boofcv.alg.flow

Class BroxWarpingSpacial<T extends boofcv.struct.image.ImageSingleBand>

java.lang.Object

boofcv.alg.flow.DenseFlowPyramidBase<T>

boofcv.alg.flow.BroxWarpingSpacial<T>

public class BroxWarpingSpacial<T extends boofcv.struct.image.ImageSingleBand>
extends DenseFlowPyramidBase<T>

Dense optical flow which adheres to a brightness constancy assumption, a gradient constancy assumption, and a discontinuity-preserving spatio-temporal smoothness constraint. Based on the work of Brox [2] with implementation details taken from [1].

1. Javier Sánchez Pérez, Nelson Monzón López, and Agustín Salgado de la Nuez, Robust Optical Flow Estimation, Image Processing On Line, 3 (2013), pp. 252–270. http://dx.doi.org/10.5201/ipol.2013.21
2. Thomas Brox, Andr´es Bruhn, Nils Papenberg, and Joachim Weickert. High accuracy optical flow estimation based on a theory for warping. In T. Pajdla and J. Matas, editors, European Conference on Computer Vision (ECCV), volume 3024 of Lecture Notes in Computer Science, pages 25–36, Prague, Czech Republic, May 2004. Springer.

Field Summary

Fields

Modifier and Type	Field and Description
protected float	alpha
protected boofcv.struct.image.ImageFloat32	derivFlowUX
protected boofcv.struct.image.ImageFloat32	derivFlowUY
protected boofcv.struct.image.ImageFloat32	derivFlowVX
protected boofcv.struct.image.ImageFloat32	derivFlowVY
protected boofcv.struct.image.ImageFloat32	divD
protected boofcv.struct.image.ImageFloat32	divU
protected boofcv.struct.image.ImageFloat32	divV
protected boofcv.struct.image.ImageFloat32	du
protected boofcv.struct.image.ImageFloat32	dv
protected boofcv.struct.image.ImageFloat32	flowU
protected boofcv.struct.image.ImageFloat32	flowV
protected float	gamma
protected boofcv.struct.image.ImageFloat32	psiData
protected boofcv.struct.image.ImageFloat32	psiGradient
protected boofcv.struct.image.ImageFloat32	psiSmooth
protected boofcv.struct.image.ImageFloat32	warpDeriv2X
protected boofcv.struct.image.ImageFloat32	warpDeriv2XX
protected boofcv.struct.image.ImageFloat32	warpDeriv2XY
protected boofcv.struct.image.ImageFloat32	warpDeriv2Y
protected boofcv.struct.image.ImageFloat32	warpDeriv2YY
protected boofcv.struct.image.ImageFloat32	warpImage2

Fields inherited from class boofcv.alg.flow.DenseFlowPyramidBase

interp, pyr1, pyr2

Constructor Summary

Constructors

Constructor and Description
BroxWarpingSpacial(ConfigBroxWarping config, boofcv.alg.interpolate.InterpolatePixelS<boofcv.struct.image.ImageFloat32> interp) Configures flow estimation

Method Summary

Methods

Modifier and Type	Method and Description
protected void	computeDivUVD_safe(int x, int y, boofcv.struct.image.ImageFloat32 u, boofcv.struct.image.ImageFloat32 v, boofcv.struct.image.ImageFloat32 psi, boofcv.struct.image.ImageFloat32 divU, boofcv.struct.image.ImageFloat32 divV, boofcv.struct.image.ImageFloat32 divD)
protected void	computePsiDataPsiGradient(boofcv.struct.image.ImageFloat32 image1, boofcv.struct.image.ImageFloat32 image2, boofcv.struct.image.ImageFloat32 deriv1x, boofcv.struct.image.ImageFloat32 deriv1y, boofcv.struct.image.ImageFloat32 deriv2x, boofcv.struct.image.ImageFloat32 deriv2y, boofcv.struct.image.ImageFloat32 deriv2xx, boofcv.struct.image.ImageFloat32 deriv2yy, boofcv.struct.image.ImageFloat32 deriv2xy, boofcv.struct.image.ImageFloat32 du, boofcv.struct.image.ImageFloat32 dv, boofcv.struct.image.ImageFloat32 psiData, boofcv.struct.image.ImageFloat32 psiGradient) Compute Psi-data using equation 6 and approximation in equation 5
boofcv.struct.image.ImageFloat32	getFlowX()
boofcv.struct.image.ImageFloat32	getFlowY()
protected void	interpolateFlowScale(int widthNew, int heightNew) Provides an initial estimate for the flow by interpolating values from the previous layer.
void	process(boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.ImageFloat32> image1, boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.ImageFloat32> image2) Computes dense optical flow from the provided image pyramid.
protected void	processLayer(boofcv.struct.image.ImageFloat32 image1, boofcv.struct.image.ImageFloat32 image2, boofcv.struct.image.ImageFloat32 deriv1X, boofcv.struct.image.ImageFloat32 deriv1Y, boofcv.struct.image.ImageFloat32 deriv2X, boofcv.struct.image.ImageFloat32 deriv2Y, boofcv.struct.image.ImageFloat32 deriv2XX, boofcv.struct.image.ImageFloat32 deriv2YY, boofcv.struct.image.ImageFloat32 deriv2XY) Computes the flow for a layer using Taylor series expansion and Successive Over-Relaxation linear solver.
protected void	resizeForLayer(int width, int height) Resize images for the current layer being processed
protected int	s(int x, int y)

