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Merge pull request #2367 from tsenst:add_robust_interpolation_of_correspondence
Add RIC method for sparse match interpolation * * add RIC * sparse_match_interpolators EdgeAwareInterpolation - enhance limitation of the maximal number of matches to be interpolated from SHORT_MAX to INT_MAX by substituting short by int types * * add RIC citation * * update EdgeAwareInterpolatorImpl * * add intermediate RIC implementation * * implementation of new paralelization classes. First test where sucessfull. * * update documentation RICInterpolatorImpl and RLOF * * update CMakeLists.txt remove highgui * add test for RIC * add ASSERTION for curr image * * add cost map interface * * fix internal cost map allocation bug * * remove white spaces * fix warnings * *fix compiler warnings * * remove double whitespaces * underscore from parameters * substitute parallel_for_() classes with lambda functions * remove complex assertion statements * remove dead code * substitute swap function with std::swap() * ocv_define_module now contains video instead of tracking module * * remove whitespace endings * * documentation update * * remove double declarations that lead to warnings * * unrole tracker.py * remove double space * use static for inner functions * update create function * modify mem init. to avoid manual memory management * * uncomment parallel_for_ for parallelization * * unrole unwanted changes * uncomment paralellization * * remove empty comment * change CHECK to CHK_GD * remove not necessary ; * *documentation remove double space
This commit is contained in:
Tobias Senst
committed by
Alexander Alekhin
Alexander Alekhin
parent
cacec38ec1
commit
40b238b01d
@@ -30,14 +30,16 @@ enum SolverType {
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enum InterpolationType
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{
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INTERP_GEO = 0, /**< Fast geodesic interpolation, see @cite Geistert2016 */
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INTERP_EPIC = 1, /**< Edge-preserving interpolation, see @cite Revaud2015,Geistert2016. */
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INTERP_EPIC = 1, /**< Edge-preserving interpolation using ximgproc::EdgeAwareInterpolator, see @cite Revaud2015,Geistert2016. */
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INTERP_RIC = 2, /**< SLIC based robust interpolation using ximgproc::RICInterpolator, see @cite Hu2017. */
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};
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/** @brief This is used store and set up the parameters of the robust local optical flow (RLOF) algoritm.
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*
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* The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
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* and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
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* proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
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* proposed by @cite Bouguet00. More details and experiments can be found in the following thesis @cite Senst2019.
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* The implementation is derived from optflow::calcOpticalFlowPyrLK().
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* This RLOF implementation can be seen as an improved pyramidal iterative Lucas-Kanade and includes
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* a set of improving modules. The main improvements in respect to the pyramidal iterative Lucas-Kanade
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* are:
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@@ -200,7 +202,8 @@ public:
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*
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* The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
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* and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
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* proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
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* proposed by @cite Bouguet00. More details and experiments can be found in the following thesis @cite Senst2019.
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* The implementation is derived from optflow::calcOpticalFlowPyrLK().
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*
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* The sparse-to-dense interpolation scheme allows for fast computation of dense optical flow using RLOF (see @cite Geistert2016).
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* For this scheme the following steps are applied:
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@@ -324,6 +327,35 @@ public:
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* @see ximgproc::fastGlobalSmootherFilter, setUsePostProc
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*/
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CV_WRAP virtual bool getUsePostProc() const = 0;
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//! @brief enables VariationalRefinement
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/**
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* @see getUseVariationalRefinement
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*/
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CV_WRAP virtual void setUseVariationalRefinement(bool val) = 0;
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/** @copybrief setUseVariationalRefinement
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* @see ximgproc::fastGlobalSmootherFilter, setUsePostProc
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*/
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CV_WRAP virtual bool getUseVariationalRefinement() const = 0;
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//! @brief Parameter to tune the approximate size of the superpixel used for oversegmentation.
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/**
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* @see cv::ximgproc::createSuperpixelSLIC, cv::ximgproc::RICInterpolator
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*/
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CV_WRAP virtual void setRICSPSize(int val) = 0;
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/** @copybrief setRICSPSize
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* @see setRICSPSize
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*/
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CV_WRAP virtual int getRICSPSize() const = 0;
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/** @brief Parameter to choose superpixel algorithm variant to use:
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* - cv::ximgproc::SLICType SLIC segments image using a desired region_size (value: 100)
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* - cv::ximgproc::SLICType SLICO will optimize using adaptive compactness factor (value: 101)
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* - cv::ximgproc::SLICType MSLIC will optimize using manifold methods resulting in more content-sensitive superpixels (value: 102).
