Updates for SimpleFlow algorithm
+ New format for flow data - CV_32C2 + Memory optimization + Cross Bilateral Filter optimization + Minor optimizations + Sample for calcOpticalFlowSF improved
This commit is contained in:
Yury Zemlyanskiy
committed by
Vadim Pisarevsky
Vadim Pisarevsky
parent
c77d099018
commit
784c09d6f9
@@ -8,89 +8,212 @@
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using namespace cv;
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using namespace std;
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#define APP_NAME "simpleflow_demo : "
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static void help()
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{
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// print a welcome message, and the OpenCV version
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printf("This is a demo of SimpleFlow optical flow algorithm,\n"
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"Using OpenCV version %s\n\n", CV_VERSION);
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// print a welcome message, and the OpenCV version
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printf("This is a demo of SimpleFlow optical flow algorithm,\n"
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"Using OpenCV version %s\n\n", CV_VERSION);
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printf("Usage: simpleflow_demo frame1 frame2 output_flow"
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"\nApplication will write estimated flow "
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"\nbetween 'frame1' and 'frame2' in binary format"
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"\ninto file 'output_flow'"
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"\nThen one can use code from http://vision.middlebury.edu/flow/data/"
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"\nto convert flow in binary file to image\n");
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printf("Usage: simpleflow_demo frame1 frame2 output_flow"
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"\nApplication will write estimated flow "
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"\nbetween 'frame1' and 'frame2' in binary format"
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"\ninto file 'output_flow'"
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"\nThen one can use code from http://vision.middlebury.edu/flow/data/"
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"\nto convert flow in binary file to image\n");
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}
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// binary file format for flow data specified here:
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// http://vision.middlebury.edu/flow/data/
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static void writeOpticalFlowToFile(const Mat& u, const Mat& v, FILE* file) {
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int cols = u.cols;
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int rows = u.rows;
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static void writeOpticalFlowToFile(const Mat& flow, FILE* file) {
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int cols = flow.cols;
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int rows = flow.rows;
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fprintf(file, "PIEH");
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if (fwrite(&cols, sizeof(int), 1, file) != 1 ||
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fwrite(&rows, sizeof(int), 1, file) != 1) {
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fprintf(stderr, "writeOpticalFlowToFile : problem writing header\n");
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printf(APP_NAME "writeOpticalFlowToFile : problem writing header\n");
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exit(1);
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}
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for (int i= 0; i < u.rows; ++i) {
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for (int j = 0; j < u.cols; ++j) {
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float uPoint = u.at<double>(i, j);
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float vPoint = v.at<double>(i, j);
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for (int i= 0; i < rows; ++i) {
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for (int j = 0; j < cols; ++j) {
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Vec2f flow_at_point = flow.at<Vec2f>(i, j);
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if (fwrite(&uPoint, sizeof(float), 1, file) != 1 ||
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fwrite(&vPoint, sizeof(float), 1, file) != 1) {
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fprintf(stderr, "writeOpticalFlowToFile : problem writing data\n");
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if (fwrite(&(flow_at_point[0]), sizeof(float), 1, file) != 1 ||
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fwrite(&(flow_at_point[1]), sizeof(float), 1, file) != 1) {
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printf(APP_NAME "writeOpticalFlowToFile : problem writing data\n");
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exit(1);
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}
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}
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}
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}
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int main(int argc, char** argv) {
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help();
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if (argc < 4) {
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fprintf(stderr, "Wrong number of command line arguments : %d (expected %d)\n", argc, 4);
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exit(1);
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}
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Mat frame1 = imread(argv[1]);
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Mat frame2 = imread(argv[2]);
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if (frame1.empty() || frame2.empty()) {
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fprintf(stderr, "simpleflow_demo : Images cannot be read\n");
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exit(1);
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}
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if (frame1.rows != frame2.rows && frame1.cols != frame2.cols) {
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fprintf(stderr, "simpleflow_demo : Images should be of equal sizes\n");
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exit(1);
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}
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if (frame1.type() != 16 || frame2.type() != 16) {
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fprintf(stderr, "simpleflow_demo : Images should be of equal type CV_8UC3\n");
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exit(1);
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}
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printf("simpleflow_demo : Read two images of size [rows = %d, cols = %d]\n",
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frame1.rows, frame1.cols);
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Mat flowX, flowY;
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calcOpticalFlowSF(frame1, frame2,
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flowX, flowY,
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3, 2, 4, 4.1, 25.5, 18, 55.0, 25.5, 0.35, 18, 55.0, 25.5, 10);
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FILE* file = fopen(argv[3], "wb");
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if (file == NULL) {
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fprintf(stderr, "simpleflow_demo : Unable to open file '%s' for writing\n", argv[3]);
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static void run(int argc, char** argv) {
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if (argc < 3) {
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printf(APP_NAME "Wrong number of command line arguments for mode `run`: %d (expected %d)\n",
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argc, 3);
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exit(1);
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}
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printf("simpleflow_demo : Writing to file\n");
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writeOpticalFlowToFile(flowX, flowY, file);
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Mat frame1 = imread(argv[0]);
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Mat frame2 = imread(argv[1]);
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if (frame1.empty()) {
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printf(APP_NAME "Image #1 : %s cannot be read\n", argv[0]);
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exit(1);
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}
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if (frame2.empty()) {
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printf(APP_NAME "Image #2 : %s cannot be read\n", argv[1]);
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exit(1);
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}
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if (frame1.rows != frame2.rows && frame1.cols != frame2.cols) {
