#include "opencv2/video/tracking.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/highgui/highgui.hpp" #include #include using namespace cv; using namespace std; #define APP_NAME "simpleflow_demo : " static void help() { // print a welcome message, and the OpenCV version printf("This is a demo of SimpleFlow optical flow algorithm,\n" "Using OpenCV version %s\n\n", CV_VERSION); printf("Usage: simpleflow_demo frame1 frame2 output_flow" "\nApplication will write estimated flow " "\nbetween 'frame1' and 'frame2' in binary format" "\ninto file 'output_flow'" "\nThen one can use code from http://vision.middlebury.edu/flow/data/" "\nto convert flow in binary file to image\n"); } // binary file format for flow data specified here: // http://vision.middlebury.edu/flow/data/ static void writeOpticalFlowToFile(const Mat& flow, FILE* file) { int cols = flow.cols; int rows = flow.rows; fprintf(file, "PIEH"); if (fwrite(&cols, sizeof(int), 1, file) != 1 || fwrite(&rows, sizeof(int), 1, file) != 1) { printf(APP_NAME "writeOpticalFlowToFile : problem writing header\n"); exit(1); } for (int i= 0; i < rows; ++i) { for (int j = 0; j < cols; ++j) { Vec2f flow_at_point = flow.at(i, j); if (fwrite(&(flow_at_point[0]), sizeof(float), 1, file) != 1 || fwrite(&(flow_at_point[1]), sizeof(float), 1, file) != 1) { printf(APP_NAME "writeOpticalFlowToFile : problem writing data\n"); exit(1); } } } } static void run(int argc, char** argv) { if (argc < 3) { printf(APP_NAME "Wrong number of command line arguments for mode `run`: %d (expected %d)\n", argc, 3); exit(1); } Mat frame1 = imread(argv[0]); Mat frame2 = imread(argv[1]); if (frame1.empty()) { printf(APP_NAME "Image #1 : %s cannot be read\n", argv[0]); exit(1); } if (frame2.empty()) { printf(APP_NAME "Image #2 : %s cannot be read\n", argv[1]); exit(1); } if (frame1.rows != frame2.rows && frame1.cols != frame2.cols) { printf(APP_NAME "Images should be of equal sizes\n"); exit(1); } if (frame1.type() != 16 || frame2.type() != 16) { printf(APP_NAME "Images should be of equal type CV_8UC3\n"); exit(1); } printf(APP_NAME "Read two images of size [rows = %d, cols = %d]\n", frame1.rows, frame1.cols); Mat flow; float start = (float)getTickCount(); calcOpticalFlowSF(frame1, frame2, flow, 3, 2, 4, 4.1, 25.5, 18, 55.0, 25.5, 0.35, 18, 55.0, 25.5, 10); printf(APP_NAME "calcOpticalFlowSF : %lf sec\n", (getTickCount() - start) / getTickFrequency()); FILE* file = fopen(argv[2], "wb"); if (file == NULL) { printf(APP_NAME "Unable to open file '%s' for writing\n", argv[2]); exit(1); } printf(APP_NAME "Writing to file\n"); writeOpticalFlowToFile(flow, file); fclose(file); } static bool readOpticalFlowFromFile(FILE* file, Mat& flow) { char header[5]; if (fread(header, 1, 4, file) < 4 && (string)header != "PIEH") { return false; } int cols, rows; if (fread(&cols, sizeof(int), 1, file) != 1|| fread(&rows, sizeof(int), 1, file) != 1) { return false; } flow = Mat::zeros(rows, cols, CV_32FC2); for (int i = 0; i < rows; ++i) { for (int j = 0; j < cols; ++j) { Vec2f flow_at_point; if (fread(&(flow_at_point[0]), sizeof(float), 1, file) != 1 || fread(&(flow_at_point[1]), sizeof(float), 1, file) != 1) { return false; } flow.at(i, j) = flow_at_point; } } return true; } static bool isFlowCorrect(float u) { return !cvIsNaN(u) && (fabs(u) < 1e9); } static float calc_rmse(Mat flow1, Mat flow2) { float sum = 0; int counter = 0; const int rows = flow1.rows; const int cols = flow1.cols; for (int y = 0; y < rows; ++y) { for (int x = 0; x < cols; ++x) { Vec2f flow1_at_point = flow1.at(y, x); Vec2f flow2_at_point = flow2.at(y, x); float u1 = flow1_at_point[0]; float v1 = flow1_at_point[1]; float u2 = flow2_at_point[0]; float v2 = flow2_at_point[1]; if (isFlowCorrect(u1) && isFlowCorrect(u2) && isFlowCorrect(v1) && isFlowCorrect(v2)) { sum += (u1-u2)*(u1-u2) + (v1-v2)*(v1-v2); counter++; } } } return (float)sqrt(sum / (1e-9 + counter)); } static void eval(int argc, char** argv) { if (argc < 2) { printf(APP_NAME "Wrong number of command line arguments for mode `eval` : %d (expected %d)\n", argc, 2); exit(1); } Mat flow1, flow2; FILE* flow_file_1 = fopen(argv[0], "rb"); if (flow_file_1 == NULL) { printf(APP_NAME "Cannot open file with first flow : %s\n", argv[0]); exit(1); } if (!readOpticalFlowFromFile(flow_file_1, flow1)) { printf(APP_NAME "Cannot read flow data from file %s\n", argv[0]); exit(1); } fclose(flow_file_1); FILE* flow_file_2 = fopen(argv[1], "rb"); if (flow_file_2 == NULL) { printf(APP_NAME "Cannot open file with first flow : %s\n", argv[1]); exit(1); } if (!readOpticalFlowFromFile(flow_file_2, flow2)) { printf(APP_NAME "Cannot read flow data from file %s\n", argv[1]); exit(1); } fclose(flow_file_2); float rmse = calc_rmse(flow1, flow2); printf("%lf\n", rmse); } int main(int argc, char** argv) { if (argc < 2) { printf(APP_NAME "Mode is not specified\n"); help(); exit(1); } string mode = (string)argv[1]; int new_argc = argc - 2; char** new_argv = &argv[2]; if ("run" == mode) { run(new_argc, new_argv); } else if ("eval" == mode) { eval(new_argc, new_argv); } else if ("help" == mode) help(); else { printf(APP_NAME "Unknown mode : %s\n", argv[1]); help(); } return 0; }