From aa73bf607973aeca1bf83d81ca8210e2c3761bba Mon Sep 17 00:00:00 2001 From: Vladislav Vinogradov Date: Wed, 13 Feb 2013 15:58:12 +0400 Subject: [PATCH] added gpu optical flow sample --- samples/gpu/optical_flow.cpp | 253 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 253 insertions(+) create mode 100644 samples/gpu/optical_flow.cpp diff --git a/samples/gpu/optical_flow.cpp b/samples/gpu/optical_flow.cpp new file mode 100644 index 0000000..3f74d1b --- /dev/null +++ b/samples/gpu/optical_flow.cpp @@ -0,0 +1,253 @@ +#include +#include + +#include "opencv2/core/core.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/gpu/gpu.hpp" + +using namespace std; +using namespace cv; +using namespace cv::gpu; + +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(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(255.0 * col); + } + + return pix; +} + +static void drawOpticalFlow(const Mat_& flowx, const Mat_& 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(y, x) = computeColor(u.x / maxrad, u.y / maxrad); + } + } +} + +static void showFlow(const char* name, const GpuMat& d_flowx, const GpuMat& d_flowy) +{ + Mat flowx(d_flowx); + Mat flowy(d_flowy); + + Mat out; + drawOpticalFlow(flowx, flowy, out, 10); + + imshow(name, out); +} + +int main(int argc, const char* argv[]) +{ + if (argc < 3) + { + cerr << "Usage : " << argv[0] << " " << endl; + return -1; + } + + Mat frame0 = imread(argv[1], IMREAD_GRAYSCALE); + Mat frame1 = imread(argv[2], IMREAD_GRAYSCALE); + + if (frame0.empty()) + { + cerr << "Can't open image [" << argv[1] << "]" << endl; + return -1; + } + if (frame1.empty()) + { + cerr << "Can't open image [" << argv[2] << "]" << 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_flowx(frame0.size(), CV_32FC1); + GpuMat d_flowy(frame0.size(), CV_32FC1); + + BroxOpticalFlow brox(0.197f, 50.0f, 0.8f, 10, 77, 10); + PyrLKOpticalFlow lk; lk.winSize = Size(7, 7); + FarnebackOpticalFlow farn; + OpticalFlowDual_TVL1_GPU tvl1; + FastOpticalFlowBM fastBM; + + { + 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(d_frame0f, d_frame1f, d_flowx, d_flowy); + + const double timeSec = (getTickCount() - start) / getTickFrequency(); + cout << "Brox : " << timeSec << " sec" << endl; + + showFlow("Brox", d_flowx, d_flowy); + } + + { + const int64 start = getTickCount(); + + lk.dense(d_frame0, d_frame1, d_flowx, d_flowy); + + const double timeSec = (getTickCount() - start) / getTickFrequency(); + cout << "LK : " << timeSec << " sec" << endl; + + showFlow("LK", d_flowx, d_flowy); + } + + { + const int64 start = getTickCount(); + + farn(d_frame0, d_frame1, d_flowx, d_flowy); + + const double timeSec = (getTickCount() - start) / getTickFrequency(); + cout << "Farn : " << timeSec << " sec" << endl; + + showFlow("Farn", d_flowx, d_flowy); + } + + { + const int64 start = getTickCount(); + + tvl1(d_frame0, d_frame1, d_flowx, d_flowy); + + const double timeSec = (getTickCount() - start) / getTickFrequency(); + cout << "TVL1 : " << timeSec << " sec" << endl; + + showFlow("TVL1", d_flowx, d_flowy); + } + + { + const int64 start = getTickCount(); + + GpuMat buf; + calcOpticalFlowBM(d_frame0, d_frame1, Size(7, 7), Size(1, 1), Size(21, 21), false, d_flowx, d_flowy, buf); + + const double timeSec = (getTickCount() - start) / getTickFrequency(); + cout << "BM : " << timeSec << " sec" << endl; + + showFlow("BM", d_flowx, d_flowy); + } + + { + const int64 start = getTickCount(); + + fastBM(d_frame0, d_frame1, d_flowx, d_flowy); + + const double timeSec = (getTickCount() - start) / getTickFrequency(); + cout << "Fast BM : " << timeSec << " sec" << endl; + + showFlow("Fast BM", d_flowx, d_flowy); + } + + imshow("Frame 0", frame0); + imshow("Frame 1", frame1); + waitKey(); + + return 0; +} -- 2.7.4