Fast dense optical flow computation based on robust local optical flow (RLOF) algorithms and sparse-to-dense interpolation scheme. More...

#include <opencv2/optflow/rlofflow.hpp>

Inheritance diagram for cv::optflow::DenseRLOFOpticalFlow:

Public Member Functions
virtual int	getEPICK () const =0
	see ximgproc::EdgeAwareInterpolator() K value.

virtual float	getEPICLambda () const =0
	see ximgproc::EdgeAwareInterpolator() lambda value.

virtual float	getEPICSigma () const =0
	see ximgproc::EdgeAwareInterpolator() sigma value.

virtual float	getFgsLambda () const =0
	see ximgproc::EdgeAwareInterpolator().

virtual float	getFgsSigma () const =0
	see ximgproc::EdgeAwareInterpolator().

virtual float	getForwardBackward () const =0

virtual Size	getGridStep () const =0
	Size of the grid to spawn the motion vectors.

virtual InterpolationType	getInterpolation () const =0

virtual Ptr < RLOFOpticalFlowParameter >	getRLOFOpticalFlowParameter () const =0

virtual bool	getUsePostProc () const =0

virtual void	setEPICK (int val)=0

virtual void	setEPICLambda (float val)=0

virtual void	setEPICSigma (float val)=0

virtual void	setFgsLambda (float val)=0

virtual void	setFgsSigma (float val)=0

virtual void	setForwardBackward (float val)=0
	Threshold for the forward backward confidence check.

virtual void	setGridStep (Size val)=0

virtual void	setInterpolation (InterpolationType val)=0
	Interpolation used to compute the dense optical flow.

virtual void	setRLOFOpticalFlowParameter (Ptr< RLOFOpticalFlowParameter > val)=0
	Configuration of the RLOF alogrithm.

virtual void	setUsePostProc (bool val)=0
	enables ximgproc::fastGlobalSmootherFilter

Public Member Functions inherited from cv::DenseOpticalFlow
virtual void	calc (InputArray I0, InputArray I1, InputOutputArray flow)=0
	Calculates an optical flow.

virtual void	collectGarbage ()=0
	Releases all inner buffers.

Public Member Functions inherited from cv::Algorithm
	Algorithm ()

virtual	~Algorithm ()

virtual void	clear ()
	Clears the algorithm state.

virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.

virtual String	getDefaultName () const

virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage.

virtual void	save (const String &filename) const

virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage.

void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
	simplified API for language bindingsThis is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Static Public Member Functions
static Ptr< DenseRLOFOpticalFlow >	create (Ptr< RLOFOpticalFlowParameter > rlofParam=Ptr< RLOFOpticalFlowParameter >(), float forwardBackwardThreshold=1.f, Size gridStep=Size(6, 6), InterpolationType interp_type=InterpolationType::INTERP_EPIC, int epicK=128, float epicSigma=0.05f, float epicLambda=999.0f, bool use_post_proc=true, float fgsLambda=500.0f, float fgsSigma=1.5f)
	Creates instance of optflow::DenseRLOFOpticalFlow.

Additional Inherited Members
Protected Member Functions inherited from cv::Algorithm
void	writeFormat (FileStorage &fs) const

Detailed Description

Fast dense optical flow computation based on robust local optical flow (RLOF) algorithms and sparse-to-dense interpolation scheme.

The RLOF is a fast local optical flow approach similar to the pyramidal iterative Lucas-Kanade method as proposed byBouguet00. The implementation is derived from optflow::calcOpticalFlowPyrLK().

The sparse-to-dense interpolation scheme allows for fast computation of dense optical flow using RLOF (seeGeistert2016). For this scheme the following steps are applied:

motion vector seeded at a regular sampled grid are computed. The sparsity of this grid can be configured with setGridStep
(optinally) errornous motion vectors are filter based on the forward backward confidence. The threshold can be configured with setForwardBackward. The filter is only applied if the threshold >0 but than the runtime is doubled due to the estimation of the backward flow.
Vector field interpolation is applied to the motion vector set to obtain a dense vector field.

For the RLOF configuration see optflow::RLOFOpticalFlowParameter for further details. Parameters have been described inSenst2012 Senst2013 Senst2014 andSenst2016.

