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submodule
opencv
Commits
18dbed0e
Commit
18dbed0e
authored
Feb 05, 2017
by
atinfinity
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added dense flow sample
parent
a2fed4c7
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1 changed file
with
143 additions
and
4 deletions
+143
-4
pyrlk_optical_flow.cpp
samples/gpu/pyrlk_optical_flow.cpp
+143
-4
No files found.
samples/gpu/pyrlk_optical_flow.cpp
View file @
18dbed0e
...
...
@@ -2,12 +2,13 @@
#include <vector>
#include "opencv2/core.hpp"
#include
<opencv2/core/utility.hpp>
#include
"opencv2/core/utility.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/video.hpp"
#include "opencv2/cudaoptflow.hpp"
#include "opencv2/cudaimgproc.hpp"
#include "opencv2/cudaarithm.hpp"
using
namespace
std
;
using
namespace
cv
;
...
...
@@ -66,6 +67,132 @@ static void drawArrows(Mat& frame, const vector<Point2f>& prevPts, const vector<
}
}
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
+
1.0
f
)
/
2.0
f
*
(
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
]
/
255.0
f
;
const
float
col1
=
colorWheel
[
k1
][
b
]
/
255.0
f
;
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
);
}
template
<
typename
T
>
inline
T
clamp
(
T
x
,
T
a
,
T
b
)
{
return
((
x
)
>
(
a
)
?
((
x
)
<
(
b
)
?
(
x
)
:
(
b
))
:
(
a
));
...
...
@@ -148,7 +275,7 @@ int main(int argc, const char* argv[])
// Sparse
Ptr
<
cuda
::
SparsePyrLKOpticalFlow
>
d_pyrLK
=
cuda
::
SparsePyrLKOpticalFlow
::
create
(
Ptr
<
cuda
::
SparsePyrLKOpticalFlow
>
d_pyrLK
_sparse
=
cuda
::
SparsePyrLKOpticalFlow
::
create
(
Size
(
winSize
,
winSize
),
maxLevel
,
iters
);
GpuMat
d_frame0
(
frame0
);
...
...
@@ -157,7 +284,16 @@ int main(int argc, const char* argv[])
GpuMat
d_nextPts
;
GpuMat
d_status
;
d_pyrLK
->
calc
(
useGray
?
d_frame0Gray
:
d_frame0
,
useGray
?
d_frame1Gray
:
d_frame1
,
d_prevPts
,
d_nextPts
,
d_status
);
d_pyrLK_sparse
->
calc
(
useGray
?
d_frame0Gray
:
d_frame0
,
useGray
?
d_frame1Gray
:
d_frame1
,
d_prevPts
,
d_nextPts
,
d_status
);
// Dense
Ptr
<
cuda
::
DensePyrLKOpticalFlow
>
d_pyrLK_dense
=
cuda
::
DensePyrLKOpticalFlow
::
create
(
Size
(
winSize
,
winSize
),
maxLevel
,
iters
);
GpuMat
d_flow
(
frame0
.
size
(),
CV_32FC2
);
d_pyrLK_dense
->
calc
(
d_frame0Gray
,
d_frame1Gray
,
d_flow
);
// Draw arrows
...
...
@@ -171,9 +307,12 @@ int main(int argc, const char* argv[])
download
(
d_status
,
status
);
drawArrows
(
frame0
,
prevPts
,
nextPts
,
status
,
Scalar
(
255
,
0
,
0
));
imshow
(
"PyrLK [Sparse]"
,
frame0
);
// Draw flows
showFlow
(
"PyrLK [Dense] Flow Field"
,
d_flow
);
waitKey
();
return
0
;
...
...
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