void MotionTrackerFB::drawOpticalFlow(cv::Mat& output, float maxmotion)
{
// determine motion range:
maxrad = maxmotion;
if (maxmotion <= 0) {
maxrad = 1;
for (int y = 0; y < flow.rows; ++y)
{
for (int x = 0; x < flow.cols; ++x)
{
cv::Point2f u = flow(y, x);
if (!isFlowCorrect(u))
continue;
maxrad = std::max(maxrad, (float)sqrt(u.x * u.x + u.y * u.y));
}
}
}
for (int y = 0; y < flow.rows; ++y) {
for (int x = 0; x < flow.cols; ++x) {
cv::Point2f u = flow(y, x);
if (isFlowCorrect(u))
output.at<cv::Vec3b>(y, x) = computeColor(u.x / maxrad, u.y / maxrad);
}
}
}
static void drawOpticalFlow(const Mat_<Point2f>& flow, Mat& dst, float maxmotion = -1)
{
dst.create(flow.size(), CV_8UC3);
dst.setTo(Scalar::all(0));
// determine motion range:
float maxrad = maxmotion;
if (maxmotion <= 0)
{
maxrad = 1;
for (int y = 0; y < flow.rows; ++y)
{
for (int x = 0; x < flow.cols; ++x)
{
Point2f u = flow(y, x);
if (!isFlowCorrect(u))
continue;
maxrad = max(maxrad, sqrt(u.x * u.x + u.y * u.y));
}
}
}
for (int y = 0; y < flow.rows; ++y)
{
for (int x = 0; x < flow.cols; ++x)
{
Point2f u = flow(y, x);
if (isFlowCorrect(u))
dst.at<Vec3b>(y, x) = computeColor(u.x / maxrad, u.y / maxrad);
}
}
}
void CameraInteraction::calc_mean(Mat flow1,float &um, float &vm) {
float sumu = 0;
float sumv = 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);
float u1 = flow1_at_point[0];
float v1 = flow1_at_point[1];
if (isFlowCorrect(u1) && isFlowCorrect(v1)) {
sumu += u1;
sumv += v1;
counter++;
}
}
}
um=sumu/(1e-9 + counter);
vm=sumv/(1e-9 + counter);
}
