Update to Include New Colorwheel texture - dark at 0 flow

demos/flowWebCam/CMakeLists.txt

@@ -17,5 +17,6 @@ set (CMAKE_CXX_COMPILER         "g++")
 set (CMAKE_CXX_FLAGS            "-std=c++11 -flto -O2 -Wall")
 
 
+
 add_executable( flowWebCam src/flowWebCam.cpp )
-target_link_libraries( flowWebCam ${OpenCV_LIBS} ${LIBS})
+target_link_libraries( flowWebCam ${OpenCV_LIBS} ${LIBS})

demos/flowWebCam/src/flowWebCam.cpp

@@ -8,6 +8,10 @@
 #include <iostream>
 #include <vector>
 
+#include <ctime>
+#include <unistd.h>
+#include <sys/time.h>
+
 #include <opencv2/opencv.hpp>
 
 #include <flowfilter/gpu/flowfilter.h>
@@ -40,6 +44,7 @@ void wrapCVMat(Mat& cvMat, image_t& img) {
 int main(int argc, char** argv) {
 
     int cameraIndex = 0;
+    timeval start, end;
 
     // if user provides camera index
     if(argc > 1) {
@@ -50,12 +55,12 @@ int main(int argc, char** argv) {
     if(!cap.isOpened()){
         return -1;
     }
-
-    Mat frame;
-
+
+    Mat frame, frameTrue;
 
     //  captura a frame to get image width and height
-    cap >> frame;
+    cap >> frameTrue;
+    cv::flip(frameTrue, frame, 1);
     int width = frame.cols;
     int height = frame.rows;
     cout << "frame shape: [" << height << ", " << width << "]" << endl;
@@ -69,14 +74,13 @@ int main(int argc, char** argv) {
 
     wrapCVMat(frameGray, hostImageGray);
     wrapCVMat(fcolor, hostFlowColor);
-
 
     //#################################
     // Filter parameters
     //#################################
-    float maxflow = 40.0f;
-    vector<float> gamma = {500.0f, 50.0f, 5.0f};
-    vector<int> smoothIterations = {2, 8, 20};
+    float maxflow = 4.0f;
+    vector<float> gamma = {10, 50,10};
+    vector<int> smoothIterations = {3, 3,3};
 
     //#################################
     // Filter creation with
@@ -94,21 +98,26 @@ int main(int argc, char** argv) {
     Mat flowHost(height, width, CV_32FC2);
     image_t flowHostWrapper;
     wrapCVMat(flowHost, flowHostWrapper);
-
 
     // Color encoder connected to optical flow buffer in the GPU
-    FlowToColor flowColor(filter.getFlow(), maxflow);
+    FlowToColor flowColor(filter.getFlow(), maxflow, 1);
 
 
     // Capture loop
     for(;;) {
+
 
         // capture a new frame from the camera
         // and convert it to gray scale (uint8)
-        cap >> frame;
-        cvtColor(frame, frameGray, CV_BGR2GRAY);
+        gettimeofday(&start, 0);
+        cap >> frameTrue;
+
+        cv::flip(frameTrue, frame, 1);
 
+        cvtColor(frame, frameGray, CV_BGR2GRAY);
+
         // transfer image to flow filter and compute
+
         filter.loadImage(hostImageGray);
         filter.compute();
 
@@ -128,8 +137,11 @@ int main(int argc, char** argv) {
 
         imshow("image", frameGray);
         imshow("optical flow", fcolor);
-
-        if(waitKey(1) >= 0) break;
+	    waitKey(5);
+        //if(waitKey(5) >= 0) break;
+        gettimeofday(&end, 0);
+        //cout << "difference: " << (end.tv_usec/1000.0 - start.tv_usec/1000.0) << endl << endl;
+        cout << "fps: " <<  1000.0/(end.tv_usec/1000.0 - start.tv_usec/1000.0) << endl << endl;
     }
 
