updated gpu optical_flow sample
This commit is contained in:
Vladislav Vinogradov
@@ -4,132 +4,245 @@
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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/highgui/highgui.hpp"
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#include "opencv2/gpu/gpu.hpp"
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#ifdef HAVE_CUDA
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#include "NPP_staging/NPP_staging.hpp"
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#endif
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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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#if !defined(HAVE_CUDA)
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void getFlowField(const Mat& u, const Mat& v, Mat& flowField);
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#ifdef HAVE_OPENGL
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void needleMapDraw(void* userdata);
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#endif
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int main(int argc, const char* argv[])
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{
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cout << "Please compile the library with CUDA support" << endl;
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return -1;
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}
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#else
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#define PARAM_LEFT "--left"
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#define PARAM_RIGHT "--right"
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#define PARAM_SCALE "--scale"
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#define PARAM_ALPHA "--alpha"
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#define PARAM_GAMMA "--gamma"
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#define PARAM_INNER "--inner"
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#define PARAM_OUTER "--outer"
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#define PARAM_SOLVER "--solver"
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#define PARAM_TIME_STEP "--time_step"
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#define PARAM_HELP "--help"
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bool help_showed = false;
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void printHelp()
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{
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cout << "Usage help:\n";
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cout << setiosflags(ios::left);
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cout << "\t" << setw(15) << PARAM_ALPHA << " - set alpha\n";
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cout << "\t" << setw(15) << PARAM_GAMMA << " - set gamma\n";
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cout << "\t" << setw(15) << PARAM_INNER << " - set number of inner iterations\n";
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cout << "\t" << setw(15) << PARAM_LEFT << " - specify left image\n";
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cout << "\t" << setw(15) << PARAM_RIGHT << " - specify right image\n";
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cout << "\t" << setw(15) << PARAM_OUTER << " - set number of outer iterations\n";
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cout << "\t" << setw(15) << PARAM_SCALE << " - set pyramid scale factor\n";
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cout << "\t" << setw(15) << PARAM_SOLVER << " - set number of basic solver iterations\n";
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cout << "\t" << setw(15) << PARAM_TIME_STEP << " - set frame interpolation time step\n";
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cout << "\t" << setw(15) << PARAM_HELP << " - display this help message\n";
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help_showed = true;
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}
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int processCommandLine(int argc, const char* argv[], float& timeStep, string& frame0Name, string& frame1Name, BroxOpticalFlow& flow)
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{
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timeStep = 0.25f;
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for (int iarg = 1; iarg < argc; ++iarg)
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try
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{
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if (strcmp(argv[iarg], PARAM_LEFT) == 0)
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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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"{ s | scale | 0.8 | set pyramid scale factor }"
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"{ a | alpha | 0.197 | set alpha }"
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"{ g | gamma | 50.0 | set gamma }"
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"{ i | inner | 10 | set number of inner iterations }"
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"{ o | outer | 77 | set number of outer iterations }"
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"{ si | solver | 10 | set number of basic solver iterations }"
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"{ t | time_step | 0.1 | set frame interpolation time step }";
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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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if (iarg + 1 < argc)
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frame0Name = argv[++iarg];
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else
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return -1;
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}
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if (strcmp(argv[iarg], PARAM_RIGHT) == 0)
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{
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if (iarg + 1 < argc)
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frame1Name = argv[++iarg];
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_SCALE) == 0)
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{
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if (iarg + 1 < argc)
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flow.scale_factor = static_cast<float>(atof(argv[++iarg]));
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_ALPHA) == 0)
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{
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if (iarg + 1 < argc)
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flow.alpha = static_cast<float>(atof(argv[++iarg]));
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_GAMMA) == 0)
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{
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if (iarg + 1 < argc)
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flow.gamma = static_cast<float>(atof(argv[++iarg]));
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_INNER) == 0)
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{
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if (iarg + 1 < argc)
