U ?h@sbdZddlZddlmZddlmZddlm Z ddZ d d Z dddZ dd d ej fddZdS)z*Common tools to optical flow algorithms. N)ndimage)pyramid_reduce)_convertcCs2|}t|D]\}}||df|7<q|S)a>Compute warp point coordinates. Parameters ---------- grid : iterable The sparse grid to be warped (obtained using ``np.meshgrid(..., sparse=True)).``) flow : ndarray The warping motion field. Returns ------- out : ndarray The warp point coordinates. .)copy enumerate)gridflowoutidxgr Z/var/www/html/venv/lib/python3.8/site-packages/skimage/registration/_optical_flow_utils.pyget_warp_points srcCshddt||jddD}tj||jd}|D]}|dtjf}q2|tj|dg|ddd d }|S) aRescale the values of the vector field (u, v) to the desired shape. The values of the output vector field are scaled to the new resolution. Parameters ---------- flow : ndarray The motion field to be processed. shape : iterable Couple of integers representing the output shape. Returns ------- rflow : ndarray The resized and rescaled motion field. cSsg|]\}}||qSr r ).0nor r r 7szresize_flow..Ndtype.rZnearestF)ordermodeZ prefilter)zipshapenparrayrZnewaxisndiZzoom)r rscaleZ scale_factor_Zrflowr r r resize_flow#sr @ cCsf|g}t|j}d}||krX|||krXt|d|dd}||t|j}|d7}q|dddS)aConstruct image pyramid. Parameters ---------- I : ndarray The image to be preprocessed (Gray scale or RGB). downscale : float The pyramid downscale factor. nlevel : int The maximum number of pyramid levels. min_size : int The minimum size for any dimension of the pyramid levels. Returns ------- pyramid : list[ndarray] The coarse to fine images pyramid. rN)Z channel_axis)minrrappend)I downscalenlevelmin_sizepyramidsizecountJr r r get_pyramidCs    r/c Cs|j|jkrtdt|jdkr,tdtttt|||||tt|||||}tj |ddj f|ddj|d}||dd|dd|}|ddD]\} } || | t || j}q|S)a{Generic coarse to fine solver. Parameters ---------- I0 : ndarray The first gray scale image of the sequence. I1 : ndarray The second gray scale image of the sequence. solver : callable The solver applied at each pyramid level. downscale : float The pyramid downscale factor. nlevel : int The maximum number of pyramid levels. min_size : int The minimum size for any dimension of the pyramid levels. dtype : dtype Output data type. Returns ------- flow : ndarray The estimated optical flow components for each axis. z'Input images should have the same shapeZefdgz8Only floating point data type are valid for optical flowrrrN) r ValueErrorrrcharlistrr/rZzerosndimr ) ZI0ZI1Zsolverr(r)r*rr+r ZJ0ZJ1r r rcoarse_to_finees,   r4)r!r"r#)__doc__numpyrZscipyrrZ transformrZ util.dtyperrr r/Zfloat32r4r r r rs    "