maxLevel 4->3

app/src/main/cpp/CMakeLists.txt

@@ -10,6 +10,10 @@ set(OpenCV_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../../../sdk/native/jni)
 find_package(OpenCV REQUIRED)
 include_directories( ${OpenCV_INCLUDE_DIRS} )
 
+set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR}/../../../../../FFTW_Install)
+set(FFTW3_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../../../fftw-3.3.8)
+add_subdirectory(${FFTW3_DIR} ${CMAKE_CURRENT_BINARY_DIR}/fftw_build)
+include_directories(${FFTW3_DIR}/api)
 # Creates and names a library, sets it as either STATIC
 # or SHARED, and provides the relative paths to its source code.
 # You can define multiple libraries, and CMake builds them for you.
@@ -24,7 +28,8 @@ add_library( # Sets the name of the library.
              # Provides a relative path to your source file(s).
              native-lib.cpp
              ImageProcess.cpp
-             OptFlow.cpp)
+             OptFlow.cpp
+             optflow_FFT.cpp)
 
 # Searches for a specified prebuilt library and stores the path as a
 # variable. Because CMake includes system libraries in the search path by
@@ -47,6 +52,7 @@ target_link_libraries( # Specifies the target library.
                        native-lib
                        jnigraphics
                        ${OpenCV_LIBRARIES}
+                       fftw3
                        # Links the target library to the log library
                        # included in the NDK.
                        ${log-lib} )

app/src/main/cpp/optflow_FFT.cpp

@@ -0,0 +1,100 @@
+//
+// Created by xrj on 20-10-5.
+//
+
+#include "optflow_FFT.h"
+#include "fftw3.h"
+optflow_FFT::optflow_FFT(uint32_t n)
+{
+    //ctor
+    this->n = n;
+    crop_db =    (double*)fftw_malloc(sizeof(double)*n*n);
+    out1 = (fftw_complex*)fftw_malloc(sizeof(fftw_complex)*n*(n/2+1));
+    out2 = (fftw_complex*)fftw_malloc(sizeof(fftw_complex)*n*(n/2+1));
+    mul  = (fftw_complex*)fftw_malloc(sizeof(fftw_complex)*n*(n/2+1));
+    ifft =       (double*)fftw_malloc(sizeof(double)*n*n);
+    if(fftw_import_wisdom_from_filename("wisdom.fftw")!=0){
+        p1 = fftw_plan_dft_r2c_2d(n, n, crop_db, out1, FFTW_WISDOM_ONLY);
+        p2 = fftw_plan_dft_r2c_2d(n, n, crop_db, out2, FFTW_WISDOM_ONLY);
+        p_ifft = fftw_plan_dft_c2r_2d(n, n, mul, ifft, FFTW_WISDOM_ONLY);
+    }else{
+        p1 = fftw_plan_dft_r2c_2d(n, n, crop_db, out1, FFTW_PATIENT);
+        p2 = fftw_plan_dft_r2c_2d(n, n, crop_db, out2, FFTW_PATIENT);
+        p_ifft = fftw_plan_dft_c2r_2d(n, n, mul, ifft, FFTW_PATIENT);
+    }
+}
+
+optflow_FFT::~optflow_FFT()
+{
+    //dtor
+    fftw_free(crop_db);
+    fftw_free(out1);
+    fftw_free(out2);
+    fftw_destroy_plan(p1);
+    fftw_destroy_plan(p2);
+}
+
+void optflow_FFT::run(uint32_t n)
+{
+    if(n==0)
+        fftw_execute(p1);
+    else
+        fftw_execute(p2);
+}
+
+int optflow_FFT::save()
+{
+    FILE *fp;
+    fp = fopen("wisdom.fftw", "w");
+    if(fp==NULL){
+        return 1;
+    }
+    fftw_export_wisdom_to_file(fp);
+    fclose(fp);
+    return 0;
+}
+
+void optflow_FFT::fill_data(Mat &mat_in, uint32_t x0, uint32_t y0)
+{
+    uint8_t *ptr_row;
+    double *ptr_db=crop_db;
+    for(uint32_t i=y0;i<y0+n;i++) {
+        ptr_row = mat_in.ptr(i, x0);
+        for(uint32_t j=0;j<n;j++) {
+            *ptr_db++=*ptr_row++;
+        }
+    }
+}
+
+void optflow_FFT::calc_delta()
+{
+    double mul_real, mul_imag, sqrt2;
+    for(uint32_t i=0;i<64*33;i++) {
+        mul_real = out1[i][0]*out2[i][0] + out1[i][1]*out2[i][1];
+        mul_imag =-out1[i][0]*out2[i][1] + out1[i][1]*out2[i][0];
+        sqrt2 = sqrt(mul_real*mul_real + mul_imag*mul_imag);
+        mul[i][0] = mul_real/sqrt2;
+        mul[i][1] = mul_imag/sqrt2;
+    }
+    fftw_execute(p_ifft);
+}
+
+void optflow_FFT::copy_result(uint8_t* p)
+{
+    double abs_v;
+    for(uint32_t i=0;i<64*64;i++) {
+        abs_v = ifft[i]/20;
+        abs_v += 32;
+        abs_v = abs_v<0   ?   0 : abs_v;
+        abs_v = abs_v>255 ? 255 : abs_v;
+        *p++ = (uint8_t)abs_v;
+    }
+    /*for(uint32_t i=0;i<64*33;i++) {
+        abs_v = mul[i][0];
+        abs_v = abs_v/4 + 128;
+        abs_v = abs_v<0   ?   0 : abs_v;
+        abs_v = abs_v>255 ? 255 : abs_v;
+        cout<<abs_v<<endl;
+        *p++ = (uint8_t)abs_v;
+    }*/
+}

app/src/main/cpp/optflow_FFT.h

@@ -0,0 +1,39 @@
+//
+// Created by xrj on 20-10-5.
+//
+
+#ifndef SH_3DScaner_OPTFLOW_FFT_H
+#define SH_3DScaner_OPTFLOW_FFT_H
+
+#include <cstdint>
+#include "fftw3.h"
+#include "opencv2/core.hpp"
+
+using namespace cv;
+class optflow_FFT
+{
+    public:
+        optflow_FFT(uint32_t n);
+        virtual ~optflow_FFT();
+        void run(uint32_t n);
+        void fill_data(Mat &in, uint32_t x0, uint32_t y0);
+        void calc_delta();
+        void copy_result(uint8_t* p);
+
+    protected:
+        int save();
+
+    private:
+        uint32_t n=0;
+        fftw_plan p1;
+        fftw_plan p2;
+        fftw_plan p_ifft;
+        double *crop_db;
+        fftw_complex *out1;
+        fftw_complex *out2;
+        fftw_complex *mul;
+        double *ifft;
+};
+
+
+#endif //SH_3DScaner_OPTFLOW_FFT_H