add two samples
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yao
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samples/ocl/pyrlk_optical_flow.cpp
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290
samples/ocl/pyrlk_optical_flow.cpp
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#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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return work_end * 1000. / getTickFrequency();
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}
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static void download(const oclMat& 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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static void download(const oclMat& 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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static 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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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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"{ 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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"{ points | points | 1000 | specify points count [GoodFeatureToTrack] }"
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"{ min_dist | min_dist | 0 | specify minimal distance between points [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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bool defaultPicturesFail = false;
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string fname0 = cmd.get<string>("left");
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string fname1 = cmd.get<string>("right");
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string vdofile = cmd.get<string>("video");
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int points = cmd.get<int>("points");
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double minDist = cmd.get<double>("min_dist");
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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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oclMat d_nextPts, d_status;
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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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PyrLKOpticalFlow d_pyrLK;
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vector<cv::Point2f> pts;
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vector<cv::Point2f> nextPts;
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vector<unsigned char> status;
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vector<float> err;
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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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cout << "Points count : " << points << endl << endl;
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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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pts.clear();
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cv::goodFeaturesToTrack(ptr0, pts, points, 0.01, 0.0);
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if (pts.size() == 0)
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{
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continue;
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}
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if (useCPU)
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{
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cv::calcOpticalFlowPyrLK(ptr0, ptr1, pts, nextPts, status, err);
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}
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else
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{
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oclMat d_prevPts(1, points, CV_32FC2, (void*)&pts[0]);
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d_pyrLK.sparse(oclMat(ptr0), oclMat(ptr1), d_prevPts, d_nextPts, d_status);
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download(d_prevPts, pts);
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download(d_nextPts, nextPts);
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download(d_status, status);
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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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drawArrows(frameCopy, pts, nextPts, status, Scalar(255, 0, 0));
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imshow("PyrLK [Sparse]", frameCopy);
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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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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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cv::goodFeaturesToTrack(frame0, pts, points, 0.01, minDist);
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if (useCPU)
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{
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cv::calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, err);
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}
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else
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{
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oclMat d_prevPts(1, points, CV_32FC2, (void*)&pts[0]);
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d_pyrLK.sparse(oclMat(frame0), oclMat(frame1), d_prevPts, d_nextPts, d_status);
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download(d_prevPts, pts);
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download(d_nextPts, nextPts);
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download(d_status, status);
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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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drawArrows(frame0, pts, nextPts, status, Scalar(255, 0, 0));
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imshow("PyrLK [Sparse]", frame0);
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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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419
samples/ocl/stereo_match.cpp
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419
samples/ocl/stereo_match.cpp
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@ -0,0 +1,419 @@
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#include <iostream>
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#include <string>
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#include <sstream>
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#include <iomanip>
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#include <stdexcept>
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#include "opencv2/ocl/ocl.hpp"
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#include "opencv2/highgui/highgui.hpp"
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using namespace cv;
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using namespace std;
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using namespace ocl;
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bool help_showed = false;
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struct Params
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{
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Params();
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static Params read(int argc, char** argv);
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string left;
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string right;
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string method_str() const
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{
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switch (method)
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{
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case BM: return "BM";
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case BP: return "BP";
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case CSBP: return "CSBP";
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}
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return "";
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}
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enum {BM, BP, CSBP} method;
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int ndisp; // Max disparity + 1
