296 lines
8.4 KiB
C++
296 lines
8.4 KiB
C++
#include <iostream>
|
|
#include <vector>
|
|
|
|
#include "cvconfig.h"
|
|
#include "opencv2/core/core.hpp"
|
|
#include "opencv2/core/opengl_interop.hpp"
|
|
#include "opencv2/imgproc/imgproc.hpp"
|
|
#include "opencv2/highgui/highgui.hpp"
|
|
#include "opencv2/video/video.hpp"
|
|
#include "opencv2/gpu/gpu.hpp"
|
|
|
|
using namespace std;
|
|
using namespace cv;
|
|
using namespace cv::gpu;
|
|
|
|
static void download(const GpuMat& d_mat, vector<Point2f>& vec)
|
|
{
|
|
vec.resize(d_mat.cols);
|
|
Mat mat(1, d_mat.cols, CV_32FC2, (void*)&vec[0]);
|
|
d_mat.download(mat);
|
|
}
|
|
|
|
static void download(const GpuMat& d_mat, vector<uchar>& vec)
|
|
{
|
|
vec.resize(d_mat.cols);
|
|
Mat mat(1, d_mat.cols, CV_8UC1, (void*)&vec[0]);
|
|
d_mat.download(mat);
|
|
}
|
|
|
|
static void drawArrows(Mat& frame, const vector<Point2f>& prevPts, const vector<Point2f>& nextPts, const vector<uchar>& status, Scalar line_color = Scalar(0, 0, 255))
|
|
{
|
|
for (size_t i = 0; i < prevPts.size(); ++i)
|
|
{
|
|
if (status[i])
|
|
{
|
|
int line_thickness = 1;
|
|
|
|
Point p = prevPts[i];
|
|
Point q = nextPts[i];
|
|
|
|
double angle = atan2((double) p.y - q.y, (double) p.x - q.x);
|
|
|
|
double hypotenuse = sqrt( (double)(p.y - q.y)*(p.y - q.y) + (double)(p.x - q.x)*(p.x - q.x) );
|
|
|
|
if (hypotenuse < 1.0)
|
|
continue;
|
|
|
|
// Here we lengthen the arrow by a factor of three.
|
|
q.x = (int) (p.x - 3 * hypotenuse * cos(angle));
|
|
q.y = (int) (p.y - 3 * hypotenuse * sin(angle));
|
|
|
|
// Now we draw the main line of the arrow.
|
|
line(frame, p, q, line_color, line_thickness);
|
|
|
|
// Now draw the tips of the arrow. I do some scaling so that the
|
|
// tips look proportional to the main line of the arrow.
|
|
|
|
p.x = (int) (q.x + 9 * cos(angle + CV_PI / 4));
|
|
p.y = (int) (q.y + 9 * sin(angle + CV_PI / 4));
|
|
line(frame, p, q, line_color, line_thickness);
|
|
|
|
p.x = (int) (q.x + 9 * cos(angle - CV_PI / 4));
|
|
p.y = (int) (q.y + 9 * sin(angle - CV_PI / 4));
|
|
line(frame, p, q, line_color, line_thickness);
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifdef HAVE_OPENGL
|
|
|
|
struct DrawData
|
|
{
|
|
GlTexture tex;
|
|
GlArrays arr;
|
|
};
|
|
|
|
void drawCallback(void* userdata)
|
|
{
|
|
DrawData* data = static_cast<DrawData*>(userdata);
|
|
|
|
if (data->tex.empty() || data->arr.empty())
|
|
return;
|
|
|
|
static GlCamera camera;
|
|
static bool init_camera = true;
|
|
|
|
if (init_camera)
|
|
{
|
|
camera.setOrthoProjection(0.0, 1.0, 1.0, 0.0, 0.0, 1.0);
|
|
camera.lookAt(Point3d(0.0, 0.0, 1.0), Point3d(0.0, 0.0, 0.0), Point3d(0.0, 1.0, 0.0));
|
|
init_camera = false;
|
|
}
|
|
|
|
camera.setupProjectionMatrix();
