| #include <iostream> |
| #include <fstream> |
| |
| #include "opencv2/core.hpp" |
| #include <opencv2/core/utility.hpp> |
| #include "opencv2/highgui.hpp" |
| #include "opencv2/cudaoptflow.hpp" |
| #include "opencv2/cudaarithm.hpp" |
| |
| using namespace std; |
| using namespace cv; |
| using namespace cv::cuda; |
| |
| inline bool isFlowCorrect(Point2f u) |
| { |
| return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9; |
| } |
| |
| static Vec3b computeColor(float fx, float fy) |
| { |
| static bool first = true; |
| |
| // relative lengths of color transitions: |
| // these are chosen based on perceptual similarity |
| // (e.g. one can distinguish more shades between red and yellow |
| // than between yellow and green) |
| const int RY = 15; |
| const int YG = 6; |
| const int GC = 4; |
| const int CB = 11; |
| const int BM = 13; |
| const int MR = 6; |
| const int NCOLS = RY + YG + GC + CB + BM + MR; |
| static Vec3i colorWheel[NCOLS]; |
| |
| if (first) |
| { |
| int k = 0; |
| |
| for (int i = 0; i < RY; ++i, ++k) |
| colorWheel[k] = Vec3i(255, 255 * i / RY, 0); |
| |
| for (int i = 0; i < YG; ++i, ++k) |
| colorWheel[k] = Vec3i(255 - 255 * i / YG, 255, 0); |
| |
| for (int i = 0; i < GC; ++i, ++k) |
| colorWheel[k] = Vec3i(0, 255, 255 * i / GC); |
| |
| for (int i = 0; i < CB; ++i, ++k) |
| colorWheel[k] = Vec3i(0, 255 - 255 * i / CB, 255); |
| |
| for (int i = 0; i < BM; ++i, ++k) |
| colorWheel[k] = Vec3i(255 * i / BM, 0, 255); |
| |
| for (int i = 0; i < MR; ++i, ++k) |
| colorWheel[k] = Vec3i(255, 0, 255 - 255 * i / MR); |
| |
| first = false; |
| } |
| |
| const float rad = sqrt(fx * fx + fy * fy); |
| const float a = atan2(-fy, -fx) / (float) CV_PI; |
| |
| const float fk = (a + 1.0f) / 2.0f * (NCOLS - 1); |
| const int k0 = static_cast<int>(fk); |
| const int k1 = (k0 + 1) % NCOLS; |
| const float f = fk - k0; |
| |
| Vec3b pix; |
| |
| for (int b = 0; b < 3; b++) |
| { |
| const float col0 = colorWheel[k0][b] / 255.0f; |
| const float col1 = colorWheel[k1][b] / 255.0f; |
| |
| float col = (1 - f) * col0 + f * col1; |
| |
| if (rad <= 1) |
| col = 1 - rad * (1 - col); // increase saturation with radius |
| else |
| col *= .75; // out of range |
| |
| pix[2 - b] = static_cast<uchar>(255.0 * col); |
| } |
| |
| return pix; |
| } |
| |
| static void drawOpticalFlow(const Mat_<float>& flowx, const Mat_<float>& flowy, Mat& dst, float maxmotion = -1) |
| { |
| dst.create(flowx.size(), CV_8UC3); |
| dst.setTo(Scalar::all(0)); |
| |
| // determine motion range: |
| float maxrad = maxmotion; |
| |
| if (maxmotion <= 0) |
| { |
| maxrad = 1; |
| for (int y = 0; y < flowx.rows; ++y) |
| { |
| for (int x = 0; x < flowx.cols; ++x) |
| { |
| Point2f u(flowx(y, x), flowy(y, x)); |
| |
| if (!isFlowCorrect(u)) |
| continue; |
| |
| maxrad = max(maxrad, sqrt(u.x * u.x + u.y * u.y)); |
| } |
| } |
| } |
| |
| for (int y = 0; y < flowx.rows; ++y) |
| { |
| for (int x = 0; x < flowx.cols; ++x) |
| { |
| Point2f u(flowx(y, x), flowy(y, x)); |
| |
