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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
//
// Copyright (C) 2020 Intel Corporation
#include "precomp.hpp"
#include <opencv2/gapi/video.hpp>
namespace cv { namespace gapi {
using namespace video;
GBuildPyrOutput buildOpticalFlowPyramid(const GMat &img,
const Size &winSize,
const GScalar &maxLevel,
bool withDerivatives,
int pyrBorder,
int derivBorder,
bool tryReuseInputImage)
{
return GBuildOptFlowPyramid::on(img, winSize, maxLevel, withDerivatives, pyrBorder,
derivBorder, tryReuseInputImage);
}
GOptFlowLKOutput calcOpticalFlowPyrLK(const GMat &prevImg,
const GMat &nextImg,
const cv::GArray<cv::Point2f> &prevPts,
const cv::GArray<cv::Point2f> &predPts,
const Size &winSize,
const GScalar &maxLevel,
const TermCriteria &criteria,
int flags,
double minEigThresh)
{
return GCalcOptFlowLK::on(prevImg, nextImg, prevPts, predPts, winSize, maxLevel,
criteria, flags, minEigThresh);
}
GOptFlowLKOutput calcOpticalFlowPyrLK(const cv::GArray<cv::GMat> &prevPyr,
const cv::GArray<cv::GMat> &nextPyr,
const cv::GArray<cv::Point2f> &prevPts,
const cv::GArray<cv::Point2f> &predPts,
const Size &winSize,
const GScalar &maxLevel,
const TermCriteria &criteria,
int flags,
double minEigThresh)
{
return GCalcOptFlowLKForPyr::on(prevPyr, nextPyr, prevPts, predPts, winSize, maxLevel,
criteria, flags, minEigThresh);
}
GMat BackgroundSubtractor(const GMat& src, const BackgroundSubtractorParams& bsp)
{
return GBackgroundSubtractor::on(src, bsp);
}
GMat KalmanFilter(const GMat& m, const cv::GOpaque<bool>& have_m, const GMat& c, const KalmanParams& kp)
{
return GKalmanFilter::on(m, have_m, c, kp);
}
GMat KalmanFilter(const GMat& m, const cv::GOpaque<bool>& have_m, const KalmanParams& kp)
{
return GKalmanFilterNoControl::on(m, have_m, kp);
}
namespace video {
void checkParams(const cv::gapi::KalmanParams& kfParams,
const cv::GMatDesc& measurement, const cv::GMatDesc& control)
{
int type = kfParams.transitionMatrix.type();
GAPI_Assert(type == CV_32FC1 || type == CV_64FC1);
int depth = CV_MAT_DEPTH(type);
bool controlCapable = !(control == GMatDesc{});
if (controlCapable)
{
GAPI_Assert(!kfParams.controlMatrix.empty());
GAPI_Assert(control.depth == depth && control.chan == 1 &&
control.size.height == kfParams.controlMatrix.cols &&
control.size.width == 1);
}
else
GAPI_Assert(kfParams.controlMatrix.empty());
GAPI_Assert(!kfParams.state.empty() && kfParams.state.type() == type);
GAPI_Assert(!kfParams.errorCov.empty() && kfParams.errorCov.type() == type);
GAPI_Assert(!kfParams.transitionMatrix.empty() && kfParams.transitionMatrix.type() == type);
GAPI_Assert(!kfParams.processNoiseCov.empty() && kfParams.processNoiseCov.type() == type);
GAPI_Assert(!kfParams.measurementNoiseCov.empty() && kfParams.measurementNoiseCov.type() == type);
GAPI_Assert(!kfParams.measurementMatrix.empty() && kfParams.measurementMatrix.type() == type);
GAPI_Assert(measurement.depth == depth && measurement.chan == 1);
int dDim = kfParams.transitionMatrix.cols;
GAPI_Assert(kfParams.transitionMatrix.rows == dDim);
GAPI_Assert(kfParams.processNoiseCov.cols == dDim &&
kfParams.processNoiseCov.rows == dDim);
GAPI_Assert(kfParams.errorCov.cols == dDim && kfParams.errorCov.rows == dDim);
GAPI_Assert(kfParams.state.rows == dDim && kfParams.state.cols == 1);
GAPI_Assert(kfParams.measurementMatrix.cols == dDim);
int mDim = kfParams.measurementMatrix.rows;
GAPI_Assert(kfParams.measurementNoiseCov.cols == mDim &&
kfParams.measurementNoiseCov.rows == mDim);
if (controlCapable)
GAPI_Assert(kfParams.controlMatrix.rows == dDim);
GAPI_Assert(measurement.size.height == mDim &&
measurement.size.width == 1);
}
} // namespace video
} //namespace gapi
} //namespace cv
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