     // the camera will be deinitialized automatically in VideoCapture destructor

include/flowfilter/colorwheel.h

@@ -18,14 +18,16 @@ namespace flowfilter {
      * The color wheel texture contains RGB values for each
      */
     FLOWFILTER_API extern unsigned char COLOR_WHEEL_D[];
+    FLOWFILTER_API extern unsigned char COLOR_WHEEL_DARK_D[];
 
     FLOWFILTER_API const int COLOR_WHEEL_HEIGHT = 256;
     FLOWFILTER_API const int COLOR_WHEEL_WIDTH = 256;
     FLOWFILTER_API const int COLOR_WHEEL_DEPTH = 4;
 
 
     FLOWFILTER_API image_t getColorWheelRGBA();
+    FLOWFILTER_API image_t getColorWheelDarkRGBA();
 
 }; // namespace flowfilter
 
-#endif // FLOWFILTER_COLORWHEEL_H_
+#endif // FLOWFILTER_COLORWHEEL_H_

include/flowfilter/gpu/display.h

@@ -25,6 +25,7 @@ class FLOWFILTER_API FlowToColor : public Stage {
 public:
     FlowToColor();
     FlowToColor(flowfilter::gpu::GPUImage inputFlow, const float maxflow);
+    FlowToColor(flowfilter::gpu::GPUImage inputFlow, const float maxflow, const int colorwheelselected);
     ~FlowToColor();
 
 public:
@@ -78,6 +79,7 @@ class FLOWFILTER_API FlowToColor : public Stage {
     bool __inputFlowSet;
 
     float __maxflow;
+    int __colorWheelSelect;
 
     flowfilter::gpu::GPUImage __colorWheel;
     flowfilter::gpu::GPUTexture __colorWheelTexture;
@@ -95,4 +97,4 @@ class FLOWFILTER_API FlowToColor : public Stage {
 }; // namepsace gpu
 }; // namespace flowfilter
 
-#endif // FLOWFILTER_DISPLAY_H_
+#endif // FLOWFILTER_DISPLAY_H_

include/flowfilter/gpu/image.h

@@ -178,4 +178,4 @@ class FLOWFILTER_API GPUTexture {
 }; // namespace flowfilter
 
 
-#endif // FLOWFILTER_GPU_IMAGE_H_
+#endif // FLOWFILTER_GPU_IMAGE_H_

python/flowfilter/misc.py

@@ -9,7 +9,6 @@
 """
 
 import numpy as np
-import numpy.linalg as la
 import scipy.ndimage as nd
 
 __all__ = ['imagePyramid', 'imageDown', 'imageUp']
@@ -141,51 +140,3 @@ def imageUp(img, order=1):
 
         # recombine channels and return
         return np.concatenate([p[...,np.newaxis] for p in zoomList], axis=2)
-
-
-def endpointError(flow1, flow2):
-    """returns Endpoint Error between two flow fields
-
-    Parameters
-    ----------
-    flow1 : ndarray.
-        First optical flow field.
-
-    flow2 : ndarray.
-        Second optical flow field.
-
-    Returns
-    -------
-    EE : endpoint error field.
-        Scalar field with the endpoint error.
-    """
-
-    return la.norm(flow1 - flow2, axis=2)
-
-
-def angularError(flow1, flow2):
-    """returns the angular error between two flow fields.
-
-    Parameters
-    ----------
-    flow1 : ndarray.
-        First optical flow field.
-
-    flow2 : ndarray.
-        Second optical flow field.
-
-    Returns
-    -------
-    AE : angular error field.
-        Scalar field with the angular error field in degrees.
-    """
-
-    f1_x = flow1[...,0]
-    f1_y = flow1[...,1]
-
-    f2_x = flow2[...,0]
-    f2_y = flow2[...,1]
-
-    top = 1.0 + f1_x*f2_x + f1_y*f2_y
-    bottom = np.sqrt(1.0 + f1_x*f1_x + f1_y*f1_y)*np.sqrt(1.0 + f2_x*f2_x + f2_y*f2_y)
-    return np.rad2deg(np.arccos(top / bottom))

python/flowfilter/plot.py

@@ -19,14 +19,21 @@
 
 # load color wheel image
 colorWheel = misc.imread(pkg_resources.resource_filename('flowfilter.rsc', 'colorWheel.png'), flatten=False)
+colorWheelDark = misc.imread(pkg_resources.resource_filename('flowfilter.rsc', 'colorWheelDark.png'), flatten=False)
 
