Kitti optical flow 2012 : calcOpticalFlowPyrLK

kitti_pyrlk_opencv.cc

      std::vector<cv::Point2f> pts;
      std::vector<cv::Point2f> next_pts;
      std::vector<unsigned char> status;
      cv::Mat err;
      int winsize = 11;
      int nscales = 4;
      for (auto p : i1_gl.domain())
        pts.push_back(cv::Point2f(p[1], p[0]));
      
      calcOpticalFlowPyrLK(to_opencv(i1_gl), to_opencv(i2_gl), pts, next_pts, status, err,
                           cv::Size(winsize, winsize), nscales);

      for (unsigned i = 0; i < pts.size(); i++)
      {
        if (status[i])
        {
          vfloat2 p1(pts[i].y, pts[i].x);
          vfloat2 p2(next_pts[i].y, next_pts[i].x);
          flow(p1.cast<int>()) = p2 - p1;
          has_flow(p1.cast<int>()) = true;
        }
      }