FazBrowse GitHub Viewer | Trending |
URL:
| Home
Tools: [Download Repo ZIP]   [Original HTTPS Page]

Optical flow camera by saihv · Pull Request #3938 · microsoft/AirSim · GitHub

/ AirSim Public

Optical flow camera - #3938

Merged
David Zimmermann (zimmy87) merged 3 commits into
microsoft:masterfrom
saihv:PR/OpticalFlow
Nov 17, 2021
ConversationCommits (3)ChecksFiles changed
Merged

Optical flow camera#3938
David Zimmermann (zimmy87) merged 3 commits into
microsoft:masterfrom
saihv:PR/OpticalFlow

Conversation

Sai Vemprala (saihv) commented Aug 8, 2021 •
edited
Loading

Copy link
Copy Markdown
Contributor

About

Adds an optical flow camera that computes pixel velocity through a material/HLSL code. Inspired by carla-simulator/carla#4104, and the discussion at https://github.com/EpicGames/UnrealEngine/pull/6933 (thanks to William Emfinger (@finger563) for the discussion and useful code!)

This PR does not make use of UE's native velocity buffer due to issues in its calculation of motion vectors (see https://github.com/EpicGames/UnrealEngine/pull/6933), and hence, can only compute optical flow based on camera motion and not dynamic objects. This is meant as an intermediate step while UE fixes the issues with velocity buffer (more discussion at https://github.com/florian-world/VelocityUE4).

The flow data is exposed in two ways, through two new 'cameras':

  1. OpticalFlowCaptureComponent returns a 2-channel image where the channels correspond to vx and vy respectively. Corresponding material: HUDAssets/OpticalFlowMaterial.
  2. OpticalFlowVisCaptureComponent is the other camera which converts the flow data to RGB for a more 'visual' output. Corresponding material: HUDAssets/OpticalFlowRGBMaterial.

How Has This Been Tested?

The two new cameras can be targeted through their ids 8 and 9; and can be visualized either through subwindows or through the normal Python image request API.

Pending accuracy tests of per-pixel flow.

Screenshots (if appropriate):

opticalflow.mp4

Sai Vemprala (saihv) marked this pull request as draft August 8, 2021 02:33
Sai Vemprala (saihv) marked this pull request as ready for review November 9, 2021 17:42

Jonathan (jonyMarino) commented Nov 15, 2021

Copy link
Copy Markdown
Collaborator

Sai Vemprala (@saihv) What is the difference between OpticalFlow and OpticalFlowVis?

Sai Vemprala (saihv) commented Nov 16, 2021

Copy link
Copy Markdown
Contributor Author

Jonathan (@jonyMarino)

OpticalFlow is a 2-channel image where the channels correspond to vx and vy respectively (camera optical flow velocity). This is the data that is the actual raw optical flow. Corresponding material: HUDAssets/OpticalFlowMaterial.
OpticalFlowVis is a modified version that converts the flow data to RGB for a more 'visual' output that is easy to understand. Corresponding material: HUDAssets/OpticalFlowRGBMaterial.

Merge remote-tracking branch 'upstream/master' into PR/OpticalFlow
38e5802
Update BP_PIPCamera.uasset
4e3f875 
recreate OpticalFlowCaptureComponent & OpticalFlowVisCaptureComponent to create version of BP_PIPCamera merged with master

David Zimmermann (zimmy87) commented Nov 17, 2021

Copy link
Copy Markdown
Contributor

Tested locally and it works for me; thanks for the contribution Sai Vemprala (@saihv)!

David Zimmermann (zimmy87) merged commit f29f399 into microsoft:master Nov 17, 2021

Alon (alonfaraj) commented Dec 2, 2021

Copy link
Copy Markdown
Contributor

Hi Sai Vemprala (@saihv),
This is a great feature, thanks!
Maybe it's worth update the documentation , as well as the ros wrapper code.

David Zimmermann (zimmy87) added a commit that referenced this pull request Dec 7, 2021
Update image_apis.md
77a3be7 
This adds an extra section to the image type documentation about the new image types added in #3938
David Zimmermann (zimmy87) mentioned this pull request Dec 7, 2021
Merged
Rajat Singhal (rajat2004) mentioned this pull request Feb 26, 2022
Closed
Amigoshan mentioned this pull request Mar 3, 2022
Closed

Kaixin Chen (KaiXin-Chen) commented Oct 29, 2022

Copy link
Copy Markdown

Hi,
Thanks for the great functionality. However, there are something that I don't quite understand about it, mind giving me some clue on this?

  1. If we store optical flow in the format of png ( using the argument PixelsAsFloat= false). it doesn't make sense for me of saving optical flow information in the format of uint8 (as optical flow can be negitive and should be a float)

  2. If we store it using .pfm (PixelsAsFloat= true), the pfm file only have one channel, which also doesn't make sense to me.

Mind letting me know what I did wrong? Thanks a lot !

artths commented Apr 21, 2023

Copy link
Copy Markdown

Hi, Thanks for the great functionality. However, there are something that I don't quite understand about it, mind giving me some clue on this?

  1. If we store optical flow in the format of png ( using the argument PixelsAsFloat= false). it doesn't make sense for me of saving optical flow information in the format of uint8 (as optical flow can be negitive and should be a float)
  2. If we store it using .pfm (PixelsAsFloat= true), the pfm file only have one channel, which also doesn't make sense to me.

Mind letting me know what I did wrong? Thanks a lot !

It's not about storing. Response itself seem to have only 1 channel. This feature is broken.

kailler (kaillerC94) commented Oct 29, 2024 •
edited
Loading

Copy link
Copy Markdown

Hi, Thanks for the great functionality. However, there are something that I don't quite understand about it, mind giving me some clue on this?

  1. If we store optical flow in the format of png ( using the argument PixelsAsFloat= false). it doesn't make sense for me of saving optical flow information in the format of uint8 (as optical flow can be negitive and should be a float)
  2. If we store it using .pfm (PixelsAsFloat= true), the pfm file only have one channel, which also doesn't make sense to me.

Mind letting me know what I did wrong? Thanks a lot !

Still encounter this problem in 2024. Did you solve it later Kaixin Chen (@KaiXin-Chen) ?

This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode characters
Show hidden characters
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

feature request images

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

7 participants

Back | FazBrowse Home | New Git URL