 # RGB components of colorwheel
-_colorWheel_R = np.copy(colorWheel[...,0])
+#_colorWheel_R = np.copy(colorWheel[...,0])
+#_colorWheel_G = np.copy(colorWheel[...,1])
+#_colorWheel_B = np.copy(colorWheel[...,2])
+_colorWheel_R = np.copy(colorWheel[...,2])
 _colorWheel_G = np.copy(colorWheel[...,1])
-_colorWheel_B = np.copy(colorWheel[...,2])
+_colorWheel_B = np.copy(colorWheel[...,0])
+_colorWheelDark_R = np.copy(colorWheelDark[...,2])
+_colorWheelDark_G = np.copy(colorWheelDark[...,1])
+_colorWheelDark_B = np.copy(colorWheelDark[...,0])
 
 
-def flowToColor(flow, maxflow=1.0):
+def flowToColor(flow, maxflow=1.0, colorWheelReq=0):
     """Returns the color wheel encoded version of the flow field.
 
     Parameters
@@ -37,6 +44,9 @@ def flowToColor(flow, maxflow=1.0):
     maxflow : float, optional
         Maximum flow magnitude. Defaults to 1.0.
 
+    colorWheelReq : int, optional
+        ColorWheel assignment. Defaults to light wheel.
+
     Returns
     -------
     flowColor : ndarray
@@ -48,10 +58,17 @@ def flowToColor(flow, maxflow=1.0):
     """
 
     if maxflow <= 0.0: raise ValueError('maxflow should be greater than zero')
-    
+
     # height and width of color wheel texture
-    h, w = colorWheel.shape[0:2]
-
+
+    if colorWheelReq == 0:
+        h, w = colorWheel.shape[0:2]
+    elif colorWheelReq == 1:
+        h, w = colorWheelDark.shape[0:2]
+    else:
+        print "Error: flowToColor (3rd var) call wrong colorWheel value"
+        return 0
+
     # scale optical flow to lie in range [0, 1]
     flow_scaled = (flow + maxflow) / float(2*maxflow)
 
@@ -73,15 +90,19 @@ def flowToColor(flow, maxflow=1.0):
     color_B = np.zeros_like(color_R)
 
     # interpolate flow coordinates into RGB textures
-    interp.map_coordinates(_colorWheel_R, flow_swapped, color_R, order=0, mode='nearest', cval=0)
-    interp.map_coordinates(_colorWheel_G, flow_swapped, color_G, order=0, mode='nearest', cval=0)
-    interp.map_coordinates(_colorWheel_B, flow_swapped, color_B, order=0, mode='nearest', cval=0)
-
+    if colorWheelReq == 0:
+        interp.map_coordinates(_colorWheel_R, flow_swapped, color_R, order=0, mode='nearest', cval=0)
+        interp.map_coordinates(_colorWheel_G, flow_swapped, color_G, order=0, mode='nearest', cval=0)
+        interp.map_coordinates(_colorWheel_B, flow_swapped, color_B, order=0, mode='nearest', cval=0)
+    elif colorWheelReq == 1:
+        interp.map_coordinates(_colorWheelDark_R, flow_swapped, color_R, order=0, mode='nearest', cval=0)
+        interp.map_coordinates(_colorWheelDark_G, flow_swapped, color_G, order=0, mode='nearest', cval=0)
+        interp.map_coordinates(_colorWheelDark_B, flow_swapped, color_B, order=0, mode='nearest', cval=0)
+
     # creates output image
     flowColor = np.zeros((flow.shape[0], flow.shape[1], 3), dtype=np.uint8)
     flowColor[:,:,0] = color_R.reshape(flow.shape[0:2])
     flowColor[:,:,1] = color_G.reshape(flow.shape[0:2])
     flowColor[:,:,2] = color_B.reshape(flow.shape[0:2])
-
-    return flowColor
 
