IMPORTANT:

Please consider using https://github.com/jadarve/lluvia instead of this repo. Lluvia includes an implementation of this algorithm running using the Vulkan API instead of CUDA. Checkout this demo: https://www.youtube.com/watch?v=mRZ6YdWb8fE.

Optical-flow-filter

A real time optical flow algorithm implemented on GPU.

@Article{2016_Adarve_RAL,
  Title = {A Filter Formulation for Computing Real Time Optical Flow},
  Author = {{Juan David} Adarve and Robert Mahony},
  Journal = {Robotics and Automation Letters},
  Year = {2016}
}

Build and Installation

Dependencies

• CMake 2.8.11 or higher.
• Cuda 7.5 or higher.
• GCC 4.8.
• Visual Studio 2013 (Windows only).

Build (Linux)

git clone https://github.com/jadarve/optical-flow-filter.git
cd optical-flow-filter
mkdir build
cd build
cmake ..
make
sudo make install 

The library and header files will be installed at /usr/local/lib and /usr/local/include respectively.

Build (Windows)

For x86_64

mkdir build64 & cd build64
cmake -G "Visual Studio 12 2013 Win64" ..
cmake --build . --config Release

For x86

mkdir build & cd build
cmake -G "Visual Studio 12 2013"
cmake --build . --config Release

Python Wrappers

A python package with wrappers to the C++ library is available at optical-flow-filter/python/ folder. The wrappers have been developed and build using Cython 0.23.4.

cd optical-flow-filter/python/
python setup.py build
sudo python setup.py install

See notebooks/ folder for usage examples.

Demo Applications

flowWebCam

This demo computes optical flow from a webcam. It uses OpenCV to access the camera video stream and to display the computed flow. The instructions to build the demo are the following:

cd optical-flow-filter/demos/flowWebCam
mkdir build
cd build
cmake ..
make
./flowWebCam

highSpeedDemo

This demo interfaces a Basler camera, in our case an acA2000-165um, with the GPU optical flow algorithm, and displays the color encoded flow.

cd optical-flow-filter/demos/highSpeedDemo
mkdir build
cd build
cmake ..
make

To run the application, it is necessary to specify the camera properties file, as follows

./highSpeedDemo -c ../acA2000-165um_binSkip.pfs

Other optional arguments are:

./highSpeedDemo -h

-h, --help             Displays this help.
-v, --version          Displays version information.
-c, --config <file>    Camera configuration file.
-l, --levels <int>     Flow filter pyramid levels (default 2).
-r, --rate <int>       Camera frame rate (default 300).
-m, --maxflow <float>  Maximum optical flow (default 4.0).