|
|
camera.setupModelViewMatrix();
|
|
|
|
render(data->tex);
|
|
render(data->arr, RenderMode::TRIANGLES);
|
|
}
|
|
|
|
#endif
|
|
|
|
template <typename T> inline T clamp (T x, T a, T b)
|
|
{
|
|
return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a));
|
|
}
|
|
|
|
template <typename T> inline T mapValue(T x, T a, T b, T c, T d)
|
|
{
|
|
x = clamp(x, a, b);
|
|
return c + (d - c) * (x - a) / (b - a);
|
|
}
|
|
|
|
static void getFlowField(const Mat& u, const Mat& v, Mat& flowField)
|
|
{
|
|
float maxDisplacement = 1.0f;
|
|
|
|
for (int i = 0; i < u.rows; ++i)
|
|
{
|
|
const float* ptr_u = u.ptr<float>(i);
|
|
const float* ptr_v = v.ptr<float>(i);
|
|
|
|
for (int j = 0; j < u.cols; ++j)
|
|
{
|
|
float d = max(fabsf(ptr_u[j]), fabsf(ptr_v[j]));
|
|
|
|
if (d > maxDisplacement)
|
|
maxDisplacement = d;
|
|
}
|
|
}
|
|
|
|
flowField.create(u.size(), CV_8UC4);
|
|
|
|
for (int i = 0; i < flowField.rows; ++i)
|
|
{
|
|
const float* ptr_u = u.ptr<float>(i);
|
|
const float* ptr_v = v.ptr<float>(i);
|
|
|
|
|
|
Vec4b* row = flowField.ptr<Vec4b>(i);
|
|
|
|
for (int j = 0; j < flowField.cols; ++j)
|
|
{
|
|
row[j][0] = 0;
|
|
row[j][1] = static_cast<unsigned char> (mapValue (-ptr_v[j], -maxDisplacement, maxDisplacement, 0.0f, 255.0f));
|
|
row[j][2] = static_cast<unsigned char> (mapValue ( ptr_u[j], -maxDisplacement, maxDisplacement, 0.0f, 255.0f));
|
|
row[j][3] = 255;
|
|
}
|
|
}
|
|
}
|
|
|
|
int main(int argc, const char* argv[])
|
|
{
|
|
const char* keys =
|
|
"{ h | help | false | print help message }"
|
|
"{ l | left | | specify left image }"
|
|
"{ r | right | | specify right image }"
|
|
"{ gray | gray | false | use grayscale sources [PyrLK Sparse] }"
|
|
"{ win_size | win_size | 21 | specify windows size [PyrLK] }"
|
|
"{ max_level | max_level | 3 | specify max level [PyrLK] }"
|
|
"{ iters | iters | 30 | specify iterations count [PyrLK] }"
|
|
"{ deriv_lambda | deriv_lambda | 0.5 | specify deriv lambda [PyrLK] }"
|
|
"{ points | points | 4000 | specify points count [GoodFeatureToTrack] }"
|
|
"{ min_dist | min_dist | 0 | specify minimal distance between points [GoodFeatureToTrack] }";
|
|
|
|
CommandLineParser cmd(argc, argv, keys);
|
|
|
|
if (cmd.get<bool>("help"))
|
|
{
|
|
cout << "Usage: pyrlk_optical_flow [options]" << endl;
|
|
cout << "Avaible options:" << endl;
|
|
cmd.printParams();
|
|
return 0;
|
|
}
|
|
|
|
string fname0 = cmd.get<string>("left");
|
|
string fname1 = cmd.get<string>("right");
|
|
|
|
if (fname0.empty() || fname1.empty())
|
|
{
|
|
cerr << "Missing input file names" << endl;
|
|
return -1;
|
|
}
|
|
|
|
bool useGray = cmd.get<bool>("gray");
|
|
int winSize = cmd.get<int>("win_size");
|
|
int maxLevel = cmd.get<int>("max_level");