+    return flowColor

python/flowfilter/rotation.py

@@ -0,0 +1,63 @@
+"""
+    flowfilter.rotation
+    ----------------------
+
+    Module containing rotational optical flow methods.
+
+    :copyright: 2015, Juan David Adarve, ANU. See AUTHORS for more details
+    :license: 3-clause BSD, see LICENSE for more details
+"""
+
+import numpy as np
+import numpy.linalg as la
+
+
+def rotationalOpticalFlow(K, ishape, w):
+    """Computes rotational optical flow given camera intrinsics and angular velocity.
+
+    Parameters
+    ----------
+    K : ndarray.
+        3x3 camera intrinsics matrix.
+
+    ishape : 2-vector.
+        image resolution (height, width).
+
+    w : 3-vector.
+        angular velocity (wx, wy, wz).
+
+    Returns
+    -------
+    phi : ndarray.
+        Rotational optical flow field. (height, width, 2) float32 array.
+    """
+
+    # inverse intrinsics matrix
+    Kinv = la.inv(K)
+
+    # angular velocity components
+    wx, wy, wz = w
+
+    # pixel coordinates
+    X, Y = np.meshgrid(np.arange(ishape[1]), np.arange(ishape[0]))
+
+    # image plane coordinates
+    pcoord = np.zeros((ishape[0], ishape[1], 3))
+
+    # p = Kinv*(x, y, 1)^T
+    pcoord[...,0] = Kinv[0,0]*X + Kinv[0,1]*Y + Kinv[0,2]*1
+    pcoord[...,1] = Kinv[1,0]*X + Kinv[1,1]*Y + Kinv[1,2]*1
+    pcoord[...,2] = Kinv[2,0]*X + Kinv[2,1]*Y + Kinv[2,2]*1
+
+    # cross product between angular velocity and pcoord
+    crossProd = np.zeros((ishape[0], ishape[1], 3))
+    crossProd[...,0] = -pcoord[...,1]*wz + pcoord[...,2]*wy
+    crossProd[...,1] =  pcoord[...,0]*wz - pcoord[...,2]*wx
+    crossProd[...,2] = -pcoord[...,0]*wy + pcoord[...,1]*wx
+
+    # rotational optical flow
+    phi = np.zeros((ishape[0], ishape[1], 2), dtype=np.float32)
+    phi[...,0] = K[0,0]*crossProd[...,0] + (K[0,2] - X)*crossProd[...,2]
+    phi[...,1] = K[1,1]*crossProd[...,1] + (K[1,2] - Y)*crossProd[...,2]
+
+    return phi

python/setup.py

@@ -57,7 +57,7 @@ def createExtension(name, sources):
 # package data include Cython .pxd files
 package_data = {'flowfilter' : ['*.pxd'],
                 'flowfilter.gpu': ['*.pxd'],
-                'flowfilter.rsc' : ['colorWheel.png']}
+                'flowfilter.rsc' : ['colorWheel.png','colorWheelDark.png',]}
 
 #################################################
 # CYTHON EXTENSIONS

src/CMakeLists.txt

@@ -3,6 +3,7 @@ message(STATUS "entering src folder")
 add_gpu_sources (
     image.cpp
     colorwheel.cpp
+    colorwheeldark.cpp
 )
 
 # process CMakeLists.txt in gpu folder

src/colorwheel.cpp

@@ -9,7 +9,7 @@
 
 namespace flowfilter {
 
-unsigned char COLOR_WHEEL_D[] = 
+unsigned char COLOR_WHEEL_D[] =
 {
     0x00, 0x27, 0xBF, 0xFF, 0x00, 0x26, 0xBF, 0xFF, 0x00, 0x26, 0xBF, 0xFF,
     0x00, 0x25, 0xBF, 0xFF, 0x00, 0x25, 0xBF, 0xFF, 0x00, 0x24, 0xBF, 0xFF,
@@ -21873,4 +21873,4 @@ image_t getColorWheelRGBA() {
 }
 
 
-};
+};