Note: SIMD parallelization is only available when compiling with SSE4.1. If the grid size is set to (1,1) and the forward backward threshold <= 0 that the dense optical flow field is purely. computed with the RLOF.

See Also: optflow::calcOpticalFlowDenseRLOF(), optflow::RLOFOpticalFlowParameter

Member Function Documentation

static Ptr<DenseRLOFOpticalFlow> cv::optflow::DenseRLOFOpticalFlow::create	(	Ptr< RLOFOpticalFlowParameter >	rlofParam = `Ptr< RLOFOpticalFlowParameter >()`,
		float	forwardBackwardThreshold = `1.f`,
		Size	gridStep = `Size(6, 6)`,
		InterpolationType	interp_type = `InterpolationType::INTERP_EPIC`,
		int	epicK = `128`,
		float	epicSigma = `0.05f`,
		float	epicLambda = `999.0f`,
		bool	use_post_proc = `true`,
		float	fgsLambda = `500.0f`,
		float	fgsSigma = `1.5f`
	)

static

Python:
	retval	=	cv.optflow.DenseRLOFOpticalFlow_create(	[, rlofParam[, forwardBackwardThreshold[, gridStep[, interp_type[, epicK[, epicSigma[, epicLambda[, use_post_proc[, fgsLambda[, fgsSigma]]]]]]]]]]	)

Creates instance of optflow::DenseRLOFOpticalFlow.

Parameters

rlofParam	see optflow::RLOFOpticalFlowParameter
forwardBackwardThreshold	see setForwardBackward
gridStep	see setGridStep
interp_type	see setInterpolation
epicK	see setEPICK
epicSigma	see setEPICSigma
epicLambda	see setEPICLambda
use_post_proc	see setUsePostProc
fgsLambda	see setFgsLambda
fgsSigma	see setFgsSigma

virtual int cv::optflow::DenseRLOFOpticalFlow::getEPICK ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getEPICK(		)

see ximgproc::EdgeAwareInterpolator() K value.

K is a number of nearest-neighbor matches considered, when fitting a locally affine model. Usually it should be around 128. However, lower values would make the interpolation noticeably faster.

See Also: ximgproc::EdgeAwareInterpolator, setEPICK

virtual float cv::optflow::DenseRLOFOpticalFlow::getEPICLambda ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getEPICLambda(		)

see ximgproc::EdgeAwareInterpolator() lambda value.

Lambda is a parameter defining the weight of the edge-aware term in geodesic distance, should be in the range of 0 to 1000.

See Also: ximgproc::EdgeAwareInterpolator, setEPICSigma

virtual float cv::optflow::DenseRLOFOpticalFlow::getEPICSigma ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getEPICSigma(		)

see ximgproc::EdgeAwareInterpolator() sigma value.

Sigma is a parameter defining how fast the weights decrease in the locally-weighted affine fitting. Higher values can help preserve fine details, lower values can help to get rid of noise in the output flow.

See Also: ximgproc::EdgeAwareInterpolator, setEPICSigma

virtual float cv::optflow::DenseRLOFOpticalFlow::getFgsLambda ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getFgsLambda(		)

see ximgproc::EdgeAwareInterpolator().

Sets the respective fastGlobalSmootherFilter() parameter.

See Also: ximgproc::EdgeAwareInterpolator, setFgsLambda

virtual float cv::optflow::DenseRLOFOpticalFlow::getFgsSigma ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getFgsSigma(		)

see ximgproc::EdgeAwareInterpolator().

Sets the respective fastGlobalSmootherFilter() parameter.

See Also: ximgproc::EdgeAwareInterpolator, ximgproc::fastGlobalSmootherFilter, setFgsSigma

virtual float cv::optflow::DenseRLOFOpticalFlow::getForwardBackward ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getForwardBackward(		)

Threshold for the forward backward confidence check.

See Also: setForwardBackward

virtual Size cv::optflow::DenseRLOFOpticalFlow::getGridStep ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getGridStep(		)

Size of the grid to spawn the motion vectors.

For each grid point a motion vector is computed. Some motion vectors will be removed due to the forwatd backward threshold (if set >0). The rest will be the base of the vector field interpolation.

See Also: getForwardBackward, setGridStep

virtual InterpolationType cv::optflow::DenseRLOFOpticalFlow::getInterpolation ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getInterpolation(		)

Interpolation used to compute the dense optical flow.

