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Open Source Computer Vision Library
https://opencv.org/
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172 lines
4.2 KiB
172 lines
4.2 KiB
#include <iostream> |
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#include <fstream> |
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#include "opencv2/core/core.hpp" |
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#include "opencv2/highgui/highgui.hpp" |
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#include "opencv2/gpu/gpu.hpp" |
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using namespace std; |
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using namespace cv; |
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using namespace cv::gpu; |
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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) / 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] / 255.0; |
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const float col1 = colorWheel[k1][b] / 255.0; |
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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<int>(255.0 * col); |
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} |
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return pix; |
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} |
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static void drawOpticalFlow(const Mat_<float>& flowx, const Mat_<float>& flowy, Mat& dst, float maxmotion = -1) |
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{ |
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dst.create(flowx.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 < flowx.rows; ++y) |
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{ |
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for (int x = 0; x < flowx.cols; ++x) |
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{ |
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Point2f u(flowx(y, x), flowy(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 < flowx.rows; ++y) |
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{ |
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for (int x = 0; x < flowx.cols; ++x) |
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{ |
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Point2f u(flowx(y, x), flowy(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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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>" << 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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GpuMat d_frame0(frame0); |
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GpuMat d_frame1(frame1); |
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GpuMat d_flowx, d_flowy; |
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OpticalFlowDual_TVL1_GPU tvl1; |
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const double start = getTickCount(); |
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tvl1(d_frame0, d_frame1, d_flowx, d_flowy); |
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const double timeSec = (getTickCount() - start) / getTickFrequency(); |
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cout << "Time : " << timeSec << " sec" << endl; |
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Mat flowx(d_flowx); |
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Mat flowy(d_flowy); |
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Mat out; |
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drawOpticalFlow(flowx, flowy, out); |
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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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