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// consistencyChecker
// Check consistency of forward flow via backward flow.
//
// (c) Manuel Ruder, Alexey Dosovitskiy, Thomas Brox 2016
#include <algorithm>
#include <assert.h>
#include "CTensor.h"
#include "CFilter.h"
// Which certainty value motion boundaries should get. Value between 0 (uncertain) and 255 (certain).
#define MOTION_BOUNDARIE_VALUE 0
// The amount of gaussian smoothing that sould be applied. Set 0 to disable smoothing.
#define SMOOTH_STRENGH 0.8
// readMiddlebury
bool readMiddlebury(const char* filename, CTensor<float>& flow) {
FILE *stream = fopen(filename, "rb");
if (stream == 0) {
std::cout << "Could not open " << filename << std::endl;
return false;
}
float help;
int dummy;
dummy = fread(&help,sizeof(float),1,stream);
int aXSize,aYSize;
dummy = fread(&aXSize,sizeof(int),1,stream);
dummy = fread(&aYSize,sizeof(int),1,stream);
flow.setSize(aXSize,aYSize,2);
for (int y = 0; y < flow.ySize(); y++)
for (int x = 0; x < flow.xSize(); x++) {
dummy = fread(&flow(x,y,0),sizeof(float),1,stream);
dummy = fread(&flow(x,y,1),sizeof(float),1,stream);
}
fclose(stream);
return true;
}
void checkConsistency(const CTensor<float>& flow1, const CTensor<float>& flow2, CMatrix<float>& reliable, int argc, char** args) {
int xSize = flow1.xSize(), ySize = flow1.ySize();
int size = xSize * ySize;
CTensor<float> dx(xSize,ySize,2);
CTensor<float> dy(xSize,ySize,2);
CDerivative<float> derivative(3);
NFilter::filter(flow1,dx,derivative,1,1);
NFilter::filter(flow1,dy,1,derivative,1);
CMatrix<float> motionEdge(xSize,ySize,0);
for (int i = 0; i < size; i++) {
motionEdge.data()[i] += dx.data()[i]*dx.data()[i];
motionEdge.data()[i] += dx.data()[size+i]*dx.data()[size+i];
motionEdge.data()[i] += dy.data()[i]*dy.data()[i];
motionEdge.data()[i] += dy.data()[size+i]*dy.data()[size+i];
}
for (int ay = 0; ay < flow1.ySize(); ay++)
for (int ax = 0; ax < flow1.xSize(); ax++) {
float bx = ax+flow1(ax, ay, 0);
float by = ay+flow1(ax, ay, 1);
int x1 = floor(bx);
int y1 = floor(by);
int x2 = x1 + 1;
int y2 = y1 + 1;
if (x1 < 0 || x2 >= xSize || y1 < 0 || y2 >= ySize)
{ reliable(ax, ay) = 0.0f; continue; }
float alphaX = bx-x1; float alphaY = by-y1;
float a = (1.0-alphaX) * flow2(x1, y1, 0) + alphaX * flow2(x2, y1, 0);
float b = (1.0-alphaX) * flow2(x1, y2, 0) + alphaX * flow2(x2, y2, 0);
float u = (1.0-alphaY)*a+alphaY*b;
a = (1.0-alphaX) * flow2(x1, y1, 1) + alphaX * flow2(x2, y1, 1);
b = (1.0-alphaX) * flow2(x1, y2, 1) + alphaX * flow2(x2, y2, 1);
float v = (1.0-alphaY)*a+alphaY*b;
float cx = bx+u;
float cy = by+v;
float u2 = flow1(ax,ay,0);
float v2 = flow1(ax,ay,1);
if (((cx-ax) * (cx-ax) + (cy-ay) * (cy-ay)) >= 0.01*(u2*u2 + v2*v2 + u*u + v*v) + 0.5f) {
// Set to a negative value so that when smoothing is applied the smoothing goes "to the outside".
// Afterwards, we clip values below 0.
reliable(ax, ay) = -255.0f;
continue;
}
if (motionEdge(ax, ay) > 0.01 * (u2*u2+v2*v2) + 0.002f) {
reliable(ax, ay) = MOTION_BOUNDARIE_VALUE;
continue;
}
}
}
int main(int argc, char** args) {
assert(argc >= 4);
CTensor<float> flow1,flow2;
readMiddlebury(args[1], flow1);
readMiddlebury(args[2], flow2);
assert(flow1.xSize() == flow2.xSize());
assert(flow1.ySize() == flow2.ySize());
int xSize = flow1.xSize(), ySize = flow1.ySize();
// Check consistency of forward flow via backward flow and exclude motion boundaries
CMatrix<float> reliable(xSize, ySize, 255.0f);
checkConsistency(flow1, flow2, reliable, argc, args);
if (SMOOTH_STRENGH > 0) {
CSmooth<float> smooth(SMOOTH_STRENGH, 2.0f);
NFilter::filter(reliable, smooth, smooth);
}
reliable.clip(0.0f, 255.0f);
reliable.writeToPGM(args[3]);
reliable.writeToTXT(args[3], true);
}
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