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enum {GPU, CPU} type;
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};
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struct App
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{
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App(const Params& p);
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void run();
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void handleKey(char key);
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void printParams() const;
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void workBegin() { work_begin = getTickCount(); }
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void workEnd()
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{
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int64 d = getTickCount() - work_begin;
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double f = getTickFrequency();
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work_fps = f / d;
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}
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string text() const
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{
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stringstream ss;
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ss << "(" << p.method_str() << ") FPS: " << setiosflags(ios::left)
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<< setprecision(4) << work_fps;
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return ss.str();
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}
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private:
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Params p;
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bool running;
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Mat left_src, right_src;
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Mat left, right;
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oclMat d_left, d_right;
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StereoBM_OCL bm;
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StereoBeliefPropagation bp;
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StereoConstantSpaceBP csbp;
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int64 work_begin;
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double work_fps;
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};
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static void printHelp()
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{
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cout << "Usage: stereo_match_gpu\n"
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<< "\t--left <left_view> --right <right_view> # must be rectified\n"
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<< "\t--method <stereo_match_method> # BM | BP | CSBP\n"
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<< "\t--ndisp <number> # number of disparity levels\n"
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<< "\t--type <device_type> # cpu | CPU | gpu | GPU\n";
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help_showed = true;
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}
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int main(int argc, char** argv)
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{
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try
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{
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if (argc < 2)
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{
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printHelp();
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return 1;
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}
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Params args = Params::read(argc, argv);
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if (help_showed)
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return -1;
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int flags[2] = { CVCL_DEVICE_TYPE_GPU, CVCL_DEVICE_TYPE_CPU };
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vector<Info> info;
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if(getDevice(info, flags[args.type]) == 0)
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{
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throw runtime_error("Error: Did not find a valid OpenCL device!");
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}
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cout << "Device name:" << info[0].DeviceName[0] << endl;
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App app(args);
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app.run();
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}
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catch (const exception& e)
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{
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cout << "error: " << e.what() << endl;
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}
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return 0;
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}
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Params::Params()
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{
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method = BM;
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ndisp = 64;
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type = GPU;
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}
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Params Params::read(int argc, char** argv)
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{
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Params p;
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for (int i = 1; i < argc; i++)
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{
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if (string(argv[i]) == "--left") p.left = argv[++i];
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else if (string(argv[i]) == "--right") p.right = argv[++i];
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else if (string(argv[i]) == "--method")
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{
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if (string(argv[i + 1]) == "BM") p.method = BM;
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else if (string(argv[i + 1]) == "BP") p.method = BP;
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else if (string(argv[i + 1]) == "CSBP") p.method = CSBP;
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else throw runtime_error("unknown stereo match method: " + string(argv[i + 1]));
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i++;
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}
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else if (string(argv[i]) == "--ndisp") p.ndisp = atoi(argv[++i]);
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else if (string(argv[i]) == "--type")
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{
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string t(argv[++i]);
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if (t == "cpu" || t == "CPU")
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{
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p.type = CPU;
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}
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else if (t == "gpu" || t == "GPU")
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{
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p.type = GPU;
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}
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else throw runtime_error("unknown device type: " + t);
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}
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else if (string(argv[i]) == "--help") printHelp();
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else throw runtime_error("unknown key: " + string(argv[i]));
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}
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return p;
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}
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App::App(const Params& params)
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: p(params), running(false)
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{
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cout << "stereo_match_ocl sample\n";