| if (isFlowCorrect(u)) |
| dst.at<Vec3b>(y, x) = computeColor(u.x / maxrad, u.y / maxrad); |
| } |
| } |
| } |
| |
| static void showFlow(const char* name, const GpuMat& d_flow) |
| { |
| GpuMat planes[2]; |
| cuda::split(d_flow, planes); |
| |
| Mat flowx(planes[0]); |
| Mat flowy(planes[1]); |
| |
| Mat out; |
| drawOpticalFlow(flowx, flowy, out, 10); |
| |
| imshow(name, out); |
| } |
| |
| int main(int argc, const char* argv[]) |
| { |
| string filename1, filename2; |
| if (argc < 3) |
| { |
| cerr << "Usage : " << argv[0] << " <frame0> <frame1>" << endl; |
| filename1 = "../data/basketball1.png"; |
| filename2 = "../data/basketball2.png"; |
| } |
| else |
| { |
| filename1 = argv[1]; |
| filename2 = argv[2]; |
| } |
| |
| Mat frame0 = imread(filename1, IMREAD_GRAYSCALE); |
| Mat frame1 = imread(filename2, IMREAD_GRAYSCALE); |
| |
| if (frame0.empty()) |
| { |
| cerr << "Can't open image [" << filename1 << "]" << endl; |
| return -1; |
| } |
| if (frame1.empty()) |
| { |
| cerr << "Can't open image [" << filename2 << "]" << endl; |
| return -1; |
| } |
| |
| if (frame1.size() != frame0.size()) |
| { |
| cerr << "Images should be of equal sizes" << endl; |
| return -1; |
| } |
| |
| GpuMat d_frame0(frame0); |
| GpuMat d_frame1(frame1); |
| |
| GpuMat d_flow(frame0.size(), CV_32FC2); |
| |
| Ptr<cuda::BroxOpticalFlow> brox = cuda::BroxOpticalFlow::create(0.197f, 50.0f, 0.8f, 10, 77, 10); |
| Ptr<cuda::DensePyrLKOpticalFlow> lk = cuda::DensePyrLKOpticalFlow::create(Size(7, 7)); |
| Ptr<cuda::FarnebackOpticalFlow> farn = cuda::FarnebackOpticalFlow::create(); |
| Ptr<cuda::OpticalFlowDual_TVL1> tvl1 = cuda::OpticalFlowDual_TVL1::create(); |
| |
| { |
| GpuMat d_frame0f; |
| GpuMat d_frame1f; |
| |
| d_frame0.convertTo(d_frame0f, CV_32F, 1.0 / 255.0); |
| d_frame1.convertTo(d_frame1f, CV_32F, 1.0 / 255.0); |
| |
| const int64 start = getTickCount(); |
| |
| brox->calc(d_frame0f, d_frame1f, d_flow); |
| |
| const double timeSec = (getTickCount() - start) / getTickFrequency(); |
| cout << "Brox : " << timeSec << " sec" << endl; |
| |
| showFlow("Brox", d_flow); |
| } |
| |
| { |
| const int64 start = getTickCount(); |
| |
| lk->calc(d_frame0, d_frame1, d_flow); |
| |
| const double timeSec = (getTickCount() - start) / getTickFrequency(); |
| cout << "LK : " << timeSec << " sec" << endl; |
| |
| showFlow("LK", d_flow); |
| } |
| |
| { |
| const int64 start = getTickCount(); |
| |
| farn->calc(d_frame0, d_frame1, d_flow); |
| |
| const double timeSec = (getTickCount() - start) / getTickFrequency(); |
| cout << "Farn : " << timeSec << " sec" << endl; |
| |
| showFlow("Farn", d_flow); |
| } |
| |
| { |
| const int64 start = getTickCount(); |
| |
| tvl1->calc(d_frame0, d_frame1, d_flow); |
| |
| const double timeSec = (getTickCount() - start) / getTickFrequency(); |
| cout << "TVL1 : " << timeSec << " sec" << endl; |
| |
| showFlow("TVL1", d_flow); |
| } |
| |
| imshow("Frame 0", frame0); |
| imshow("Frame 1", frame1); |
| waitKey(); |
| |
| return 0; |
| } |