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flow.inner_iterations = atoi(argv[++iarg]);
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_OUTER) == 0)
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{
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if (iarg + 1 < argc)
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flow.outer_iterations = atoi(argv[++iarg]);
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_SOLVER) == 0)
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{
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if (iarg + 1 < argc)
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flow.solver_iterations = atoi(argv[++iarg]);
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_TIME_STEP) == 0)
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{
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if (iarg + 1 < argc)
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timeStep = static_cast<float>(atof(argv[++iarg]));
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else
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return -1;
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}
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else if(strcmp(argv[iarg], PARAM_HELP) == 0)
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{
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printHelp();
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cout << "Usage: optical_float [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 frame0Name = cmd.get<string>("left");
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string frame1Name = cmd.get<string>("right");
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float scale = cmd.get<float>("scale");
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float alpha = cmd.get<float>("alpha");
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float gamma = cmd.get<float>("gamma");
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int inner_iterations = cmd.get<int>("inner");
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int outer_iterations = cmd.get<int>("outer");
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int solver_iterations = cmd.get<int>("solver");
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float timeStep = cmd.get<float>("time_step");
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if (frame0Name.empty() || frame1Name.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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Mat frame0Color = imread(frame0Name);
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Mat frame1Color = imread(frame1Name);
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if (frame0Color.empty() || frame1Color.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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cout << "OpenCV / NVIDIA Computer Vision" << endl;
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cout << "Optical Flow Demo: Frame Interpolation" << endl;
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cout << "=========================================" << endl;
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namedWindow("Forward flow");
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namedWindow("Backward flow");
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namedWindow("Needle Map", WINDOW_OPENGL);
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namedWindow("Interpolated frame");
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setGlDevice();
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cout << "Press:" << endl;
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cout << "\tESC to quit" << endl;
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cout << "\t'a' to move to the previous frame" << endl;
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cout << "\t's' to move to the next frame\n" << endl;
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frame0Color.convertTo(frame0Color, CV_32F, 1.0 / 255.0);
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frame1Color.convertTo(frame1Color, CV_32F, 1.0 / 255.0);
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Mat frame0Gray, frame1Gray;
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cvtColor(frame0Color, frame0Gray, COLOR_BGR2GRAY);
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cvtColor(frame1Color, frame1Gray, COLOR_BGR2GRAY);
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GpuMat d_frame0(frame0Gray);
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GpuMat d_frame1(frame1Gray);
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cout << "Estimating optical flow" << endl;
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BroxOpticalFlow d_flow(alpha, gamma, scale, inner_iterations, outer_iterations, solver_iterations);
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cout << "\tForward..." << endl;
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GpuMat d_fu, d_fv;
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d_flow(d_frame0, d_frame1, d_fu, d_fv);
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Mat flowFieldForward;
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getFlowField(Mat(d_fu), Mat(d_fv), flowFieldForward);
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cout << "\tBackward..." << endl;
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GpuMat d_bu, d_bv;
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d_flow(d_frame1, d_frame0, d_bu, d_bv);
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Mat flowFieldBackward;
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getFlowField(Mat(d_bu), Mat(d_bv), flowFieldBackward);
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#ifdef HAVE_OPENGL
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cout << "Create Optical Flow Needle Map..." << endl;
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GpuMat d_vertex, d_colors;
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createOpticalFlowNeedleMap(d_bu, d_bv, d_vertex, d_colors);
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#endif
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cout << "Interpolating..." << endl;
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// first frame color components
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GpuMat d_b, d_g, d_r;
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// second frame color components
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GpuMat d_bt, d_gt, d_rt;
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// prepare color components on host and copy them to device memory
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Mat channels[3];
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cv::split(frame0Color, channels);
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d_b.upload(channels[0]);
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d_g.upload(channels[1]);
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d_r.upload(channels[2]);
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cv::split(frame1Color, channels);
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d_bt.upload(channels[0]);
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d_gt.upload(channels[1]);
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d_rt.upload(channels[2]);
