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added type check to calcOpticalFlowPyrLK; added data type specifications in this function description.

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This commit is contained in:
Vadim Pisarevsky
2011-06-25 09:04:10 +00:00
parent 07b07481ec
commit cf7f189fb2
2 changed files with 25 additions and 15 deletions
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modules/video/doc/motion_analysis_and_object_tracking.rst
+2 -2
View File
@@ -15,9 +15,9 @@ Calculates an optical flow for a sparse feature set using the iterative Lucas-Ka
:param nextImg: Second input image of the same size and the same type as ``prevImg`` .
:param prevPts: Vector of points for which the flow needs to be found.
:param prevPts: Vector of 2D points for which the flow needs to be found. The point coordinates must be single-precision floating-point numbers.
:param nextPts: Output vector of points containing the calculated new positions of input features in the second image.
:param nextPts: Output vector of 2D points (with single-precision floating-point coordinates) containing the calculated new positions of input features in the second image. When ``OPTFLOW_USE_INITIAL_FLOW`` flag is passed, the vector must have the same size as in the input.
:param status: Output status vector. Each element of the vector is set to 1 if the flow for the corresponding features has been found. Otherwise, it is set to 0.
modules/video/src/lkpyramid.cpp
+23 -13
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@@ -67,7 +67,9 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
CV_Assert( prevImg.size() == nextImg.size() &&
prevImg.type() == nextImg.type() );
size_t npoints = prevPtsMat.total();
int npoints;
CV_Assert( (npoints = prevPtsMat.checkVector(2, CV_32F, true)) >= 0 );
if( npoints == 0 )
{
_nextPts.release();
@@ -76,24 +78,31 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
return;
}
CV_Assert( prevPtsMat.isContinuous() );
const Point2f* prevPts = (const Point2f*)prevPtsMat.data;
if( !(flags & OPTFLOW_USE_INITIAL_FLOW) )
_nextPts.create(prevPtsMat.size(), prevPtsMat.type(), -1, true);
_nextPts.create((int)npoints, 1, prevPtsMat.type(), -1, true);
Mat nextPtsMat = _nextPts.getMat();
CV_Assert( nextPtsMat.isContinuous() );
CV_Assert( nextPtsMat.checkVector(2, CV_32F, true) == npoints );
const Point2f* prevPts = (const Point2f*)prevPtsMat.data;
Point2f* nextPts = (Point2f*)nextPtsMat.data;
_status.create((int)npoints, 1, CV_8U, -1, true);
Mat statusMat = _status.getMat();
Mat statusMat = _status.getMat(), errMat;
CV_Assert( statusMat.isContinuous() );
uchar* status = statusMat.data;
for( size_t i = 0; i < npoints; i++ )
float* err = 0;
for( int i = 0; i < npoints; i++ )
status[i] = true;
_err.create((int)npoints, 1, CV_32F, -1, true);
Mat errMat = _err.getMat();
CV_Assert( errMat.isContinuous() );
float* err = (float*)errMat.data;
if( _err.needed() )
{
_err.create((int)npoints, 1, CV_32F, -1, true);
errMat = _err.getMat();
CV_Assert( errMat.isContinuous() );
err = (float*)errMat.data;
}
vector<Mat> prevPyr, nextPyr;
@@ -194,7 +203,7 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
copyMakeBorder( derivJ, _derivJ, winSize.height, winSize.height,
winSize.width, winSize.width, BORDER_CONSTANT );*/
for( size_t ptidx = 0; ptidx < npoints; ptidx++ )
for( int ptidx = 0; ptidx < npoints; ptidx++ )
{
Point2f prevPt = prevPts[ptidx]*(float)(1./(1 << level));
Point2f nextPt;
@@ -274,7 +283,8 @@ void cv::calcOpticalFlowPyrLK( InputArray _prevImg, InputArray _nextImg,
double D = A11*A22 - A12*A12;
double minEig = (A22 + A11 - std::sqrt((A11-A22)*(A11-A22) +
4.*A12*A12))/(2*winSize.width*winSize.height);
err[ptidx] = (float)minEig;
if( err )
err[ptidx] = (float)minEig;
if( D < DBL_EPSILON )
{