROSS_LWIDTH.

void OpticalFlow::PrintInfo ( )

debugging stuff

calculate and print feature info

Deprecated:

Definition at line 401 of file OpticalFlow.cpp.

References Mean< _t >::add(), curFeatures, featStatus, focus, Mean< _t >::get_mean(), Mean< _t >::get_num_cases(), M_PI, MHDBGMSG, MHDBGMSG_I, numCalls, numFeatures, prevFeatures, and TRMEAN_MARGIN.

void OpticalFlow::SelectFeatures ( )

protected

use cvGoodFeaturesToTrack

find features, and writes them to prevFeatures

features from the last run could be re-used

Definition at line 92 of file OpticalFlow.cpp.

References curFeatures, eigenBuf, featStatus, focus, FreeStatusData(), ImageHolder::GetImage(), RingBuf< _t, len >::GetPrev(), IMG_MARGIN, imgBuf, imgSize, mask, MaskUseGridCell(), MHDBGMSG, numFeatures, OFFSET, particles, PIX_ABSTAND, prevFeatures, tempBuf, XGRID, and YGRID.

Referenced by Calc().

void OpticalFlow::SetFocus ( const CvPoint & focus)

set the current focus

Needed for the calculation of the overall angle of the flow field.

(re)create the feature mask

Definition at line 463 of file OpticalFlow.cpp.

References focus, FreeStatusData(), IMG_MARGIN, imgSize, mask, and MaskUseFullArea().

Referenced by FocusNotify(), and OFlowObs::FrameNotifyGray().

void OpticalFlow::SetSize ( const CvSize & size)

set the size of images

Warning: This must be called before any call to Calc()! Internal structures needed by Calc() are created here.

(re)create pyramid buffers and other internal data

Definition at line 543 of file OpticalFlow.cpp.

References RingBuf< _t, len >::Add(), eigenBuf, IMG_MARGIN, imgSize, mask, pyrBuf, and tempBuf.

Referenced by OFlowObs::FrameNotifyGray().

Member Data Documentation

CvPoint2D32f* OpticalFlow::curFeatures

protected

Positions of the features in the current image.

Definition at line 88 of file OpticalFlow.h.

Referenced by Calc(), FreeStatusData(), GetWinkel(), PrintFlowField(), PrintInfo(), and SelectFeatures().

GCPointer<ImageHolder> OpticalFlow::eigenBuf

protected

Definition at line 149 of file OpticalFlow.h.

Referenced by SelectFeatures(), SetSize(), and ~OpticalFlow().

char* OpticalFlow::featStatus

protected

status is true when a feature has been found in the current image

Definition at line 90 of file OpticalFlow.h.

Referenced by Calc(), FreeStatusData(), GetWinkel(), PrintFlowField(), PrintInfo(), and SelectFeatures().

CvPoint OpticalFlow::focus

protected

the current focus

needed to calculate the overall angle of the flow field

Definition at line 140 of file OpticalFlow.h.

Referenced by Calc(), GetWinkel(), GetYMin(), PrintFlowField(), PrintFocus(), PrintInfo(), SelectFeatures(), and SetFocus().

ExpGlaett<Pos<2,double> > OpticalFlow::focusOfExpansion

protected

the focus of expansion, exponentially smoothed

Definition at line 128 of file OpticalFlow.h.

Referenced by GetWinkel(), OpticalFlow(), and PrintFlowField().

RingBuf<GCPointer<ImageHolder>, 2> OpticalFlow::imgBuf

protected

the current image and its predecessor

Definition at line 78 of file OpticalFlow.h.

Referenced by AddImage(), Calc(), SelectFeatures(), and ~OpticalFlow().

CvSize OpticalFlow::imgSize

protected

the size of the image

Definition at line 135 of file OpticalFlow.h.

Referenced by GetXMax(), GetYMax(), SelectFeatures(), SetFocus(), and SetSize().

KalmanFilter<2> OpticalFlow::kalmanFOE

protected

kalman filter for the focus of expansion

Definition at line 131 of file OpticalFlow.h.

Referenced by OpticalFlow(), and PrintFlowField().

float OpticalFlow::kalmanState[4]

protected

Definition at line 132 of file OpticalFlow.h.

Referenced by GetWinkel(), and PrintFlowField().

CvMat* OpticalFlow::mask

protected

< temporary data for SelectFeatures()

Definition at line 151 of file OpticalFlow.h.

Referenced by MaskUseFullArea(), MaskUseGridCell(), SelectFeatures(), SetFocus(), SetSize(), and ~OpticalFlow().

int OpticalFlow::numCalls

protected

number of calls to Calc

needed in order to know whether the pyramid for the previous image has already been calculated

Definition at line 147 of file OpticalFlow.h.

Referenced by Calc(), PrintFlowField(), and PrintInfo().

int OpticalFlow::numFeatures

protected

the number of features to track

Definition at line 84 of file OpticalFlow.h.

Referenced by Calc(), GetWinkel(), PrintFlowField(), PrintInfo(), and SelectFeatures().

std::vector<GCPointer<Particle> > OpticalFlow::particles

protected

all the particles

Definition at line 126 of file OpticalFlow.h.

Referenced by Calc(), PrintFlowField(), and SelectFeatures().

CvPoint2D32f* OpticalFlow::prevFeatures

protected

Positions of the features in the last image.

Definition at line 86 of file OpticalFlow.h.

Referenced by Calc(), FreeStatusData(), GetWinkel(), PrintFlowField(), PrintInfo(), and SelectFeatures().

RingBuf<GCPointer<ImageHolder>, 2> OpticalFlow::pyrBuf

protected

the pyramids

Definition at line 81 of file OpticalFlow.h.

Referenced by Calc(), SetSize(), and ~OpticalFlow().

GCPointer<ImageHolder> OpticalFlow::tempBuf

protected

< temporary data for SelectFeatures()

Definition at line 150 of file OpticalFlow.h.

Referenced by SelectFeatures(), SetSize(), and ~OpticalFlow().

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation