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Open Source Computer Vision Library
https://opencv.org/
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279 lines
7.4 KiB
279 lines
7.4 KiB
#include <iostream> |
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#include <vector> |
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#include "cvconfig.h" |
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#include "opencv2/core/core.hpp" |
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#include "opencv2/core/opengl_interop.hpp" |
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#include "opencv2/imgproc/imgproc.hpp" |
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#include "opencv2/highgui/highgui.hpp" |
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#include "opencv2/video/video.hpp" |
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#include "opencv2/gpu/gpu.hpp" |
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using namespace std; |
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using namespace cv; |
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using namespace cv::gpu; |
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void download(const GpuMat& d_mat, vector<Point2f>& vec) |
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{ |
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vec.resize(d_mat.cols); |
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Mat mat(1, d_mat.cols, CV_32FC2, (void*)&vec[0]); |
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d_mat.download(mat); |
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} |
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void download(const GpuMat& d_mat, vector<uchar>& vec) |
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{ |
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vec.resize(d_mat.cols); |
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Mat mat(1, d_mat.cols, CV_8UC1, (void*)&vec[0]); |
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d_mat.download(mat); |
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} |
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void drawArrows(Mat& frame, const vector<Point2f>& prevPts, const vector<Point2f>& nextPts, const vector<uchar>& status, Scalar line_color = Scalar(0, 0, 255)) |
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{ |
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for (size_t i = 0; i < prevPts.size(); ++i) |
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{ |
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if (status[i]) |
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{ |
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int line_thickness = 1; |
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Point p = prevPts[i]; |
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Point q = nextPts[i]; |
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double angle = atan2((double) p.y - q.y, (double) p.x - q.x); |
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double hypotenuse = sqrt( (double)(p.y - q.y)*(p.y - q.y) + (double)(p.x - q.x)*(p.x - q.x) ); |
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if (hypotenuse < 1.0) |
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continue; |
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// Here we lengthen the arrow by a factor of three. |
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q.x = (int) (p.x - 3 * hypotenuse * cos(angle)); |
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q.y = (int) (p.y - 3 * hypotenuse * sin(angle)); |
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// Now we draw the main line of the arrow. |
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line(frame, p, q, line_color, line_thickness); |
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// Now draw the tips of the arrow. I do some scaling so that the |
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// tips look proportional to the main line of the arrow. |
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p.x = (int) (q.x + 9 * cos(angle + CV_PI / 4)); |
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p.y = (int) (q.y + 9 * sin(angle + CV_PI / 4)); |
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line(frame, p, q, line_color, line_thickness); |
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p.x = (int) (q.x + 9 * cos(angle - CV_PI / 4)); |
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p.y = (int) (q.y + 9 * sin(angle - CV_PI / 4)); |
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line(frame, p, q, line_color, line_thickness); |
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} |
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} |
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} |
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#ifdef HAVE_OPENGL |
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struct DrawData |
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{ |
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GlTexture tex; |
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GlArrays arr; |
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}; |
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void drawCallback(void* userdata) |
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{ |
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DrawData* data = static_cast<DrawData*>(userdata); |
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if (data->tex.empty() || data->arr.empty()) |
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return; |
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static GlCamera camera; |
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static bool init_camera = true; |
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if (init_camera) |
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{ |
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camera.setOrthoProjection(0.0, 1.0, 1.0, 0.0, 0.0, 1.0); |
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camera.lookAt(Point3d(0.0, 0.0, 1.0), Point3d(0.0, 0.0, 0.0), Point3d(0.0, 1.0, 0.0)); |
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init_camera = false; |
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} |
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camera.setupProjectionMatrix(); |
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camera.setupModelViewMatrix(); |
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render(data->tex); |
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render(data->arr, RenderMode::TRIANGLES); |
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} |
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#endif |
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template <typename T> inline T clamp (T x, T a, T b) |
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{ |
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return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a)); |
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} |
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template <typename T> inline T mapValue(T x, T a, T b, T c, T d) |
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{ |
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x = clamp(x, a, b); |
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return c + (d - c) * (x - a) / (b - a); |
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} |
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void getFlowField(const Mat& u, const Mat& v, Mat& flowField) |
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{ |
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float maxDisplacement = 1.0f; |
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for (int i = 0; i < u.rows; ++i) |
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{ |
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const float* ptr_u = u.ptr<float>(i); |
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const float* ptr_v = v.ptr<float>(i); |
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for (int j = 0; j < u.cols; ++j) |
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{ |
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float d = max(fabsf(ptr_u[j]), fabsf(ptr_v[j])); |
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if (d > maxDisplacement) |
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maxDisplacement = d; |
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} |
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} |
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flowField.create(u.size(), CV_8UC4); |
