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# Copyright (c) Meta Platforms, Inc. and affiliates.
# All rights reserved.
#
# This source code is licensed under the license found in the
# LICENSE file in the root directory of this source tree.
from typing import Optional, Union
import numpy as np
from mmcv.image import rgb2bgr
from mmcv.video import flowread
from .image import imshow
def flowshow(flow: Union[np.ndarray, str],
win_name: str = '',
wait_time: int = 0) -> None:
"""Show optical flow.
Args:
flow (ndarray or str): The optical flow to be displayed.
win_name (str): The window name.
wait_time (int): Value of waitKey param.
"""
flow = flowread(flow)
flow_img = flow2rgb(flow)
imshow(rgb2bgr(flow_img), win_name, wait_time)
def flow2rgb(flow: np.ndarray,
color_wheel: Optional[np.ndarray] = None,
unknown_thr: float = 1e6) -> np.ndarray:
"""Convert flow map to RGB image.
Args:
flow (ndarray): Array of optical flow.
color_wheel (ndarray or None): Color wheel used to map flow field to
RGB colorspace. Default color wheel will be used if not specified.
unknown_thr (float): Values above this threshold will be marked as
unknown and thus ignored.
Returns:
ndarray: RGB image that can be visualized.
"""
assert flow.ndim == 3 and flow.shape[-1] == 2
if color_wheel is None:
color_wheel = make_color_wheel()
assert color_wheel.ndim == 2 and color_wheel.shape[1] == 3
num_bins = color_wheel.shape[0]
dx = flow[:, :, 0].copy()
dy = flow[:, :, 1].copy()
ignore_inds = (
np.isnan(dx) | np.isnan(dy) | (np.abs(dx) > unknown_thr) |
(np.abs(dy) > unknown_thr))
dx[ignore_inds] = 0
dy[ignore_inds] = 0
rad = np.sqrt(dx**2 + dy**2)
if np.any(rad > np.finfo(float).eps):
max_rad = np.max(rad)
dx /= max_rad
dy /= max_rad
rad = np.sqrt(dx**2 + dy**2)
angle = np.arctan2(-dy, -dx) / np.pi
bin_real = (angle + 1) / 2 * (num_bins - 1)
bin_left = np.floor(bin_real).astype(int)
bin_right = (bin_left + 1) % num_bins
w = (bin_real - bin_left.astype(np.float32))[..., None]
flow_img = (1 -
w) * color_wheel[bin_left, :] + w * color_wheel[bin_right, :]
small_ind = rad <= 1
flow_img[small_ind] = 1 - rad[small_ind, None] * (1 - flow_img[small_ind])
flow_img[np.logical_not(small_ind)] *= 0.75
flow_img[ignore_inds, :] = 0
return flow_img
def make_color_wheel(bins: Optional[Union[list, tuple]] = None) -> np.ndarray:
"""Build a color wheel.
Args:
bins(list or tuple, optional): Specify the number of bins for each
color range, corresponding to six ranges: red -> yellow,
yellow -> green, green -> cyan, cyan -> blue, blue -> magenta,
magenta -> red. [15, 6, 4, 11, 13, 6] is used for default
(see Middlebury).
Returns:
ndarray: Color wheel of shape (total_bins, 3).
"""
if bins is None:
bins = [15, 6, 4, 11, 13, 6]
assert len(bins) == 6
RY, YG, GC, CB, BM, MR = tuple(bins)
ry = [1, np.arange(RY) / RY, 0]
yg = [1 - np.arange(YG) / YG, 1, 0]
gc = [0, 1, np.arange(GC) / GC]
cb = [0, 1 - np.arange(CB) / CB, 1]
bm = [np.arange(BM) / BM, 0, 1]
mr = [1, 0, 1 - np.arange(MR) / MR]
num_bins = RY + YG + GC + CB + BM + MR
color_wheel = np.zeros((3, num_bins), dtype=np.float32)
col = 0
for i, color in enumerate([ry, yg, gc, cb, bm, mr]):
for j in range(3):
color_wheel[j, col:col + bins[i]] = color[j]
col += bins[i]
return color_wheel.T
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