|
|
int iters = cmd.get<int>("iters");
|
|
double derivLambda = cmd.get<double>("deriv_lambda");
|
|
int points = cmd.get<int>("points");
|
|
double minDist = cmd.get<double>("min_dist");
|
|
|
|
Mat frame0 = imread(fname0);
|
|
Mat frame1 = imread(fname1);
|
|
|
|
if (frame0.empty() || frame1.empty())
|
|
{
|
|
cout << "Can't load input images" << endl;
|
|
return -1;
|
|
}
|
|
|
|
namedWindow("PyrLK [Sparse]", WINDOW_NORMAL);
|
|
namedWindow("PyrLK [Dense] Flow Field", WINDOW_NORMAL);
|
|
|
|
#ifdef HAVE_OPENGL
|
|
namedWindow("PyrLK [Dense]", WINDOW_OPENGL);
|
|
|
|
setGlDevice();
|
|
#endif
|
|
|
|
cout << "Image size : " << frame0.cols << " x " << frame0.rows << endl;
|
|
cout << "Points count : " << points << endl;
|
|
|
|
cout << endl;
|
|
|
|
Mat frame0Gray;
|
|
cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY);
|
|
Mat frame1Gray;
|
|
cvtColor(frame1, frame1Gray, COLOR_BGR2GRAY);
|
|
|
|
// goodFeaturesToTrack
|
|
|
|
GoodFeaturesToTrackDetector_GPU detector(points, 0.01, minDist);
|
|
|
|
GpuMat d_frame0Gray(frame0Gray);
|
|
GpuMat d_prevPts;
|
|
|
|
detector(d_frame0Gray, d_prevPts);
|
|
|
|
// Sparse
|
|
|
|
PyrLKOpticalFlow d_pyrLK;
|
|
|
|
d_pyrLK.winSize.width = winSize;
|
|
d_pyrLK.winSize.height = winSize;
|
|
d_pyrLK.maxLevel = maxLevel;
|
|
d_pyrLK.iters = iters;
|
|
d_pyrLK.derivLambda = derivLambda;
|
|
|
|
GpuMat d_frame0(frame0);
|
|
GpuMat d_frame1(frame1);
|
|
GpuMat d_frame1Gray(frame1Gray);
|
|
GpuMat d_nextPts;
|
|
GpuMat d_status;
|
|
|
|
d_pyrLK.sparse(useGray ? d_frame0Gray : d_frame0, useGray ? d_frame1Gray : d_frame1, d_prevPts, d_nextPts, d_status);
|
|
|
|
// Draw arrows
|
|
|
|
vector<Point2f> prevPts(d_prevPts.cols);
|
|
download(d_prevPts, prevPts);
|
|
|
|
vector<Point2f> nextPts(d_nextPts.cols);
|
|
download(d_nextPts, nextPts);
|
|
|
|
vector<uchar> status(d_status.cols);
|
|
download(d_status, status);
|
|
|
|
drawArrows(frame0, prevPts, nextPts, status, Scalar(255, 0, 0));
|
|
|
|
imshow("PyrLK [Sparse]", frame0);
|
|
|
|
// Dense
|
|
|
|
GpuMat d_u;
|
|
GpuMat d_v;
|
|
|
|
d_pyrLK.dense(d_frame0Gray, d_frame1Gray, d_u, d_v);
|
|
|
|
// Draw flow field
|
|
|
|
Mat flowField;
|
|
getFlowField(Mat(d_u), Mat(d_v), flowField);
|
|
|
|
imshow("PyrLK [Dense] Flow Field", flowField);
|
|
|
|
#ifdef HAVE_OPENGL
|
|
setOpenGlContext("PyrLK [Dense]");
|
|
|
|
GpuMat d_vertex, d_colors;
|
|
createOpticalFlowNeedleMap(d_u, d_v, d_vertex, d_colors);
|
|
|
|
DrawData drawData;
|
|
|
|
drawData.tex.copyFrom(d_frame0Gray);
|
|
drawData.arr.setVertexArray(d_vertex);
|
|
drawData.arr.setColorArray(d_colors, false);
|
|
|
|
setOpenGlDrawCallback("PyrLK [Dense]", drawCallback, &drawData);
|
|
#endif
|
|
|
|
waitKey();
|
|
|
|
return 0;
|
|
}
|