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for (int i = 0; i < flowField.rows; ++i) |
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{ |
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const float* ptr_u = u.ptr<float>(i); |
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const float* ptr_v = v.ptr<float>(i); |
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Vec4b* row = flowField.ptr<Vec4b>(i); |
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for (int j = 0; j < flowField.cols; ++j) |
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{ |
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row[j][0] = 0; |
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row[j][1] = static_cast<unsigned char> (mapValue (-ptr_v[j], -maxDisplacement, maxDisplacement, 0.0f, 255.0f)); |
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row[j][2] = static_cast<unsigned char> (mapValue ( ptr_u[j], -maxDisplacement, maxDisplacement, 0.0f, 255.0f)); |
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row[j][3] = 255; |
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} |
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} |
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} |
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int main(int argc, const char* argv[]) |
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{ |
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const char* keys = |
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"{ h | help | false | print help message }" |
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"{ l | left | | specify left image }" |
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"{ r | right | | specify right image }" |
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"{ g | gray | false | use grayscale sources [PyrLK Sparse] }" |
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"{ p | points | 4000 | specify points count [GoodFeatureToTrack] }"; |
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CommandLineParser cmd(argc, argv, keys); |
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if (cmd.get<bool>("help")) |
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{ |
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cout << "Usage: pyrlk_optical_flow [options]" << endl; |
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cout << "Avaible options:" << endl; |
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cmd.printParams(); |
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return 0; |
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} |
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string fname0 = cmd.get<string>("left"); |
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string fname1 = cmd.get<string>("right"); |
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if (fname0.empty() || fname1.empty()) |
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{ |
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cerr << "Missing input file names" << endl; |
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return -1; |
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} |
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bool useGray = cmd.get<bool>("gray"); |
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int points = cmd.get<int>("points"); |
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Mat frame0 = imread(fname0); |
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Mat frame1 = imread(fname1); |
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if (frame0.empty() || frame1.empty()) |
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{ |
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cout << "Can't load input images" << endl; |
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return -1; |
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} |
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namedWindow("PyrLK [Sparse]", WINDOW_NORMAL); |
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namedWindow("PyrLK [Dense] Flow Field", WINDOW_NORMAL); |
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#ifdef HAVE_OPENGL |
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namedWindow("PyrLK [Dense]", WINDOW_OPENGL); |
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setGlDevice(); |
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#endif |
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cout << "Image size : " << frame0.cols << " x " << frame0.rows << endl; |
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cout << "Points count : " << points << endl; |
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cout << endl; |
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Mat frame0Gray; |
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cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY); |
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Mat frame1Gray; |
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cvtColor(frame1, frame1Gray, COLOR_BGR2GRAY); |
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// goodFeaturesToTrack |
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GoodFeaturesToTrackDetector_GPU detector(points, 0.01, 0.0); |
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GpuMat d_frame0Gray(frame0Gray); |
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GpuMat d_prevPts; |
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detector(d_frame0Gray, d_prevPts); |
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// Sparse |
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PyrLKOpticalFlow d_pyrLK; |
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GpuMat d_frame0(frame0); |
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GpuMat d_frame1(frame1); |
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GpuMat d_frame1Gray(frame1Gray); |
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GpuMat d_nextPts; |
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GpuMat d_status; |
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d_pyrLK.sparse(useGray ? d_frame0Gray : d_frame0, useGray ? d_frame1Gray : d_frame1, d_prevPts, d_nextPts, d_status); |
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// Draw arrows |
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vector<Point2f> prevPts(d_prevPts.cols); |
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download(d_prevPts, prevPts); |
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vector<Point2f> nextPts(d_nextPts.cols); |
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download(d_nextPts, nextPts); |
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vector<uchar> status(d_status.cols); |
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download(d_status, status); |
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drawArrows(frame0, prevPts, nextPts, status, Scalar(255, 0, 0)); |
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imshow("PyrLK [Sparse]", frame0); |
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// Dense |
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GpuMat d_u; |
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GpuMat d_v; |
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d_pyrLK.dense(d_frame0Gray, d_frame1Gray, d_u, d_v); |
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// Draw flow field |
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Mat flowField; |
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getFlowField(Mat(d_u), Mat(d_v), flowField); |
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imshow("PyrLK [Dense] Flow Field", flowField); |
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#ifdef HAVE_OPENGL |
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setOpenGlContext("PyrLK [Dense]"); |
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GpuMat d_vertex, d_colors; |
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createOpticalFlowNeedleMap(d_u, d_v, d_vertex, d_colors); |
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DrawData drawData; |
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drawData.tex.copyFrom(d_frame0Gray); |
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drawData.arr.setVertexArray(d_vertex); |
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drawData.arr.setColorArray(d_colors, false); |
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setOpenGlDrawCallback("PyrLK [Dense]", drawCallback, &drawData); |
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#endif |
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waitKey(); |
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return 0; |
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}
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