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printf(APP_NAME "Images should be of equal sizes\n");
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exit(1);
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}
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if (frame1.type() != 16 || frame2.type() != 16) {
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printf(APP_NAME "Images should be of equal type CV_8UC3\n");
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exit(1);
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}
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printf(APP_NAME "Read two images of size [rows = %d, cols = %d]\n",
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frame1.rows, frame1.cols);
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Mat flow;
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float start = getTickCount();
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calcOpticalFlowSF(frame1, frame2,
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flow,
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3, 2, 4, 4.1, 25.5, 18, 55.0, 25.5, 0.35, 18, 55.0, 25.5, 10);
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printf(APP_NAME "calcOpticalFlowSF : %lf sec\n", (getTickCount() - start) / getTickFrequency());
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FILE* file = fopen(argv[2], "wb");
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if (file == NULL) {
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printf(APP_NAME "Unable to open file '%s' for writing\n", argv[2]);
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exit(1);
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}
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printf(APP_NAME "Writing to file\n");
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writeOpticalFlowToFile(flow, file);
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fclose(file);
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}
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static bool readOpticalFlowFromFile(FILE* file, Mat& flow) {
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char header[5];
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if (fread(header, 1, 4, file) < 4 && (string)header != "PIEH") {
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return false;
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}
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int cols, rows;
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if (fread(&cols, sizeof(int), 1, file) != 1||
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fread(&rows, sizeof(int), 1, file) != 1) {
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return false;
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}
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flow = Mat::zeros(rows, cols, CV_32FC2);
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for (int i = 0; i < rows; ++i) {
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for (int j = 0; j < cols; ++j) {
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Vec2f flow_at_point;
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if (fread(&(flow_at_point[0]), sizeof(float), 1, file) != 1 ||
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fread(&(flow_at_point[1]), sizeof(float), 1, file) != 1) {
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return false;
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}
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flow.at<Vec2f>(i, j) = flow_at_point;
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}
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}
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return true;
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}
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static bool isFlowCorrect(float u) {
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return !isnan(u) && (fabs(u) < 1e9);
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}
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static float calc_rmse(Mat flow1, Mat flow2) {
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float sum;
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int counter = 0;
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const int rows = flow1.rows;
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const int cols = flow1.cols;
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for (int y = 0; y < rows; ++y) {
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for (int x = 0; x < cols; ++x) {
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Vec2f flow1_at_point = flow1.at<Vec2f>(y, x);
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Vec2f flow2_at_point = flow2.at<Vec2f>(y, x);
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float u1 = flow1_at_point[0];
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float v1 = flow1_at_point[1];
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float u2 = flow2_at_point[0];
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float v2 = flow2_at_point[1];
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if (isFlowCorrect(u1) && isFlowCorrect(u2) && isFlowCorrect(v1) && isFlowCorrect(v2)) {
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sum += (u1-u2)*(u1-u2) + (v1-v2)*(v1-v2);
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counter++;
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}
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}
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}
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return sqrt(sum / (1e-9 + counter));
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}
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static void eval(int argc, char** argv) {
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if (argc < 2) {
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printf(APP_NAME "Wrong number of command line arguments for mode `eval` : %d (expected %d)\n",
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argc, 2);
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exit(1);
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}
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Mat flow1, flow2;
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FILE* flow_file_1 = fopen(argv[0], "rb");
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if (flow_file_1 == NULL) {
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printf(APP_NAME "Cannot open file with first flow : %s\n", argv[0]);
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exit(1);
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}
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if (!readOpticalFlowFromFile(flow_file_1, flow1)) {
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printf(APP_NAME "Cannot read flow data from file %s\n", argv[0]);
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exit(1);
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}
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fclose(flow_file_1);
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FILE* flow_file_2 = fopen(argv[1], "rb");
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if (flow_file_2 == NULL) {
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printf(APP_NAME "Cannot open file with first flow : %s\n", argv[1]);
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exit(1);
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}
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if (!readOpticalFlowFromFile(flow_file_2, flow2)) {
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printf(APP_NAME "Cannot read flow data from file %s\n", argv[1]);
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exit(1);
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}
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fclose(flow_file_2);
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float rmse = calc_rmse(flow1, flow2);
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printf("%lf\n", rmse);
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}
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int main(int argc, char** argv) {
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if (argc < 2) {
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printf(APP_NAME "Mode is not specified\n");
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help();
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exit(1);
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}
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string mode = (string)argv[1];
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int new_argc = argc - 2;
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char** new_argv = &argv[2];
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if ("run" == mode) {
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run(new_argc, new_argv);
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} else if ("eval" == mode) {
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eval(new_argc, new_argv);
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} else if ("help" == mode)
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help();
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else {
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printf(APP_NAME "Unknown mode : %s\n", argv[1]);
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help();
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}
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return 0;
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}
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