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Open Source Computer Vision Library
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89 lines
3.0 KiB
89 lines
3.0 KiB
import numpy as np |
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import cv2, cv |
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import video |
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from common import anorm2, draw_str |
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from time import clock |
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help_message = ''' |
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USAGE: lk_track.py [<video_source>] |
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Keys: |
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1 - toggle old/new CalcOpticalFlowPyrLK implementation |
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SPACE - reset features |
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''' |
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lk_params = dict( winSize = (3, 3), |
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maxLevel = 2, |
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criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03), |
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derivLambda = 0.0 ) |
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feature_params = dict( maxCorners = 1000, |
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qualityLevel = 0.1, |
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minDistance = 5, |
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blockSize = 5 ) |
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def calc_flow_old(img0, img1, p0): |
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p0 = [(x, y) for x, y in p0.reshape(-1, 2)] |
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h, w = img0.shape[:2] |
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img0_cv = cv.CreateMat(h, w, cv.CV_8U) |
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img1_cv = cv.CreateMat(h, w, cv.CV_8U) |
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np.asarray(img0_cv)[:] = img0 |
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np.asarray(img1_cv)[:] = img1 |
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t = clock() |
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features, status, error = cv.CalcOpticalFlowPyrLK(img0_cv, img1_cv, None, None, p0, |
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lk_params['winSize'], lk_params['maxLevel'], (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 0.03), 0, p0) |
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return np.float32(features), status, error, clock()-t |
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def main(): |
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import sys |
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try: video_src = sys.argv[1] |
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except: video_src = video.presets['chess'] |
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print help_message |
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track_len = 4 |
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tracks = [] |
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cam = video.create_capture(video_src) |
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old_mode = True |
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while True: |
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ret, frame = cam.read() |
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vis = frame.copy() |
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if len(tracks) > 0: |
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p0 = np.float32([tr[-1] for tr in tracks]).reshape(-1, 1, 2) |
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img0 = cv2.cvtColor(prev_frame, cv.CV_BGR2GRAY) |
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img1 = cv2.cvtColor(frame, cv.CV_BGR2GRAY) |
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if old_mode: |
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p1, st, err, dt = calc_flow_old(img0, img1, p0) |
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else: |
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t = clock() |
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p1, st, err = cv2.calcOpticalFlowPyrLK(img0, img1, p0, **lk_params) |
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dt = clock()-t |
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for tr, (x, y) in zip(tracks, p1.reshape(-1, 2)): |
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tr.append((x, y)) |
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if len(tr) > 10: |
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del tr[0] |
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cv2.circle(vis, (x, y), 2, (0, 255, 0), -1) |
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cv2.polylines(vis, [np.int32(tr) for tr in tracks], False, (0, 255, 0)) |
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draw_str(vis, (20, 20), ['new', 'old'][old_mode]+' mode') |
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draw_str(vis, (20, 40), 'time: %.02f ms' % (dt*1000)) |
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prev_frame = frame.copy() |
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cv2.imshow('lk_track', vis) |
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ch = cv2.waitKey(5) |
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if ch == 27: |
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break |
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if ch == ord(' ') or len(tracks) == 0: |
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gray = cv2.cvtColor(frame, cv.CV_BGR2GRAY) |
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p = cv2.goodFeaturesToTrack(gray, **feature_params) |
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p = [] if p is None else p.reshape(-1, 2) |
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tracks = [] |
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for x, y in np.float32(p): |
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tracks.append([(x, y)]) |
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if ch == ord('1'): |
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old_mode = not old_mode |
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if __name__ == '__main__': |
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main()
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