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https://github.com/opencv/opencv.git
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a3a09cf4d1
* added DenseOpticalFlow interface * moved OpticalFlowDual_TVL1 to src folder
194 lines
4.8 KiB
C++
194 lines
4.8 KiB
C++
#include <iostream>
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#include <fstream>
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#include "opencv2/video/tracking.hpp"
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#include "opencv2/highgui/highgui.hpp"
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using namespace cv;
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using namespace std;
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inline bool isFlowCorrect(Point2f u)
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{
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return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
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}
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static Vec3b computeColor(float fx, float fy)
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{
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static bool first = true;
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// relative lengths of color transitions:
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// these are chosen based on perceptual similarity
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// (e.g. one can distinguish more shades between red and yellow
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// than between yellow and green)
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const int RY = 15;
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const int YG = 6;
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const int GC = 4;
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const int CB = 11;
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const int BM = 13;
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const int MR = 6;
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const int NCOLS = RY + YG + GC + CB + BM + MR;
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static Vec3i colorWheel[NCOLS];
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if (first)
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{
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int k = 0;
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for (int i = 0; i < RY; ++i, ++k)
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colorWheel[k] = Vec3i(255, 255 * i / RY, 0);
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for (int i = 0; i < YG; ++i, ++k)
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colorWheel[k] = Vec3i(255 - 255 * i / YG, 255, 0);
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for (int i = 0; i < GC; ++i, ++k)
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colorWheel[k] = Vec3i(0, 255, 255 * i / GC);
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for (int i = 0; i < CB; ++i, ++k)
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colorWheel[k] = Vec3i(0, 255 - 255 * i / CB, 255);
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for (int i = 0; i < BM; ++i, ++k)
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colorWheel[k] = Vec3i(255 * i / BM, 0, 255);
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for (int i = 0; i < MR; ++i, ++k)
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colorWheel[k] = Vec3i(255, 0, 255 - 255 * i / MR);
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first = false;
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}
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const float rad = sqrt(fx * fx + fy * fy);
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const float a = atan2(-fy, -fx) / (float)CV_PI;
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const float fk = (a + 1.0f) / 2.0f * (NCOLS - 1);
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const int k0 = static_cast<int>(fk);
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const int k1 = (k0 + 1) % NCOLS;
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const float f = fk - k0;
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Vec3b pix;
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for (int b = 0; b < 3; b++)
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{
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const float col0 = colorWheel[k0][b] / 255.f;
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const float col1 = colorWheel[k1][b] / 255.f;
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float col = (1 - f) * col0 + f * col1;
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if (rad <= 1)
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col = 1 - rad * (1 - col); // increase saturation with radius
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else
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col *= .75; // out of range
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pix[2 - b] = static_cast<uchar>(255.f * col);
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}
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return pix;
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}
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static void drawOpticalFlow(const Mat_<Point2f>& flow, Mat& dst, float maxmotion = -1)
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{
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dst.create(flow.size(), CV_8UC3);
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dst.setTo(Scalar::all(0));
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// determine motion range:
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float maxrad = maxmotion;
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if (maxmotion <= 0)
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{
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maxrad = 1;
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for (int y = 0; y < flow.rows; ++y)
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{
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for (int x = 0; x < flow.cols; ++x)
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{
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Point2f u = flow(y, x);
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if (!isFlowCorrect(u))
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continue;
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maxrad = max(maxrad, sqrt(u.x * u.x + u.y * u.y));
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}
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}
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}
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for (int y = 0; y < flow.rows; ++y)
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{
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for (int x = 0; x < flow.cols; ++x)
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{
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Point2f u = flow(y, x);
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if (isFlowCorrect(u))
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dst.at<Vec3b>(y, x) = computeColor(u.x / maxrad, u.y / maxrad);
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}
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}
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}
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// binary file format for flow data specified here:
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// http://vision.middlebury.edu/flow/data/
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static void writeOpticalFlowToFile(const Mat_<Point2f>& flow, const string& fileName)
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{
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static const char FLO_TAG_STRING[] = "PIEH";
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ofstream file(fileName.c_str(), ios_base::binary);
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file << FLO_TAG_STRING;
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file.write((const char*) &flow.cols, sizeof(int));
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file.write((const char*) &flow.rows, sizeof(int));
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for (int i = 0; i < flow.rows; ++i)
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{
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for (int j = 0; j < flow.cols; ++j)
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{
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const Point2f u = flow(i, j);
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file.write((const char*) &u.x, sizeof(float));
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file.write((const char*) &u.y, sizeof(float));
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}
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}
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}
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int main(int argc, const char* argv[])
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{
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if (argc < 3)
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{
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cerr << "Usage : " << argv[0] << "<frame0> <frame1> [<output_flow>]" << endl;
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return -1;
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}
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Mat frame0 = imread(argv[1], IMREAD_GRAYSCALE);
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Mat frame1 = imread(argv[2], IMREAD_GRAYSCALE);
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if (frame0.empty())
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{
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cerr << "Can't open image [" << argv[1] << "]" << endl;
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return -1;
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}
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if (frame1.empty())
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{
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cerr << "Can't open image [" << argv[2] << "]" << endl;
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return -1;
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}
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if (frame1.size() != frame0.size())
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{
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cerr << "Images should be of equal sizes" << endl;
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return -1;
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}
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Mat_<Point2f> flow;
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Ptr<DenseOpticalFlow> tvl1 = createOptFlow_DualTVL1();
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const double start = (double)getTickCount();
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tvl1->calc(frame0, frame1, flow);
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const double timeSec = (getTickCount() - start) / getTickFrequency();
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cout << "calcOpticalFlowDual_TVL1 : " << timeSec << " sec" << endl;
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Mat out;
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drawOpticalFlow(flow, out);
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if (argc == 4)
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writeOpticalFlowToFile(flow, argv[3]);
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imshow("Flow", out);
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waitKey();
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return 0;
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}
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