kallaballa
3 years ago
parent
3ee09827a8
commit
8e63ba6278
5 changed files with 15 additions and 264 deletions
@ -1,46 +0,0 @@ |
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TARGET := optflow_mt-demo
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SRCS := optflow_mt-demo.cpp
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#precompiled headers
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HEADERS :=
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OBJS := ${SRCS:.cpp=.o}
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DEPS := ${SRCS:.cpp=.dep}
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CXXFLAGS += -fpic `pkg-config --cflags egl opencv4 libva-drm glew`
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LDFLAGS +=
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LIBS += -lm `pkg-config --libs egl opencv4 libva-drm glew` -lnanovg -lopencv_optflow -lOpenCL
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.PHONY: all release debug clean distclean |
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all: release |
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release: ${TARGET} |
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debug: ${TARGET} |
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info: ${TARGET} |
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profile: ${TARGET} |
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unsafe: ${TARGET} |
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asan: ${TARGET} |
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${TARGET}: ${OBJS} |
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${CXX} ${LDFLAGS} -o $@ $^ ${LIBS}
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${OBJS}: %.o: %.cpp %.dep ${GCH} |
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${CXX} ${CXXFLAGS} -o $@ -c $<
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${DEPS}: %.dep: %.cpp Makefile |
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${CXX} ${CXXFLAGS} -MM $< > $@
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${GCH}: %.gch: ${HEADERS} |
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${CXX} ${CXXFLAGS} -o $@ -c ${@:.gch=.hpp}
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install: |
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mkdir -p ${DESTDIR}/${PREFIX}
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cp ${TARGET} ${DESTDIR}/${PREFIX}
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uninstall: |
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rm ${DESTDIR}/${PREFIX}/${TARGET}
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clean: |
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rm -f *~ ${DEPS} ${OBJS} ${CUO} ${GCH} ${TARGET}
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distclean: clean |
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@ -1,198 +0,0 @@ |
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#define CL_TARGET_OPENCL_VERSION 120 |
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constexpr unsigned long WIDTH = 1920; |
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constexpr unsigned long HEIGHT = 1080; |
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constexpr bool OFFSCREEN = false; |
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constexpr const int VA_HW_DEVICE_INDEX = 0; |
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#include "../common/subsystems.hpp" |
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#include "../common/tsafe_queue.hpp" |
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#include <stdio.h> |
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#include <csignal> |
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#include <cstdint> |
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#include <iomanip> |
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#include <string> |
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#include <thread> |
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#include <opencv2/optflow.hpp> |
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using std::cerr; |
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using std::endl; |
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using std::vector; |
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using std::string; |
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SafeQueue<std::pair<std::vector<cv::Point2f>, cv::UMat>> queue; |
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static bool done = false; |
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static void finish(int ignore) { |
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std::cerr << endl; |
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done = true; |
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} |
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int main(int argc, char **argv) { |
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signal(SIGINT, finish); |
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using namespace kb; |
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if (argc != 2) { |
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std::cerr << "Usage: optflow <input-video-file>" << endl; |
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exit(1); |
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} |
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va::init(); |
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cv::VideoCapture cap(argv[1], cv::CAP_FFMPEG, { cv::CAP_PROP_HW_DEVICE, VA_HW_DEVICE_INDEX, cv::CAP_PROP_HW_ACCELERATION, cv::VIDEO_ACCELERATION_VAAPI, cv::CAP_PROP_HW_ACCELERATION_USE_OPENCL, 1 }); |
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if (!cap.isOpened()) { |
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cerr << "ERROR! Unable to open camera" << endl; |
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return -1; |
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} |
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double fps = cap.get(cv::CAP_PROP_FPS); |
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cv::VideoWriter encoder("optflow.mkv", cv::CAP_FFMPEG, cv::VideoWriter::fourcc('V', 'P', '9', '0'), fps, cv::Size(WIDTH, HEIGHT), { cv::VIDEOWRITER_PROP_HW_ACCELERATION, cv::VIDEO_ACCELERATION_VAAPI, cv::VIDEOWRITER_PROP_HW_ACCELERATION_USE_OPENCL, 1 }); |
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if (!OFFSCREEN) |
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x11::init(); |
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egl::init(); |
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gl::init(); |
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nvg::init(); |
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cerr << "VA Version: " << va::get_info() << endl; |
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cerr << "EGL Version: " << egl::get_info() << endl; |
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cerr << "OpenGL Version: " << gl::get_info() << endl; |
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cerr << "OpenCL Platforms: " << endl << cl::get_info() << endl; |
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std::thread producer([&](){ |
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cv::Ptr<cv::BackgroundSubtractor> bgSubtractor = cv::createBackgroundSubtractorMOG2(100, 32.0, false); |
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vector<cv::Point2f> fgPoints1; |
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vector<vector<cv::Point> > contours; |
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vector<cv::Vec4i> hierarchy; |
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cv::UMat videoFrame1, foregroundMaskGrey; |
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while (!done) { |
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va::bind(); |
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cap >> videoFrame1; |
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if (videoFrame1.empty()) |
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break; |
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cv::resize(videoFrame1, videoFrame1, cv::Size(WIDTH, HEIGHT)); |
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bgSubtractor->apply(videoFrame1, foregroundMaskGrey); |
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int morph_size = 1; |