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cout << "\nControls:\n"
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<< "\tesc - exit\n"
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<< "\tp - print current parameters\n"
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<< "\tg - convert source images into gray\n"
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<< "\tm - change stereo match method\n"
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<< "\ts - change Sobel prefiltering flag (for BM only)\n"
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<< "\t1/q - increase/decrease maximum disparity\n"
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<< "\t2/w - increase/decrease window size (for BM only)\n"
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<< "\t3/e - increase/decrease iteration count (for BP and CSBP only)\n"
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<< "\t4/r - increase/decrease level count (for BP and CSBP only)\n";
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}
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void App::run()
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{
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// Load images
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left_src = imread(p.left);
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right_src = imread(p.right);
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if (left_src.empty()) throw runtime_error("can't open file \"" + p.left + "\"");
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if (right_src.empty()) throw runtime_error("can't open file \"" + p.right + "\"");
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cvtColor(left_src, left, CV_BGR2GRAY);
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cvtColor(right_src, right, CV_BGR2GRAY);
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d_left.upload(left);
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d_right.upload(right);
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imshow("left", left);
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imshow("right", right);
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// Set common parameters
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bm.ndisp = p.ndisp;
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bp.ndisp = p.ndisp;
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csbp.ndisp = p.ndisp;
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cout << endl;
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printParams();
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running = true;
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while (running)
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{
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// Prepare disparity map of specified type
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Mat disp;
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oclMat d_disp;
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workBegin();
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switch (p.method)
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{
|
||||
case Params::BM:
|
||||
if (d_left.channels() > 1 || d_right.channels() > 1)
|
||||
{
|
||||
cout << "BM doesn't support color images\n";
|
||||
cvtColor(left_src, left, CV_BGR2GRAY);
|
||||
cvtColor(right_src, right, CV_BGR2GRAY);
|
||||
cout << "image_channels: " << left.channels() << endl;
|
||||
d_left.upload(left);
|
||||
d_right.upload(right);
|
||||
imshow("left", left);
|
||||
imshow("right", right);
|
||||
}
|
||||
bm(d_left, d_right, d_disp);
|
||||
break;
|
||||
case Params::BP:
|
||||
bp(d_left, d_right, d_disp);
|
||||
break;
|
||||
case Params::CSBP:
|
||||
csbp(d_left, d_right, d_disp);
|
||||
break;
|
||||
}
|
||||
ocl::finish();
|
||||
workEnd();
|
||||
|
||||
// Show results
|
||||
d_disp.download(disp);
|
||||
if (p.method != Params::BM)
|
||||
{
|
||||
disp.convertTo(disp, 0);
|
||||
}
|
||||
putText(disp, text(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1.0, Scalar::all(255));
|
||||
imshow("disparity", disp);
|
||||
|
||||
handleKey((char)waitKey(3));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void App::printParams() const
|
||||
{
|
||||
cout << "--- Parameters ---\n";
|
||||
cout << "image_size: (" << left.cols << ", " << left.rows << ")\n";
|
||||
cout << "image_channels: " << left.channels() << endl;
|
||||
cout << "method: " << p.method_str() << endl
|
||||
<< "ndisp: " << p.ndisp << endl;
|
||||
switch (p.method)
|
||||
{
|
||||
case Params::BM:
|
||||
cout << "win_size: " << bm.winSize << endl;
|
||||
cout << "prefilter_sobel: " << bm.preset << endl;
|
||||
break;
|
||||
case Params::BP:
|
||||
cout << "iter_count: " << bp.iters << endl;
|
||||
cout << "level_count: " << bp.levels << endl;
|
||||
break;
|
||||
case Params::CSBP:
|
||||
cout << "iter_count: " << csbp.iters << endl;
|
||||
cout << "level_count: " << csbp.levels << endl;
|
||||
break;
|
||||
}
|
||||
cout << endl;
|
||||
}
|
||||
|
||||
|
||||
void App::handleKey(char key)
|
||||
{
|
||||
switch (key)
|
||||
{
|
||||
case 27:
|
||||
running = false;
|
||||
break;
|
||||
case 'p': case 'P':
|
||||
printParams();
|
||||
break;
|
||||
case 'g': case 'G':
|
||||
if (left.channels() == 1 && p.method != Params::BM)
|
||||
{
|
||||
left = left_src;
|
||||
right = right_src;
|
||||
}
|
||||
else
|
||||
{
|
||||
cvtColor(left_src, left, CV_BGR2GRAY);
|
||||
cvtColor(right_src, right, CV_BGR2GRAY);
|
||||
}
|
||||
d_left.upload(left);
|
||||
d_right.upload(right);
|
||||
cout << "image_channels: " << left.channels() << endl;
|
||||
imshow("left", left);
|
||||
imshow("right", right);
|
||||
break;
|
||||
case 'm': case 'M':
|
||||
switch (p.method)
|
||||
{
|
||||
case Params::BM:
|
||||
p.method = Params::BP;
|
||||
break;
|
||||
case Params::BP:
|
||||
p.method = Params::CSBP;
|
||||
break;
|
||||
case Params::CSBP:
|
||||
p.method = Params::BM;
|
||||
break;
|
||||
}
|
||||
cout << "method: " << p.method_str() << endl;
|
||||
break;
|
||||
case 's': case 'S':
|
||||
if (p.method == Params::BM)
|
||||
{
|
||||
switch (bm.preset)
|
||||
{
|
||||
case StereoBM_OCL::BASIC_PRESET:
|
||||
bm.preset = StereoBM_OCL::PREFILTER_XSOBEL;
|
||||
break;
|
||||
case StereoBM_OCL::PREFILTER_XSOBEL:
|
||||
bm.preset = StereoBM_OCL::BASIC_PRESET;
|
||||
break;
|
||||
}
|
||||
cout << "prefilter_sobel: " << bm.preset << endl;
|
||||
}
|
||||
break;
|
||||
case '1':
|
||||
p.ndisp = p.ndisp == 1 ? 8 : p.ndisp + 8;
|
||||
cout << "ndisp: " << p.ndisp << endl;
|
||||
bm.ndisp = p.ndisp;
|
||||
bp.ndisp = p.ndisp;
|
||||
csbp.ndisp = p.ndisp;
|
||||
break;
|
||||
case 'q': case 'Q':
|
||||
p.ndisp = max(p.ndisp - 8, 1);
|
||||
cout << "ndisp: " << p.ndisp << endl;
|
||||
bm.ndisp = p.ndisp;
|
||||
bp.ndisp = p.ndisp;
|
||||
csbp.ndisp = p.ndisp;
|
||||
break;
|
||||
case '2':
|
||||
if (p.method == Params::BM)
|
||||
{
|
||||
bm.winSize = min(bm.winSize + 1, 51);
|
||||
cout << "win_size: " << bm.winSize << endl;
|
||||
}
|
||||
break;
|
||||
case 'w': case 'W':
|
||||
if (p.method == Params::BM)
|
||||
{
|
||||
bm.winSize = max(bm.winSize - 1, 2);
|
||||
cout << "win_size: " << bm.winSize << endl;
|
||||
}
|
||||
break;
|
||||
case '3':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp.iters += 1;
|
||||
cout << "iter_count: " << bp.iters << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp.iters += 1;
|
||||
cout << "iter_count: " << csbp.iters << endl;
|
||||
}
|
||||
break;
|
||||
case 'e': case 'E':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp.iters = max(bp.iters - 1, 1);
|
||||
cout << "iter_count: " << bp.iters << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp.iters = max(csbp.iters - 1, 1);
|
||||
cout << "iter_count: " << csbp.iters << endl;
|
||||
}
|
||||
break;
|
||||
case '4':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp.levels += 1;
|
||||
cout << "level_count: " << bp.levels << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp.levels += 1;
|
||||
cout << "level_count: " << csbp.levels << endl;
|
||||
}
|
||||
break;
|
||||
case 'r': case 'R':
|
||||
if (p.method == Params::BP)
|
||||
{
|
||||
bp.levels = max(bp.levels - 1, 1);
|
||||
cout << "level_count: " << bp.levels << endl;
|
||||
}
|
||||
else if (p.method == Params::CSBP)
|
||||
{
|
||||
csbp.levels = max(csbp.levels - 1, 1);
|
||||
cout << "level_count: " << csbp.levels << endl;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user