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simpleflow_opencv.cpp
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simpleflow_opencv.cpp
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#include "opencv2/optflow.hpp"
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include <cstdio>
#include <iostream>
using namespace cv;
using namespace cv::optflow;
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<Vec2f>(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<Vec2f>(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<Vec2f>(y, x);
Vec2f flow2_at_point = flow2.at<Vec2f>(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;
}