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opticalflow + openCV

2017-01-03 14:49 246 查看

#include "stdafx.h"

#include <iostream>

#include "opencv2/opencv.hpp"

using namespace std;

using namespace cv;

#define UNKNOWN_FLOW_THRESH 1e9

// Color encoding of flow vectors from:

// http://members.shaw.ca/quadibloc/other/colint.htm
// This code is modified from:

// http://vision.middlebury.edu/flow/data/

void makecolorwheel(vector<Scalar> &colorwheel)

{

int RY = 15;

int YG = 6;

int GC = 4;

int CB = 11;

int BM = 13;

int MR = 6;

int i;

for (i = 0; i < RY; i++) colorwheel.push_back(Scalar(255,255*i/RY,0));

for (i = 0; i < YG;i++) colorwheel.push_back(Scalar(255-255*i/YG,255,0));

for (i = 0; i < GC; i++) colorwheel.push_back(Scalar(0,255,255*i/GC));

for (i = 0; i < BM; i++) colorwheel.push_back(Scalar(255*i/BM,0,255));

for (i = 0; i < MR; i++) colorwheel.push_back(Scalar(255,0,255-255*i/MR));

}

void motionToColor(Mat flow,Mat &color)

{

if (color.empty())

color.create(flow.rows, flow.cols, CV_8UC3);

static vector<Scalar> colorwheel; //Scalar r,g,b

if(colorwheel.empty())

makecolorwheel(colorwheel);

// determine motion range:

float maxrad = -1;

// Find max flow to normalize fx and fy

for (int i= 0; i < flow.rows; ++i)

{

for (int j = 0; j < flow.cols; ++j)

{

Vec2f flow_at_point=flow.at<Vec2f>(i,j);

float fx=flow_at_point[0];

float fy = flow_at_point[1];

if ((fabs(fx)>UNKNOWN_FLOW_THRESH)||(fabs(fy)>UNKNOWN_FLOW_THRESH))

continue;

float rad = sqrt(fx * fx + fy * fy);

maxrad = maxrad > rad ? maxrad : rad;



}



}

for(int i= 0; i < flow.rows; ++i)

{

for(int j = 0;j<flow.cols;++j)

{

uchar *data =color.data+color.step[0]* i+ color.step[1] * j;

Vec2f flow_at_point=flow.at<Vec2f>(i,j);

float fx =flow_at_point[0]/maxrad;

float fy = flow_at_point[1] / maxrad;

if ((fabs(fx)>UNKNOWN_FLOW_THRESH)||(fabs(fy)>UNKNOWN_FLOW_THRESH))

{

data[0] = data[1]=data[2]=0;

continue;

}

float rad = sqrt(fx*fx+fy*fy);

float angle = atan2(-fy, -fx)/CV_PI;

float fk = (angle + 1.0)/ 2.0 * (colorwheel.size()-1);

int k0 = (int)fk;

int k1=(k0 + 1) % colorwheel.size();

float f = fk - k0;

//f = 0; // uncomment to see original color wheel

for (int b = 0; b < 3; b++)

{

float col0 = colorwheel[k0][b] / 255.0;

float col1 = colorwheel[k1][b] / 255.0;

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

data[2 - b] =(int)(255.0 * col);

}

}

}

}

int main(int, char**)

{

VideoCapture cap;

cap.open(0);

cap.open("../22.avi");

if(!cap.isOpened())

return -1;

Mat prevgray, gray, flow, cflow,frame;

Mat motion2color;

cv::Size default_size;

default_size.width = 235;

default_size.height = 189;

namedWindow("flow", 1);

for(;;) //死循环

{

double t = (double)cvGetTickCount();

cap>>frame;

cv::resize(frame, frame, default_size);

cvtColor(frame, gray, CV_BGR2GRAY);

imshow("original", frame);

if( prevgray.data )

{

calcOpticalFlowFarneback(prevgray, gray, flow, 0.5, 3, 15, 3, 5, 1.2, 0);

motionToColor(flow, motion2color);

imshow("flow", motion2color);



}

if(waitKey(10)>=0)

break;

std::swap(prevgray, gray);

t=(double)cvGetTickCount() -t;

cout <<"cost time:"<<t/((double)cvGetTickFrequency()*1000.)<<endl;

}



}

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标签： opencv opticalFlow

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