Add optical flow module based on the optflow module of OpenCV
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/* This file is a part of plaYUVer project
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* Copyright (C) 2014-2016 by Luis Lucas (luisfrlucas@gmail.com)
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* Joao Carreira (jfmcarreira@gmail.com)
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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/**
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* \file OpticalFlow.cpp
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* \brief Modules to measure optical flow
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*/
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// Own
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#include "OpticalFlow.h"
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// System
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#include <cstdlib>
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// Opencv
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#include <opencv2/core.hpp>
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#include <opencv2/highgui.hpp>
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#include <opencv2/video.hpp>
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#include <opencv2/optflow.hpp>
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using cv::Scalar;
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using cv::Mat;
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using cv::Mat_;
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using cv::Ptr;
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using cv::Point;
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using cv::Point2f;
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OpticalFlowModule::OpticalFlowModule()
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{
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/* Module Definition */
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m_iModuleAPI = MODULE_API_2;
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m_iModuleType = FRAME_PROCESSING_MODULE;
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m_pchModuleCategory = "OpticalFlow";
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m_uiNumberOfFrames = MODULE_REQUIRES_TWO_FRAMES;
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m_uiModuleRequirements = MODULE_REQUIRES_SKIP_WHILE_PLAY | MODULE_REQUIRES_NEW_WINDOW | MODULE_REQUIRES_OPTIONS;
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m_cModuleOptions.addOptions()/**/
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( "Show reconstruction", m_bShowReconstruction, "Show reconstructed frame instead of MVs [false]" );
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m_bShowReconstruction = false;
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m_pcOutputFrame = NULL;
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}
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Bool OpticalFlowModule::commonCreate( std::vector<PlaYUVerFrame*> apcFrameList )
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{
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_BASIC_MODULE_API_2_CHECK_
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for( UInt i = 1; i < apcFrameList.size(); i++ )
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if( !apcFrameList[i]->haveSameFmt( apcFrameList[0], PlaYUVerFrame::MATCH_COLOR_SPACE | PlaYUVerFrame::MATCH_RESOLUTION | PlaYUVerFrame::MATCH_BITS ) )
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return false;
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m_iStep = 16;
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m_pcOutputFrame = new PlaYUVerFrame( apcFrameList[0]->getWidth(), apcFrameList[0]->getHeight(), PlaYUVerFrame::GRAY );
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return true;
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}
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static 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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Void OpticalFlowModule::drawFlow()
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{
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Mat cvMatAfter;
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m_pcFrameAfter->toMat( cvMatAfter, true );
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Scalar vectorColor( 255, 0, 0, 0 );
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for( int y = m_iStep / 2; y < m_cvFlow.rows; y += m_iStep )
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{
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for( int x = m_iStep / 2; x < m_cvFlow.cols; x += m_iStep )
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{
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Point2f u( 0, 0 );
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Double count = 0;
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for( int i = ( -m_iStep / 2 ); i < ( m_iStep / 2 ); i++ )
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{
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for( int j = ( -m_iStep / 2 ); j < ( m_iStep / 2 ); j++ )
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{
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if( isFlowCorrect( u ) )
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{
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u = u + m_cvFlow( y, x );
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count++;
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}
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}
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}
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if( count > 0 )
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{
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Point p = Point( x, y );
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Point ui( u.x / count, u.y / count );
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arrowedLine( cvMatAfter, p, p + ui, vectorColor );
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}
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}
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}
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m_pcOutputFrame->fromMat( cvMatAfter );
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}
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Void OpticalFlowModule::compensateFlow()
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{
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for( UInt c = 0; c < m_pcOutputFrame->getNumberChannels(); c++ )
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{
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Pel** pPelPrev = m_pcFramePrev->getPelBufferYUV()[c];
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Pel* pPelOut = m_pcOutputFrame->getPelBufferYUV()[c][0];
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for( UInt y = 0; y < m_pcOutputFrame->getHeight( c ); y++ )
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{
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for( UInt x = 0; x < m_pcOutputFrame->getWidth( c ); x++ )
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{
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Point2f u = m_cvFlow( y, x );
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Point p( x + u.x, y + u.y);
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*pPelOut = pPelPrev[p.y][p.x];
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pPelOut++;
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}
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}
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}
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}
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PlaYUVerFrame* OpticalFlowModule::process( std::vector<PlaYUVerFrame*> apcFrameList )
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{
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m_pcFrameAfter = apcFrameList[0];
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m_pcFramePrev = apcFrameList[1];
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Mat cvMatPrev, cvMatAfter;
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if( !m_pcFramePrev->toMat( cvMatPrev, true ) || !m_pcFrameAfter->toMat( cvMatAfter, true ) )
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{
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return m_pcOutputFrame;
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}
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m_cOpticalFlow->calc( cvMatAfter, cvMatPrev, m_cvFlow );
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if( m_bShowReconstruction )
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compensateFlow();
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else
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drawFlow();
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return m_pcOutputFrame;
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}
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Void OpticalFlowModule::destroy()
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{
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if( m_pcOutputFrame )
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delete m_pcOutputFrame;
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m_pcOutputFrame = NULL;
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// if( m_cOpticalFlow )
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// delete m_cOpticalFlow;
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}
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OpticalFlowDualTVL1::OpticalFlowDualTVL1()
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{
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/* Module Definition */
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m_pchModuleName = "OpticalFlowDualTVL1";
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m_pchModuleTooltip = "Measure optical flow using DualTVL1 method";
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}
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Bool OpticalFlowDualTVL1::create( std::vector<PlaYUVerFrame*> apcFrameList )
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{
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Bool bRet = commonCreate( apcFrameList );
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if( !bRet )
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return bRet;
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m_cOpticalFlow = cv::createOptFlow_DualTVL1();
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return bRet;
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}
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OpticalFlowSparseToDense::OpticalFlowSparseToDense()
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{
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/* Module Definition */
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m_pchModuleName = "OpticalFlowSparseToDense";
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m_pchModuleTooltip = "Measure optical flow using SparseToDense method";
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}
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Bool OpticalFlowSparseToDense::create( std::vector<PlaYUVerFrame*> apcFrameList )
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{
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Bool bRet = commonCreate( apcFrameList );
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if( !bRet )
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return bRet;
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m_cOpticalFlow = cv::optflow::createOptFlow_SparseToDense();
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return bRet;
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}
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OpticalFlowFarneback::OpticalFlowFarneback()
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{
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/* Module Definition */
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m_pchModuleName = "OpticalFlowFarneback";
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m_pchModuleTooltip = "Measure optical flow using Farneback method";
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}
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Bool OpticalFlowFarneback::create( std::vector<PlaYUVerFrame*> apcFrameList )
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{
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Bool bRet = commonCreate( apcFrameList );
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if( !bRet )
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return bRet;
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m_cOpticalFlow = cv::optflow::createOptFlow_Farneback();
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return bRet;
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}
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