WSeries_Calibration/QtCameraHardWareCopilot/include/opencv2/cudalegacy/NCVBroxOpticalFlow.hpp

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////////////////////////////////////////////////////////////////////////////////
//
// NVIDIA CUDA implementation of Brox et al Optical Flow algorithm
//
// Algorithm is explained in the original paper:
//      T. Brox, A. Bruhn, N. Papenberg, J. Weickert:
//      High accuracy optical flow estimation based on a theory for warping.
//      ECCV 2004.
//
// Implementation by Mikhail Smirnov
// email: msmirnov@nvidia.com, devsupport@nvidia.com
//
// Credits for help with the code to:
// Alexey Mendelenko, Anton Obukhov, and Alexander Kharlamov.
//
////////////////////////////////////////////////////////////////////////////////

#ifndef _ncv_optical_flow_h_
#define _ncv_optical_flow_h_

#include "opencv2/cudalegacy/NCV.hpp"

//! @addtogroup cudalegacy
//! @{

/// \brief Model and solver parameters
struct NCVBroxOpticalFlowDescriptor
{
    /// flow smoothness
    Ncv32f alpha;
    /// gradient constancy importance
    Ncv32f gamma;
    /// pyramid scale factor
    Ncv32f scale_factor;
    /// number of lagged non-linearity iterations (inner loop)
    Ncv32u number_of_inner_iterations;
    /// number of warping iterations (number of pyramid levels)
    Ncv32u number_of_outer_iterations;
    /// number of linear system solver iterations
    Ncv32u number_of_solver_iterations;
};

/////////////////////////////////////////////////////////////////////////////////////////
/// \brief Compute optical flow
///
/// Based on method by Brox et al [2004]
/// \param [in]  desc              model and solver parameters
/// \param [in]  gpu_mem_allocator GPU memory allocator
/// \param [in]  frame0            source frame
/// \param [in]  frame1            frame to track
/// \param [out] u                 flow horizontal component (along \b x axis)
/// \param [out] v                 flow vertical component (along \b y axis)
/// \param       stream
/// \return                        computation status
/////////////////////////////////////////////////////////////////////////////////////////

CV_EXPORTS
NCVStatus NCVBroxOpticalFlow(const NCVBroxOpticalFlowDescriptor desc,
                             INCVMemAllocator &gpu_mem_allocator,
                             const NCVMatrix<Ncv32f> &frame0,
                             const NCVMatrix<Ncv32f> &frame1,
                             NCVMatrix<Ncv32f> &u,
                             NCVMatrix<Ncv32f> &v,
                             cudaStream_t stream);

//! @}

#endif