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cv::Mat element = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(2 * morph_size + 1, 2 * morph_size + 1), cv::Point(morph_size, morph_size)); |
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cv::morphologyEx(foregroundMaskGrey, foregroundMaskGrey, cv::MORPH_OPEN, element, cv::Point(-1, -1), 2); |
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cv::morphologyEx(foregroundMaskGrey, foregroundMaskGrey, cv::MORPH_CLOSE, element, cv::Point(-1, -1), 2); |
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findContours(foregroundMaskGrey, contours, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_SIMPLE); |
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fgPoints1.clear(); |
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for (const auto &c : contours) { |
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for (const auto &pt : c) { |
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fgPoints1.push_back(pt); |
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} |
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} |
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queue.enqueue({fgPoints1, videoFrame1.clone()}); |
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} |
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queue.enqueue({{}, {}}); |
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}); |
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cv::UMat frameBuffer; |
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cv::UMat background; |
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cv::UMat foreground(HEIGHT, WIDTH, CV_8UC4, cv::Scalar::all(0)); |
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cv::UMat videoFrame2, nextVideoFrameGray, prevVideoFrameGray; |
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vector<cv::Point2f> fgPoints2, prevPoints, nextPoints, newPoints; |
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double avgLength = 1; |
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uint64_t cnt = 1; |
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int64 start = cv::getTickCount(); |
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double tickFreq = cv::getTickFrequency(); |
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double lastFps = fps; |
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while (!done) { |
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auto p = queue.dequeue(); |
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fgPoints2 = p.first; |
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videoFrame2 = p.second; |
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if(videoFrame2.empty()) |
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break; |
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cv::cvtColor(videoFrame2, background, cv::COLOR_RGB2BGRA); |
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cvtColor(videoFrame2, nextVideoFrameGray, cv::COLOR_RGB2GRAY); |
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if (fgPoints2.size() > 4) { |
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prevPoints = fgPoints2; |
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if (prevVideoFrameGray.empty()) { |
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prevVideoFrameGray = nextVideoFrameGray.clone(); |
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} |
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std::vector<uchar> status; |
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std::vector<float> err; |
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cv::TermCriteria criteria = cv::TermCriteria((cv::TermCriteria::COUNT) + (cv::TermCriteria::EPS), 10, 0.03); |
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cv::calcOpticalFlowPyrLK(prevVideoFrameGray, nextVideoFrameGray, prevPoints, nextPoints, status, err, cv::Size(15, 15), 2, criteria); |
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nvg::begin(); |
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nvg::clear(); |
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newPoints.clear(); |
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using kb::nvg::vg; |
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nvgBeginPath(vg); |
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nvgStrokeWidth(vg, std::fmax(3.0, WIDTH/960.0)); |
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nvgStrokeColor(vg, nvgHSLA(0.1, 1, 0.5, 64)); |
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for (size_t i = 0; i < prevPoints.size(); i++) { |
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if (status[i] == 1 && nextPoints[i].y >= 0 && nextPoints[i].x >= 0 && nextPoints[i].y < nextVideoFrameGray.rows && nextPoints[i].x < nextVideoFrameGray.cols) { |
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double len = hypot(fabs(nextPoints[i].x - prevPoints[i].x), fabs(nextPoints[i].y - prevPoints[i].y)); |
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avgLength = ((avgLength * 0.95) + (len * 0.05)); |
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if (len > 0 && len < avgLength) { |
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newPoints.push_back(nextPoints[i]); |
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nvgMoveTo(vg, nextPoints[i].x, nextPoints[i].y); |
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nvgLineTo(vg, prevPoints[i].x, prevPoints[i].y); |
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} |
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} |
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} |
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nvgStroke(vg); |
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nvg::end(); |
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prevVideoFrameGray = nextVideoFrameGray.clone(); |
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prevPoints = nextPoints; |
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} |
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gl::acquire_from_gl(frameBuffer); |
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cv::flip(frameBuffer, frameBuffer, 0); |
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cv::addWeighted(foreground, 0.9, frameBuffer, 1.1, 0.0, foreground); |
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cv::addWeighted(background, 1.0, foreground, 1.0, 0.0, frameBuffer); |
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cv::flip(frameBuffer, frameBuffer, 0); |
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cv::cvtColor(frameBuffer, videoFrame2, cv::COLOR_BGRA2RGB); |
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gl::release_to_gl(frameBuffer); |
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va::bind(); |
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cv::flip(videoFrame2, videoFrame2, 0); |
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encoder.write(videoFrame2); |
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if (x11::is_initialized()) { |
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gl::bind(); |
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gl::blit_frame_buffer_to_screen(); |
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if (x11::window_closed()) { |
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finish(0); |
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break; |
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} |
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gl::swap_buffers(); |
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} |
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//Measure FPS
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if (cnt % uint64(ceil(lastFps)) == 0) { |
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int64 tick = cv::getTickCount(); |
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lastFps = tickFreq / ((tick - start + 1) / cnt); |
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cerr << "FPS : " << lastFps << '\r'; |
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start = tick; |
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cnt = 1; |
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} |
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++cnt; |
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} |
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producer.join(); |
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return 0; |
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} |
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