create_input_for_my.rar_3d flow_Computer Vision_Vision

/* we want to unify the optical flow , normal flow (modified version fo lucas.c, include only the Un, instead fo Unx, Uny.) field and Gradient field (created by a modified version of lucas.c) to a single file. notice that here the original point has been shifted from the top-left corner to the centre of image plane. this program aims to read the optical flow, normal flow(Raw) and gradient flow computed by Lucas&Kanade, then write to one file include x,y, u, v, Un, nx,ny. take notice that we have a MAX_NO_OF_INPUT constraint! we use pic_w to represent the number of column! */ #include<stdio.h> #include<math.h> #include<string.h> #include<stdlib.h> #define NO_VALUE 100.0 #define SIZE_FLOAT 4 /*size of float*/ #define HEAD_BARRON 24 /*size of the head of output of barron's code in bytes*/ #define MAX_NO_of_INPUT 300*300 malloc_3D_array(float ****pf,int nocol,int norow,int not)/*not is 1 or 2, it is no use here*/ { int i,j,k; float ***p; p=(float ***)malloc((norow)*sizeof(float **)); if (p==NULL) { printf("There is no enough space\n"); exit(1); } *pf=p; for (i=0;i<norow;i++) { p[i]=(float **)malloc((nocol)*sizeof(float*)); if (p[i]==NULL) { printf("There is no enough space\n"); exit(1); } } for(i=0;i<norow;i++) for(j=0;j<nocol;j++) { p[i][j]=(float *)malloc(not*sizeof(float)); } for(i=0;i<norow;i++) for(j=0;j<nocol;j++) for(k=0;k<not;k++) p[i][j][k]=0.0; } void read_Barron_files(char *fname,float ****readin_array,int *P_W,int *P_L,int *F_W,int *F_L,int *o_set) { FILE *fp; int i,j; float *** T_readin_array; /* use a 3_D array to store the flow value. a[x][y][0or1]*/ int pic_w,pic_l; /*define the width and length of the image. pic_w is the width (column number or pic_x*/ int field_w,field_l; /* size of the field*/ int offset; /*how many pixel from the bundary of image has no field existing*/ int n_of_flow; /*calculate how many pixels are with velocities computed. (to comfirm read correctly)*/ float p_w,p_l,f_w,f_l,o_t; /*temporaryly store the float value read from files*/ if((fp=fopen(fname,"rb"))==NULL) { printf("can't open the file: %s!\n",fname); exit(1); } for (i=0;i<(HEAD_BARRON/SIZE_FLOAT);i++) { if(i==0) fread(&p_w,SIZE_FLOAT,1,fp); if(i==1) fread(&p_l,SIZE_FLOAT,1,fp); if(i==2) fread(&f_w,SIZE_FLOAT,1,fp); if(i==3) fread(&f_l,SIZE_FLOAT,1,fp); if(i==4) fread(&o_t,SIZE_FLOAT,1,fp); if(i==5) fread(&o_t,SIZE_FLOAT,1,fp); } pic_w=(int)p_w; pic_l=(int)p_l; field_w=(int)f_w; field_l=(int)f_l; offset=(int)o_t; malloc_3D_array(&T_readin_array,pic_w,pic_l, 2); n_of_flow=0; for(i=offset;i<pic_l-offset;i++) for(j=offset;j<pic_w-offset;j++) { fread(T_readin_array[i][j],2*SIZE_FLOAT,1,fp); if(((T_readin_array[i][j][0])!=NO_VALUE)&&((T_readin_array[i][j][1])!=NO_VALUE)) n_of_flow++; } *readin_array=T_readin_array; *P_W=pic_w; /*pic_w refer to number of column*/ *P_L=pic_l; *F_W=field_w; *F_L=field_l; *o_set=offset; printf("The flow stored in %s has been read into a 3D array which is a %d by %d by 2 (no_of_row*no_of_col*2)\n",fname,pic_l,pic_w); printf("the number of pixel with flow computed is %d\n",n_of_flow); printf("%f%% of the pixel point is computed with flow\n",100*(float)n_of_flow/(field_w*field_l)); fclose(fp); } void main(int argc, char ** argv) { int i,j,k; int n_of_flow; float ***Optical_flow; float ***Normal_flow; /* here we want to read the Un itself, instead of Unx and Uny*/ float ***Gradient_field; char Output_name[30]; int pic_w,pic_l,field_w,field_l,offset; int x,y; float u,v,Un,nx,ny; FILE *fp; typedef struct { int x; int y; float u; float v; float Un; float nx; float ny; }myinput; myinput input[MAX_NO_of_INPUT]; if(argc!=5) { printf("\nUsage: %s <Opticalflow file name ><Gradient_field file name><Magnitude of Normal flow file name (Un)><stem name for output file>\n",argv[0]); exit(1); } sprintf(Output_name,"%s.input",argv[4]); /*float P_of_haveallflow; /*TO represent how many percent image points have both optical and normal flow*/ /*float P_of_correct_o_flow;/*To represent how many percent projection along gradient direction of optical flow is within 10% difference with normal flow*/ read_Barron_files(argv[1],&Optical_flow,&pic_w,&pic_l,&field_w,&field_l,&offset); read_Barron_files(argv[2],&Normal_flow,&pic_w,&pic_l,&field_w,&field_w,&offset); read_Barron_files(argv[3],&Gradient_field,&pic_w,&pic_l,&field_w,&field_l,&offset); n_of_flow=0; for(i=offset;i<pic_l-offset;i++) for(j=offset;j<pic_w-offset;j++) { if((Optical_flow[i][j][0]!=NO_VALUE)&&(Normal_flow[i][j][0]!=NO_VALUE)) { input[n_of_flow].x=j-pic_w/2;/*take notice here!*/ input[n_of_flow].y=-i+pic_l/2; input[n_of_flow].u=Optical_flow[i][j][0]; input[n_of_flow].v=Optical_flow[i][j][1]; input[n_of_flow].Un=Normal_flow[i][j][0]; input[n_of_flow].nx=Gradient_field[i][j][0]; input[n_of_flow].ny=Gradient_field[i][j][1]; n_of_flow++; } } printf("there are %d image pixel with both optical flow and normal flow\n",n_of_flow); printf("Writing to output file %s...",Output_name); fp=fopen(Output_name,"w"); if(fp==NULL) { printf("can't open the output file:%s\n",Output_name); exit(1); } for (k=0;k<n_of_flow;k++) { fprintf(fp,"%5d %5d %5.5f %5.5f %5.5f %5.5f %5.5f\n", input[k].x,input[k].y,input[k].u,input[k].v,input[k].Un,input[k].nx,input[k].ny); } fclose(fp); printf("\nfinished!\n"); }