vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e
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#include <unordered_map>
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#include <iostream>
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#include <fstream>
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#include <iomanip>
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#include <iterator>
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#include "opencv2/core.hpp"
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#include "opencv2/core/utility.hpp"
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#include "opencv2/highgui.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/cudaoptflow.hpp"
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#include "opencv2/cudaarithm.hpp"
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#include "opencv2/video/tracking.hpp"
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using namespace cv;
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using namespace cv::cuda;
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//this function is taken from opencv/samples/gpu/optical_flow.cpp
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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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//this function is taken from opencv/samples/gpu/optical_flow.cpp
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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) / (float)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] / 255.0f;
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const float col1 = colorWheel[k1][b] / 255.0f;
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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<uchar>(255.0 * col);
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}
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return pix;
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}
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//this function is taken from opencv/samples/gpu/optical_flow.cpp
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static void drawOpticalFlow(const Mat_<float>& flowx, const Mat_<float>& flowy
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, 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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/*
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ROI config file format.
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numrois 3
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roi0 640 96 1152 192
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roi1 640 64 896 864
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roi2 640 960 256 32
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*/
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bool parseROI(std::string ROIFileName, std::vector<Rect>& roiData)
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{
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std::string str;
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uint32_t nRois = 0;
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std::ifstream hRoiFile;
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hRoiFile.open(ROIFileName, std::ios::in);
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if (hRoiFile.is_open())
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{
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while (std::getline(hRoiFile, str))
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{
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std::istringstream iss(str);
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std::vector<std::string> tokens{ std::istream_iterator<std::string>{iss},
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std::istream_iterator<std::string>{} };
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if (tokens.size() == 0) continue; // if empty line, coninue
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transform(tokens[0].begin(), tokens[0].end(), tokens[0].begin(), ::tolower);
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if (tokens[0] == "numrois")
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{
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nRois = atoi(tokens[1].data());
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}
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else if (tokens[0].rfind("roi", 0) == 0)
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{
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cv::Rect roi;
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roi.x = atoi(tokens[1].data());
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roi.y = atoi(tokens[2].data());
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roi.width = atoi(tokens[3].data());
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roi.height = atoi(tokens[4].data());
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roiData.push_back(roi);
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}
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else if (tokens[0].rfind("#", 0) == 0)
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{
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continue;
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}
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else
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{
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std::cout << "Unidentified keyword in roi config file " << tokens[0] << std::endl;
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hRoiFile.close();
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return false;
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}
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}
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}
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else
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{
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std::cout << "Unable to open ROI file " << std::endl;
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return false;
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}
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if (nRois != roiData.size())
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{
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std::cout << "NumRois(" << nRois << ")and specified roi rects (" << roiData.size() << ")are not matching " << std::endl;
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hRoiFile.close();
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return false;
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}
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hRoiFile.close();
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return true;
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}
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int main(int argc, char **argv)
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{
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std::unordered_map<std::string, NvidiaOpticalFlow_2_0::NVIDIA_OF_PERF_LEVEL> presetMap = {
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{ "slow", NvidiaOpticalFlow_2_0::NVIDIA_OF_PERF_LEVEL::NV_OF_PERF_LEVEL_SLOW },
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{ "medium", NvidiaOpticalFlow_2_0::NVIDIA_OF_PERF_LEVEL::NV_OF_PERF_LEVEL_MEDIUM },
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{ "fast", NvidiaOpticalFlow_2_0::NVIDIA_OF_PERF_LEVEL::NV_OF_PERF_LEVEL_FAST } };
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std::unordered_map<int, NvidiaOpticalFlow_2_0::NVIDIA_OF_OUTPUT_VECTOR_GRID_SIZE> outputGridSize = {
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{ 1, NvidiaOpticalFlow_2_0::NVIDIA_OF_OUTPUT_VECTOR_GRID_SIZE::NV_OF_OUTPUT_VECTOR_GRID_SIZE_1 },
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{ 2, NvidiaOpticalFlow_2_0::NVIDIA_OF_OUTPUT_VECTOR_GRID_SIZE::NV_OF_OUTPUT_VECTOR_GRID_SIZE_2 },
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{ 4, NvidiaOpticalFlow_2_0::NVIDIA_OF_OUTPUT_VECTOR_GRID_SIZE::NV_OF_OUTPUT_VECTOR_GRID_SIZE_4 } };
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std::unordered_map<int, NvidiaOpticalFlow_2_0::NVIDIA_OF_HINT_VECTOR_GRID_SIZE> hintGridSize = {
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{ 1, NvidiaOpticalFlow_2_0::NVIDIA_OF_HINT_VECTOR_GRID_SIZE::NV_OF_HINT_VECTOR_GRID_SIZE_1 },
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{ 2, NvidiaOpticalFlow_2_0::NVIDIA_OF_HINT_VECTOR_GRID_SIZE::NV_OF_HINT_VECTOR_GRID_SIZE_2 },
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{ 4, NvidiaOpticalFlow_2_0::NVIDIA_OF_HINT_VECTOR_GRID_SIZE::NV_OF_HINT_VECTOR_GRID_SIZE_4 },
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{ 8, NvidiaOpticalFlow_2_0::NVIDIA_OF_HINT_VECTOR_GRID_SIZE::NV_OF_HINT_VECTOR_GRID_SIZE_8 } };
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try
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{
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CommandLineParser cmd(argc, argv,
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"{ l left | ../data/basketball1.png | specify left image }"