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* @see cv::ximgproc::createSuperpixelSLIC, cv::ximgproc::RICInterpolator
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*/
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CV_WRAP virtual void setRICSLICType(int val) = 0;
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/** @copybrief setRICSLICType
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* @see setRICSLICType
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*/
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CV_WRAP virtual int getRICSLICType() const = 0;
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//! @brief Creates instance of optflow::DenseRLOFOpticalFlow
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/**
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* @param rlofParam see optflow::RLOFOpticalFlowParameter
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@@ -333,9 +365,12 @@ public:
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* @param epicK see setEPICK
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* @param epicSigma see setEPICSigma
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* @param epicLambda see setEPICLambda
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* @param ricSPSize see setRICSPSize
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* @param ricSLICType see setRICSLICType
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* @param use_post_proc see setUsePostProc
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* @param fgsLambda see setFgsLambda
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* @param fgsSigma see setFgsSigma
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* @param use_variational_refinement see setUseVariationalRefinement
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*/
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CV_WRAP static Ptr<DenseRLOFOpticalFlow> create(
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Ptr<RLOFOpticalFlowParameter> rlofParam = Ptr<RLOFOpticalFlowParameter>(),
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@@ -345,16 +380,20 @@ public:
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int epicK = 128,
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float epicSigma = 0.05f,
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float epicLambda = 999.0f,
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int ricSPSize = 15,
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int ricSLICType = 100,
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bool use_post_proc = true,
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float fgsLambda = 500.0f,
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float fgsSigma = 1.5f);
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float fgsSigma = 1.5f,
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bool use_variational_refinement = false);
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};
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/** @brief Class used for calculation sparse optical flow and feature tracking with robust local optical flow (RLOF) algorithms.
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*
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* The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
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* and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
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* proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
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* proposed by @cite Bouguet00. More details and experiments can be found in the following thesis @cite Senst2019.
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* The implementation is derived from optflow::calcOpticalFlowPyrLK().
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*
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* For the RLOF configuration see optflow::RLOFOpticalFlowParameter for further details.
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* Parameters have been described in @cite Senst2012, @cite Senst2013, @cite Senst2014 and @cite Senst2016.
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@@ -401,7 +440,8 @@ public:
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*
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* The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
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* and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
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* proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
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* proposed by @cite Bouguet00. More details and experiments can be found in the following thesis @cite Senst2019.
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* The implementation is derived from optflow::calcOpticalFlowPyrLK().
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*
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* The sparse-to-dense interpolation scheme allows for fast computation of dense optical flow using RLOF (see @cite Geistert2016).
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* For this scheme the following steps are applied:
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@@ -430,12 +470,15 @@ public:
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* supported:
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* - **INTERP_GEO** applies the fast geodesic interpolation, see @cite Geistert2016.
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* - **INTERP_EPIC_RESIDUAL** applies the edge-preserving interpolation, see @cite Revaud2015,Geistert2016.
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* @param epicK see ximgproc::EdgeAwareInterpolator() sets the respective parameter.
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* @param epicSigma see ximgproc::EdgeAwareInterpolator() sets the respective parameter.
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* @param epicLambda see ximgproc::EdgeAwareInterpolator() sets the respective parameter.
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* @param epicK see ximgproc::EdgeAwareInterpolator sets the respective parameter.
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* @param epicSigma see ximgproc::EdgeAwareInterpolator sets the respective parameter.
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* @param epicLambda see ximgproc::EdgeAwareInterpolator sets the respective parameter.
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* @param ricSPSize see ximgproc::RICInterpolator sets the respective parameter.
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* @param ricSLICType see ximgproc::RICInterpolator sets the respective parameter.
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* @param use_post_proc enables ximgproc::fastGlobalSmootherFilter() parameter.
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* @param fgsLambda sets the respective ximgproc::fastGlobalSmootherFilter() parameter.
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* @param fgsSigma sets the respective ximgproc::fastGlobalSmootherFilter() parameter.
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* @param use_variational_refinement enables VariationalRefinement
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*
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* Parameters have been described in @cite Senst2012, @cite Senst2013, @cite Senst2014, @cite Senst2016.
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* For the RLOF configuration see optflow::RLOFOpticalFlowParameter for further details.
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@@ -451,14 +494,17 @@ CV_EXPORTS_W void calcOpticalFlowDenseRLOF(InputArray I0, InputArray I1, InputOu
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float forwardBackwardThreshold = 0, Size gridStep = Size(6, 6),
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InterpolationType interp_type = InterpolationType::INTERP_EPIC,
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int epicK = 128, float epicSigma = 0.05f, float epicLambda = 100.f,
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bool use_post_proc = true, float fgsLambda = 500.0f, float fgsSigma = 1.5f);
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int ricSPSize = 15, int ricSLICType = 100,
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bool use_post_proc = true, float fgsLambda = 500.0f, float fgsSigma = 1.5f,
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bool use_variational_refinement = false);
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/** @brief Calculates fast optical flow for a sparse feature set using the robust local optical flow (RLOF) similar
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* to optflow::calcOpticalFlowPyrLK().
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*
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* The RLOF is a fast local optical flow approach described in @cite Senst2012 @cite Senst2013 @cite Senst2014
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* and @cite Senst2016 similar to the pyramidal iterative Lucas-Kanade method as
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* proposed by @cite Bouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().
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* proposed by @cite Bouguet00. More details and experiments can be found in the following thesis @cite Senst2019.
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* The implementation is derived from optflow::calcOpticalFlowPyrLK().
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*
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* @param prevImg first 8-bit input image. If The cross-based RLOF is used (by selecting optflow::RLOFOpticalFlowParameter::supportRegionType
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* = SupportRegionType::SR_CROSS) image has to be a 8-bit 3 channel image.
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