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// temporary buffer
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GpuMat d_buf;
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// intermediate frame color components (GPU memory)
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GpuMat d_rNew, d_gNew, d_bNew;
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GpuMat d_newFrame;
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vector<Mat> frames;
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frames.reserve(static_cast<int>(1.0f / timeStep) + 2);
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frames.push_back(frame0Color);
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// compute interpolated frames
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for (float timePos = timeStep; timePos < 1.0f; timePos += timeStep)
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{
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// interpolate blue channel
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interpolateFrames(d_b, d_bt, d_fu, d_fv, d_bu, d_bv, timePos, d_bNew, d_buf);
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// interpolate green channel
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interpolateFrames(d_g, d_gt, d_fu, d_fv, d_bu, d_bv, timePos, d_gNew, d_buf);
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// interpolate red channel
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interpolateFrames(d_r, d_rt, d_fu, d_fv, d_bu, d_bv, timePos, d_rNew, d_buf);
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GpuMat channels[] = {d_bNew, d_gNew, d_rNew};
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merge(channels, 3, d_newFrame);
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frames.push_back(Mat(d_newFrame));
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cout << setprecision(4) << timePos * 100.0f << "%\r";
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}
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frames.push_back(frame1Color);
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cout << setw(5) << "100%" << endl;
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cout << "Done" << endl;
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imshow("Forward flow", flowFieldForward);
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imshow("Backward flow", flowFieldBackward);
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#ifdef HAVE_OPENGL
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GlArrays arr;
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arr.setVertexArray(d_vertex);
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arr.setColorArray(d_colors, false);
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setOpenGlDrawCallback("Needle Map", needleMapDraw, &arr);
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#endif
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int currentFrame = 0;
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imshow("Interpolated frame", frames[currentFrame]);
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while (true)
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{
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int key = toupper(waitKey(10));
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switch (key)
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{
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case 27:
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return 0;
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break;
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case 'A':
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if (currentFrame > 0)
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--currentFrame;
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imshow("Interpolated frame", frames[currentFrame]);
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break;
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case 'S':
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if (currentFrame < frames.size() - 1)
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++currentFrame;
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imshow("Interpolated frame", frames[currentFrame]);
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break;
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}
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}
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}
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catch (const exception& ex)
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{
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cerr << ex.what() << endl;
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return -1;
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}
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catch (...)
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{
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cerr << "Unknow error" << endl;
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return -1;
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}
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return 0;
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}
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@@ -181,171 +294,20 @@ void getFlowField(const Mat& u, const Mat& v, Mat& flowField)
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}
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}
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int main(int argc, const char* argv[])
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#ifdef HAVE_OPENGL
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void needleMapDraw(void* userdata)
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{
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string frame0Name, frame1Name;
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float timeStep = 0.01f;
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const GlArrays* arr = static_cast<const GlArrays*>(userdata);
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BroxOpticalFlow d_flow(0.197f /*alpha*/, 50.0f /*gamma*/, 0.8f /*scale_factor*/,
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10 /*inner_iterations*/, 77 /*outer_iterations*/, 10 /*solver_iterations*/);
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GlCamera camera;
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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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int result = processCommandLine(argc, argv, timeStep, frame0Name, frame1Name, d_flow);
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if (help_showed)
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return -1;
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if (argc == 1 || result)
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{
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printHelp();
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return result;
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}
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camera.setupProjectionMatrix();
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camera.setupModelViewMatrix();