Methods inherited from class boofcv.alg.flow.DenseFlowPyramidBase

imageNormalization, interpolateFlowScale, process, warpImageTaylor

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

alpha

protected float alpha

gamma

protected float gamma

flowU

protected boofcv.struct.image.ImageFloat32 flowU

flowV

protected boofcv.struct.image.ImageFloat32 flowV

warpImage2

protected boofcv.struct.image.ImageFloat32 warpImage2

warpDeriv2X

protected boofcv.struct.image.ImageFloat32 warpDeriv2X

warpDeriv2Y

protected boofcv.struct.image.ImageFloat32 warpDeriv2Y

warpDeriv2XX

protected boofcv.struct.image.ImageFloat32 warpDeriv2XX

warpDeriv2YY

protected boofcv.struct.image.ImageFloat32 warpDeriv2YY

warpDeriv2XY

protected boofcv.struct.image.ImageFloat32 warpDeriv2XY

derivFlowUX

protected boofcv.struct.image.ImageFloat32 derivFlowUX

derivFlowUY

protected boofcv.struct.image.ImageFloat32 derivFlowUY

derivFlowVX

protected boofcv.struct.image.ImageFloat32 derivFlowVX

derivFlowVY

protected boofcv.struct.image.ImageFloat32 derivFlowVY

psiSmooth

protected boofcv.struct.image.ImageFloat32 psiSmooth

psiData

protected boofcv.struct.image.ImageFloat32 psiData

psiGradient

protected boofcv.struct.image.ImageFloat32 psiGradient

divU

protected boofcv.struct.image.ImageFloat32 divU

divV

protected boofcv.struct.image.ImageFloat32 divV

divD

protected boofcv.struct.image.ImageFloat32 divD

du

protected boofcv.struct.image.ImageFloat32 du

dv

protected boofcv.struct.image.ImageFloat32 dv

Constructor Detail

BroxWarpingSpacial

public BroxWarpingSpacial(ConfigBroxWarping config,
                  boofcv.alg.interpolate.InterpolatePixelS<boofcv.struct.image.ImageFloat32> interp)

Configures flow estimation

Parameters:

config - Configuration parameters

interp - Interpolation for image flow between image layers and warping. Overrides selection in config.

Method Detail

process

public void process(boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.ImageFloat32> image1,
           boofcv.struct.pyramid.ImagePyramid<boofcv.struct.image.ImageFloat32> image2)

Computes dense optical flow from the provided image pyramid. Image gradient for each layer should be computed directly from the layer images.

Specified by:

process in class DenseFlowPyramidBase<T extends boofcv.struct.image.ImageSingleBand>

Parameters:

image1 - Pyramid of first image

image2 - Pyramid of second image

resizeForLayer

protected void resizeForLayer(int width,
                  int height)

Resize images for the current layer being processed

interpolateFlowScale

protected void interpolateFlowScale(int widthNew,
                        int heightNew)

Provides an initial estimate for the flow by interpolating values from the previous layer.

processLayer

protected void processLayer(boofcv.struct.image.ImageFloat32 image1,
                boofcv.struct.image.ImageFloat32 image2,
                boofcv.struct.image.ImageFloat32 deriv1X,
                boofcv.struct.image.ImageFloat32 deriv1Y,
                boofcv.struct.image.ImageFloat32 deriv2X,
                boofcv.struct.image.ImageFloat32 deriv2Y,
                boofcv.struct.image.ImageFloat32 deriv2XX,
                boofcv.struct.image.ImageFloat32 deriv2YY,
                boofcv.struct.image.ImageFloat32 deriv2XY)

Computes the flow for a layer using Taylor series expansion and Successive Over-Relaxation linear solver. Flow estimates from previous layers are feed into this by setting initFlow and flow to their values.

computePsiDataPsiGradient

protected void computePsiDataPsiGradient(boofcv.struct.image.ImageFloat32 image1,
                             boofcv.struct.image.ImageFloat32 image2,
                             boofcv.struct.image.ImageFloat32 deriv1x,
                             boofcv.struct.image.ImageFloat32 deriv1y,
                             boofcv.struct.image.ImageFloat32 deriv2x,
                             boofcv.struct.image.ImageFloat32 deriv2y,
                             boofcv.struct.image.ImageFloat32 deriv2xx,
                             boofcv.struct.image.ImageFloat32 deriv2yy,
                             boofcv.struct.image.ImageFloat32 deriv2xy,
                             boofcv.struct.image.ImageFloat32 du,
                             boofcv.struct.image.ImageFloat32 dv,
                             boofcv.struct.image.ImageFloat32 psiData,
                             boofcv.struct.image.ImageFloat32 psiGradient)

Compute Psi-data using equation 6 and approximation in equation 5

computeDivUVD_safe

protected void computeDivUVD_safe(int x,
                      int y,
                      boofcv.struct.image.ImageFloat32 u,
                      boofcv.struct.image.ImageFloat32 v,
                      boofcv.struct.image.ImageFloat32 psi,
                      boofcv.struct.image.ImageFloat32 divU,
                      boofcv.struct.image.ImageFloat32 divV,
                      boofcv.struct.image.ImageFloat32 divD)

s

protected int s(int x,
    int y)

getFlowX

public boofcv.struct.image.ImageFloat32 getFlowX()

getFlowY

public boofcv.struct.image.ImageFloat32 getFlowY()