v01

2022-04-05 11:42:28 +03:00
commit 6dc0eb0fcf
5565 changed files with 1200500 additions and 0 deletions
--- a/src/optical_flow/optical_flow.cpp
+++ b/src/optical_flow/optical_flow.cpp
@@ -0,0 +1,131 @@
+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt.git
+
+Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <basalt/optical_flow/optical_flow.h>
+
+#include <basalt/optical_flow/frame_to_frame_optical_flow.h>
+#include <basalt/optical_flow/multiscale_frame_to_frame_optical_flow.h>
+#include <basalt/optical_flow/patch_optical_flow.h>
+
+namespace basalt {
+
+OpticalFlowBase::Ptr OpticalFlowFactory::getOpticalFlow(
+    const VioConfig& config, const Calibration<double>& cam) {
+  OpticalFlowBase::Ptr res;
+
+  if (config.optical_flow_type == "patch") {
+    switch (config.optical_flow_pattern) {
+      case 24:
+        res.reset(new PatchOpticalFlow<float, Pattern24>(config, cam));
+        break;
+
+      case 52:
+        res.reset(new PatchOpticalFlow<float, Pattern52>(config, cam));
+        break;
+
+      case 51:
+        res.reset(new PatchOpticalFlow<float, Pattern51>(config, cam));
+        break;
+
+      case 50:
+        res.reset(new PatchOpticalFlow<float, Pattern50>(config, cam));
+        break;
+
+      default:
+        std::cerr << "config.optical_flow_pattern "
+                  << config.optical_flow_pattern << " is not supported."
+                  << std::endl;
+        std::abort();
+    }
+  }
+
+  if (config.optical_flow_type == "frame_to_frame") {
+    switch (config.optical_flow_pattern) {
+      case 24:
+        res.reset(new FrameToFrameOpticalFlow<float, Pattern24>(config, cam));
+        break;
+
+      case 52:
+        res.reset(new FrameToFrameOpticalFlow<float, Pattern52>(config, cam));
+        break;
+
+      case 51:
+        res.reset(new FrameToFrameOpticalFlow<float, Pattern51>(config, cam));
+        break;
+
+      case 50:
+        res.reset(new FrameToFrameOpticalFlow<float, Pattern50>(config, cam));
+        break;
+
+      default:
+        std::cerr << "config.optical_flow_pattern "
+                  << config.optical_flow_pattern << " is not supported."
+                  << std::endl;
+        std::abort();
+    }
+  }
+
+  if (config.optical_flow_type == "multiscale_frame_to_frame") {
+    switch (config.optical_flow_pattern) {
+      case 24:
+        res.reset(new MultiscaleFrameToFrameOpticalFlow<float, Pattern24>(
+            config, cam));
+        break;
+
+      case 52:
+        res.reset(new MultiscaleFrameToFrameOpticalFlow<float, Pattern52>(
+            config, cam));
+        break;
+
+      case 51:
+        res.reset(new MultiscaleFrameToFrameOpticalFlow<float, Pattern51>(
+            config, cam));
+        break;
+
+      case 50:
+        res.reset(new MultiscaleFrameToFrameOpticalFlow<float, Pattern50>(
+            config, cam));
+        break;
+
+      default:
+        std::cerr << "config.optical_flow_pattern "
+                  << config.optical_flow_pattern << " is not supported."
+                  << std::endl;
+        std::abort();
+    }
+  }
+  return res;
+}
+}  // namespace basalt