See Also: ximgproc::EdgeAwareInterpolator, setInterpolation

virtual Ptr<RLOFOpticalFlowParameter> cv::optflow::DenseRLOFOpticalFlow::getRLOFOpticalFlowParameter ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getRLOFOpticalFlowParameter(		)

Configuration of the RLOF alogrithm.

See Also: optflow::RLOFOpticalFlowParameter, setRLOFOpticalFlowParameter

virtual bool cv::optflow::DenseRLOFOpticalFlow::getUsePostProc ( ) const

pure virtual

Python:
	retval	=	cv.optflow_DenseRLOFOpticalFlow.getUsePostProc(		)

enables ximgproc::fastGlobalSmootherFilter

See Also: ximgproc::fastGlobalSmootherFilter, setUsePostProc

virtual void cv::optflow::DenseRLOFOpticalFlow::setEPICK ( int val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setEPICK(	val	)

see ximgproc::EdgeAwareInterpolator() K value.

See Also: ximgproc::EdgeAwareInterpolator, getEPICK

virtual void cv::optflow::DenseRLOFOpticalFlow::setEPICLambda ( float val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setEPICLambda(	val	)

see ximgproc::EdgeAwareInterpolator() lambda value.

See Also: ximgproc::EdgeAwareInterpolator, getEPICLambda

virtual void cv::optflow::DenseRLOFOpticalFlow::setEPICSigma ( float val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setEPICSigma(	val	)

see ximgproc::EdgeAwareInterpolator() sigma value.

See Also: ximgproc::EdgeAwareInterpolator, getEPICSigma

virtual void cv::optflow::DenseRLOFOpticalFlow::setFgsLambda ( float val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setFgsLambda(	val	)

see ximgproc::EdgeAwareInterpolator().

See Also: ximgproc::EdgeAwareInterpolator, ximgproc::fastGlobalSmootherFilter, getFgsLambda

virtual void cv::optflow::DenseRLOFOpticalFlow::setFgsSigma ( float val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setFgsSigma(	val	)

see ximgproc::EdgeAwareInterpolator().

See Also: ximgproc::EdgeAwareInterpolator, ximgproc::fastGlobalSmootherFilter, getFgsSigma

virtual void cv::optflow::DenseRLOFOpticalFlow::setForwardBackward ( float val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setForwardBackward(	val	)

Threshold for the forward backward confidence check.

For each grid point \( \mathbf{x} \) a motion vector \( d_{I0,I1}(\mathbf{x}) \) is computed. If the forward backward error

\[ EP_{FB} = || d_{I0,I1} + d_{I1,I0} || \]

is larger than threshold given by this function then the motion vector will not be used by the following vector field interpolation. \( d_{I1,I0} \) denotes the backward flow. Note, the forward backward test will only be applied if the threshold > 0. This may results into a doubled runtime for the motion estimation.

See Also: getForwardBackward, setGridStep

virtual void cv::optflow::DenseRLOFOpticalFlow::setGridStep ( Size val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setGridStep(	val	)

Size of the grid to spawn the motion vectors.

See Also: getGridStep

virtual void cv::optflow::DenseRLOFOpticalFlow::setInterpolation ( InterpolationType val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setInterpolation(	val	)

Interpolation used to compute the dense optical flow.

Two interpolation algorithms are supported

INTERP_GEO applies the fast geodesic interpolation, seeGeistert2016.
INTERP_EPIC_RESIDUAL applies the edge-preserving interpolation, seeRevaud2015,Geistert2016.
See Also
ximgproc::EdgeAwareInterpolator, getInterpolation

virtual void cv::optflow::DenseRLOFOpticalFlow::setRLOFOpticalFlowParameter ( Ptr< RLOFOpticalFlowParameter > val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setRLOFOpticalFlowParameter(	val	)

Configuration of the RLOF alogrithm.

See Also: optflow::RLOFOpticalFlowParameter, getRLOFOpticalFlowParameter

virtual void cv::optflow::DenseRLOFOpticalFlow::setUsePostProc ( bool val )

pure virtual

Python:
	None	=	cv.optflow_DenseRLOFOpticalFlow.setUsePostProc(	val	)

enables ximgproc::fastGlobalSmootherFilter

See Also: getUsePostProc

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

rlofflow.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation