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Ivan
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include/basalt/optical_flow/patterns.h
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171
include/basalt/optical_flow/patterns.h
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/**
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BSD 3-Clause License
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This file is part of the Basalt project.
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https://gitlab.com/VladyslavUsenko/basalt.git
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Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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* Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <Eigen/Dense>
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namespace basalt {
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template <class Scalar>
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struct Pattern24 {
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// 00 01
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//
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// 02 03 04 05
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//
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// 06 07 08 09 10 11
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//
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// 12 13 14 15 16 17
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//
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// 18 19 20 21
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//
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// 22 23
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//
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// -----> x
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// |
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// |
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// y
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static constexpr Scalar pattern_raw[][2] = {
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{-1, 5}, {1, 5},
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{-3, 3}, {-1, 3}, {1, 3}, {3, 3},
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{-5, 1}, {-3, 1}, {-1, 1}, {1, 1}, {3, 1}, {5, 1},
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{-5, -1}, {-3, -1}, {-1, -1}, {1, -1}, {3, -1}, {5, -1},
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{-3, -3}, {-1, -3}, {1, -3}, {3, -3},
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{-1, -5}, {1, -5}
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};
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static constexpr int PATTERN_SIZE =
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sizeof(pattern_raw) / (2 * sizeof(Scalar));
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typedef Eigen::Matrix<Scalar, 2, PATTERN_SIZE> Matrix2P;
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static const Matrix2P pattern2;
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};
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template <class Scalar>
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const typename Pattern24<Scalar>::Matrix2P Pattern24<Scalar>::pattern2 =
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Eigen::Map<Pattern24<Scalar>::Matrix2P>((Scalar *)
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Pattern24<Scalar>::pattern_raw);
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template <class Scalar>
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struct Pattern52 {
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// 00 01 02 03
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//
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// 04 05 06 07 08 09
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//
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// 10 11 12 13 14 15 16 17
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//
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// 18 19 20 21 22 23 24 25
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//
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// 26 27 28 29 30 31 32 33
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//
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// 34 35 36 37 38 39 40 41
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//
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// 42 43 44 45 46 47
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//
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// 48 49 50 51
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//
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// -----> x
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// |
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// |
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// y
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static constexpr Scalar pattern_raw[][2] = {
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{-3, 7}, {-1, 7}, {1, 7}, {3, 7},
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{-5, 5}, {-3, 5}, {-1, 5}, {1, 5}, {3, 5}, {5, 5},
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{-7, 3}, {-5, 3}, {-3, 3}, {-1, 3}, {1, 3}, {3, 3},
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{5, 3}, {7, 3},
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{-7, 1}, {-5, 1}, {-3, 1}, {-1, 1}, {1, 1}, {3, 1},
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{5, 1}, {7, 1},
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{-7, -1}, {-5, -1}, {-3, -1}, {-1, -1}, {1, -1}, {3, -1},
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{5, -1}, {7, -1},
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{-7, -3}, {-5, -3}, {-3, -3}, {-1, -3}, {1, -3}, {3, -3},
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{5, -3}, {7, -3},
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{-5, -5}, {-3, -5}, {-1, -5}, {1, -5}, {3, -5}, {5, -5},
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{-3, -7}, {-1, -7}, {1, -7}, {3, -7}
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};
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static constexpr int PATTERN_SIZE =
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sizeof(pattern_raw) / (2 * sizeof(Scalar));
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typedef Eigen::Matrix<Scalar, 2, PATTERN_SIZE> Matrix2P;
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static const Matrix2P pattern2;
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};
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template <class Scalar>
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const typename Pattern52<Scalar>::Matrix2P Pattern52<Scalar>::pattern2 =
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Eigen::Map<Pattern52<Scalar>::Matrix2P>((Scalar *)
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Pattern52<Scalar>::pattern_raw);
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// Same as Pattern52 but twice smaller
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template <class Scalar>
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struct Pattern51 {
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static constexpr int PATTERN_SIZE = Pattern52<Scalar>::PATTERN_SIZE;
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typedef Eigen::Matrix<Scalar, 2, PATTERN_SIZE> Matrix2P;
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static const Matrix2P pattern2;
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};
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template <class Scalar>
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const typename Pattern51<Scalar>::Matrix2P Pattern51<Scalar>::pattern2 =
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0.5 * Pattern52<Scalar>::pattern2;
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// Same as Pattern52 but 0.75 smaller
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template <class Scalar>
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struct Pattern50 {
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static constexpr int PATTERN_SIZE = Pattern52<Scalar>::PATTERN_SIZE;
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typedef Eigen::Matrix<Scalar, 2, PATTERN_SIZE> Matrix2P;
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static const Matrix2P pattern2;
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};
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template <class Scalar>
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const typename Pattern50<Scalar>::Matrix2P Pattern50<Scalar>::pattern2 =
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0.75 * Pattern52<Scalar>::pattern2;
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} // namespace basalt
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