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"{ r right | ../data/basketball2.png | specify right image }"
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"{ g gpuid | 0 | cuda device index}"
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"{ p preset | slow | perf preset for OF algo [ options : slow, medium, fast ]}"
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"{ og outputGridSize | 1 | Output grid size of OF vector [ options : 1, 2, 4 ]}"
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"{ hg hintGridSize | 1 | Hint grid size of OF vector [ options : 1, 2, 4, 8 ]}"
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"{ o output | OpenCVNvOF.flo | output flow vector file in middlebury format}"
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"{ rc roiConfigFile | | Region of Interest config file }"
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"{ th enableTemporalHints | false | Enable temporal hints}"
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"{ eh enableExternalHints | false | Enable external hints}"
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"{ cb enableCostBuffer | false | Enable output cost buffer}"
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"{ h help | | print help message }");
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cmd.about("Nvidia's optical flow sample.");
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if (cmd.has("help") || !cmd.check())
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{
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cmd.printMessage();
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cmd.printErrors();
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return 0;
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}
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std::string pathL = cmd.get<std::string>("left");
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std::string pathR = cmd.get<std::string>("right");
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std::string preset = cmd.get<std::string>("preset");
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std::string output = cmd.get<std::string>("output");
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std::string roiConfiFile = cmd.get<std::string>("roiConfigFile");
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bool enableExternalHints = cmd.get<bool>("enableExternalHints");
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bool enableTemporalHints = cmd.get<bool>("enableTemporalHints");
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bool enableCostBuffer = cmd.get<bool>("enableCostBuffer");
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int gpuId = cmd.get<int>("gpuid");
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int outputBufferGridSize = cmd.get<int>("outputGridSize");
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int hintBufferGridSize = cmd.get<int>("hintGridSize");
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if (pathL.empty()) std::cout << "Specify left image path" << std::endl;
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if (pathR.empty()) std::cout << "Specify right image path" << std::endl;
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if (preset.empty()) std::cout << "Specify perf preset for OpticalFlow algo" << std::endl;
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if (pathL.empty() || pathR.empty()) return 0;
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auto p = presetMap.find(preset);
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if (p == presetMap.end())
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{
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std::cout << "Invalid preset level : " << preset << std::endl;
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return 0;
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}
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NvidiaOpticalFlow_2_0::NVIDIA_OF_PERF_LEVEL perfPreset = p->second;
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auto o = outputGridSize.find(outputBufferGridSize);
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if (o == outputGridSize.end())
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{
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std::cout << "Invalid output grid size: " << outputBufferGridSize << std::endl;
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return 0;
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}
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NvidiaOpticalFlow_2_0::NVIDIA_OF_OUTPUT_VECTOR_GRID_SIZE outBufGridSize = o->second;
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NvidiaOpticalFlow_2_0::NVIDIA_OF_HINT_VECTOR_GRID_SIZE hintBufGridSize =
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NvidiaOpticalFlow_2_0::NV_OF_HINT_VECTOR_GRID_SIZE_UNDEFINED;
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if (enableExternalHints)
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{
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auto h = hintGridSize.find(hintBufferGridSize);
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if (h == hintGridSize.end())
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{
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std::cout << "Invalid hint grid size: " << hintBufferGridSize << std::endl;
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return 0;
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}
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hintBufGridSize = h->second;
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}
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std::vector<Rect> roiData;
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if (!roiConfiFile.empty())
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{
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if (!parseROI(roiConfiFile, roiData))
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{
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std::cout << "Wrong Region of Interest config file, proceeding without ROI" << std::endl;
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}
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}
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Mat frameL = imread(pathL, IMREAD_GRAYSCALE);
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Mat frameR = imread(pathR, IMREAD_GRAYSCALE);
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if (frameL.empty()) std::cout << "Can't open '" << pathL << "'" << std::endl;
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if (frameR.empty()) std::cout << "Can't open '" << pathR << "'" << std::endl;
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if (frameL.empty() || frameR.empty()) return -1;
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Ptr<NvidiaOpticalFlow_2_0> nvof = NvidiaOpticalFlow_2_0::create(
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frameL.size(), roiData, perfPreset, outBufGridSize, hintBufGridSize,
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enableTemporalHints, enableExternalHints, enableCostBuffer, gpuId);
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Mat flowx, flowy, flowxy, floatFlow, image;
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nvof->calc(frameL, frameR, flowxy);
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nvof->convertToFloat(flowxy, floatFlow);
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if (!output.empty())
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{
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if (!writeOpticalFlow(output, floatFlow))
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std::cout << "Failed to save Flow Vector" << std::endl;
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else
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std::cout << "Flow vector saved as '" << output << "'" << std::endl;
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}
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Mat planes[] = { flowx, flowy };
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split(floatFlow, planes);
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flowx = planes[0]; flowy = planes[1];
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drawOpticalFlow(flowx, flowy, image, 10);
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imshow("Colorize image", image);
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waitKey(0);
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nvof->collectGarbage();
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}
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catch (const std::exception &ex)
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{
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std::cout << ex.what() << std::endl;
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return 1;
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}
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return 0;
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}
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