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if (frame0Name.empty() || frame1Name.empty())
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{
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cout << "Missing input file names\n";
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return -1;
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}
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Mat frame0Color = imread(frame0Name);
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Mat frame1Color = imread(frame1Name);
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if (frame0Color.empty() || frame1Color.empty())
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{
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cout << "Can't load input images\n";
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return -1;
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}
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cout << "OpenCV / NVIDIA Computer Vision\n";
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cout << "Optical Flow Demo: Frame Interpolation\n";
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cout << "=========================================\n";
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cout << "Press:\n ESC to quit\n 'a' to move to the previous frame\n 's' to move to the next frame\n";
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frame0Color.convertTo(frame0Color, CV_32F, 1.0 / 255.0);
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frame1Color.convertTo(frame1Color, CV_32F, 1.0 / 255.0);
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Mat frame0Gray, frame1Gray;
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cvtColor(frame0Color, frame0Gray, COLOR_BGR2GRAY);
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cvtColor(frame1Color, frame1Gray, COLOR_BGR2GRAY);
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GpuMat d_frame0(frame0Gray);
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GpuMat d_frame1(frame1Gray);
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Mat fu, fv;
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Mat bu, bv;
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GpuMat d_fu, d_fv;
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GpuMat d_bu, d_bv;
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cout << "Estimating optical flow\nForward...\n";
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d_flow(d_frame0, d_frame1, d_fu, d_fv);
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d_flow(d_frame1, d_frame0, d_bu, d_bv);
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d_fu.download(fu);
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d_fv.download(fv);
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d_bu.download(bu);
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d_bv.download(bv);
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// first frame color components (GPU memory)
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GpuMat d_b, d_g, d_r;
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// second frame color components (GPU memory)
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GpuMat d_bt, d_gt, d_rt;
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// prepare color components on host and copy them to device memory
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Mat channels[3];
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cv::split(frame0Color, channels);
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d_b.upload(channels[0]);
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d_g.upload(channels[1]);
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d_r.upload(channels[2]);
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cv::split(frame1Color, channels);
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d_bt.upload(channels[0]);
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d_gt.upload(channels[1]);
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d_rt.upload(channels[2]);
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cout << "Interpolating...\n";
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cout.precision (4);
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// temporary buffer
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GpuMat d_buf;
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// intermediate frame color components (GPU memory)
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GpuMat d_rNew, d_gNew, d_bNew;
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GpuMat d_newFrame;
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vector<Mat> frames;
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frames.reserve(1.0f / timeStep + 2);
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frames.push_back(frame0Color);
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// compute interpolated frames
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for (float timePos = timeStep; timePos < 1.0f; timePos += timeStep)
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{
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// interpolate blue channel
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interpolateFrames(d_b, d_bt, d_fu, d_fv, d_bu, d_bv, timePos, d_bNew, d_buf);
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// interpolate green channel
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interpolateFrames(d_g, d_gt, d_fu, d_fv, d_bu, d_bv, timePos, d_gNew, d_buf);
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// interpolate red channel
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interpolateFrames(d_r, d_rt, d_fu, d_fv, d_bu, d_bv, timePos, d_rNew, d_buf);
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GpuMat channels[] = {d_bNew, d_gNew, d_rNew};
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merge(channels, 3, d_newFrame);
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Mat newFrame;
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d_newFrame.download(newFrame);
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|
||||
frames.push_back(newFrame);
|
||||
|
||||
cout << timePos * 100.0f << "%\r";
|
||||
}
|
||||
cout << setw (5) << "100%\n";
|
||||
|
||||
frames.push_back(frame1Color);
|
||||
|
||||
int currentFrame;
|
||||
currentFrame = 0;
|
||||
|
||||
Mat flowFieldForward;
|
||||
Mat flowFieldBackward;
|
||||
|
||||
getFlowField(fu, fv, flowFieldForward);
|
||||
getFlowField(bu, bv, flowFieldBackward);
|
||||
|
||||
imshow("Forward flow", flowFieldForward);
|
||||
imshow("Backward flow", flowFieldBackward);
|
||||
|
||||
imshow("Interpolated frame", frames[currentFrame]);
|
||||
|
||||
bool qPressed = false;
|
||||
while (!qPressed)
|
||||
{
|
||||
int key = toupper(waitKey(10));
|
||||
switch (key)
|
||||
{
|
||||
case 27:
|
||||
qPressed = true;
|
||||
break;
|
||||
case 'A':
|
||||
if (currentFrame > 0)
|
||||
--currentFrame;
|
||||
|
||||
imshow("Interpolated frame", frames[currentFrame]);
|
||||
break;
|
||||
case 'S':
|
||||
if (currentFrame < frames.size() - 1)
|
||||
++currentFrame;
|
||||
|
||||
imshow("Interpolated frame", frames[currentFrame]);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
render(*arr, RenderMode::TRIANGLES);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user