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Open Source Computer Vision Library
https://opencv.org/
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265 lines
7.2 KiB
265 lines
7.2 KiB
#include <iostream> |
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#include <vector> |
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#include <iomanip> |
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#include "opencv2/highgui/highgui.hpp" |
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#include "opencv2/ocl/ocl.hpp" |
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#include "opencv2/video/video.hpp" |
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using namespace std; |
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using namespace cv; |
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using namespace cv::ocl; |
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typedef unsigned char uchar; |
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#define LOOP_NUM 10 |
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int64 work_begin = 0; |
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int64 work_end = 0; |
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static void workBegin() |
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{ |
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work_begin = getTickCount(); |
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} |
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static void workEnd() |
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{ |
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work_end += (getTickCount() - work_begin); |
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} |
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static double getTime() |
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{ |
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return work_end * 1000. / getTickFrequency(); |
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} |
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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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static 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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static std::vector<Info> ocl_info; |
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ocl::getDevice(ocl_info); |
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//if you want to use undefault device, set it here |
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setDevice(ocl_info[0]); |
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//set this to save kernel compile time from second time you run |
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ocl::setBinpath("./"); |
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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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"{ o | output | tvl1_output.jpg | specify output save path }" |
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"{ c | camera | 0 | enable camera capturing }" |
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"{ s | use_cpu | false | use cpu or gpu to process the image }" |
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"{ v | video | | use video as input }"; |
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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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bool defaultPicturesFail = false; |
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string fname0 = cmd.get<string>("l"); |
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string fname1 = cmd.get<string>("r"); |
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string vdofile = cmd.get<string>("v"); |
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string outpath = cmd.get<string>("o"); |
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bool useCPU = cmd.get<bool>("s"); |
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bool useCamera = cmd.get<bool>("c"); |
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int inputName = cmd.get<int>("c"); |
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Mat frame0 = imread(fname0, cv::IMREAD_GRAYSCALE); |
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Mat frame1 = imread(fname1, cv::IMREAD_GRAYSCALE); |
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cv::Ptr<cv::DenseOpticalFlow> alg = cv::createOptFlow_DualTVL1(); |
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cv::ocl::OpticalFlowDual_TVL1_OCL d_alg; |
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Mat flow, show_flow; |
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Mat flow_vec[2]; |
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if (frame0.empty() || frame1.empty()) |
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{ |
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useCamera = true; |
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defaultPicturesFail = true; |
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CvCapture* capture = 0; |
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capture = cvCaptureFromCAM( inputName ); |
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if (!capture) |
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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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} |
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if (useCamera) |
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{ |
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CvCapture* capture = 0; |
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Mat frame, frameCopy; |
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Mat frame0Gray, frame1Gray; |
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Mat ptr0, ptr1; |
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if(vdofile == "") |
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capture = cvCaptureFromCAM( inputName ); |
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else |
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capture = cvCreateFileCapture(vdofile.c_str()); |
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int c = inputName ; |
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if(!capture) |
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{ |
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if(vdofile == "") |
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cout << "Capture from CAM " << c << " didn't work" << endl; |
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else |
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cout << "Capture from file " << vdofile << " failed" <<endl; |
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if (defaultPicturesFail) |
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{ |
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return -1; |
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} |
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goto nocamera; |
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} |
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cout << "In capture ..." << endl; |
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for(int i = 0;; i++) |
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{ |
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frame = cvQueryFrame( capture ); |
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if( frame.empty() ) |
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break; |
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if (i == 0) |
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{ |
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frame.copyTo( frame0 ); |
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cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY); |
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} |
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else |
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{ |
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if (i%2 == 1) |
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{ |
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frame.copyTo(frame1); |
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cvtColor(frame1, frame1Gray, COLOR_BGR2GRAY); |
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ptr0 = frame0Gray; |
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ptr1 = frame1Gray; |
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} |
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else |
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{ |
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frame.copyTo(frame0); |
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cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY); |
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ptr0 = frame1Gray; |
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ptr1 = frame0Gray; |
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} |
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if (useCPU) |
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{ |
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alg->calc(ptr0, ptr1, flow); |
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split(flow, flow_vec); |
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} |
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else |
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{ |
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oclMat d_flowx, d_flowy; |
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d_alg(oclMat(ptr0), oclMat(ptr1), d_flowx, d_flowy); |
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d_flowx.download(flow_vec[0]); |
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d_flowy.download(flow_vec[1]); |
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} |
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if (i%2 == 1) |
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frame1.copyTo(frameCopy); |
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else |
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frame0.copyTo(frameCopy); |
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getFlowField(flow_vec[0], flow_vec[1], show_flow); |
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imshow("PyrLK [Sparse]", show_flow); |
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} |
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if( waitKey( 10 ) >= 0 ) |
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goto _cleanup_; |
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} |
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waitKey(0); |
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_cleanup_: |
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cvReleaseCapture( &capture ); |
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} |
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else |
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{ |
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nocamera: |
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oclMat d_flowx, d_flowy; |
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for(int i = 0; i <= LOOP_NUM; i ++) |
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{ |
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cout << "loop" << i << endl; |
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if (i > 0) workBegin(); |
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if (useCPU) |
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{ |
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alg->calc(frame0, frame1, flow); |
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split(flow, flow_vec); |
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} |
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else |
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{ |
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d_alg(oclMat(frame0), oclMat(frame1), d_flowx, d_flowy); |
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d_flowx.download(flow_vec[0]); |
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d_flowy.download(flow_vec[1]); |
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} |
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if (i > 0 && i <= LOOP_NUM) |
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workEnd(); |
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if (i == LOOP_NUM) |
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{ |
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if (useCPU) |
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cout << "average CPU time (noCamera) : "; |
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else |
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cout << "average GPU time (noCamera) : "; |
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cout << getTime() / LOOP_NUM << " ms" << endl; |
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getFlowField(flow_vec[0], flow_vec[1], show_flow); |
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imshow("PyrLK [Sparse]", show_flow); |
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imwrite(outpath, show_flow); |
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} |
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} |
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} |
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waitKey(); |
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return 0; |
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}
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