292 lines
8.0 KiB
C++
292 lines
8.0 KiB
C++
#include <iostream>
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#include <vector>
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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/imgproc/imgproc.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include "opencv2/video/video.hpp"
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#include "opencv2/gpu/gpu.hpp"
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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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static void download(const GpuMat& 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 GpuMat& 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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#ifdef HAVE_OPENGL
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struct DrawData
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{
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GlTexture tex;
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GlArrays arr;
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};
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static void drawCallback(void* userdata)
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{
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DrawData* data = static_cast<DrawData*>(userdata);
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if (data->tex.empty() || data->arr.empty())
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return;
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static GlCamera camera;
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static bool init_camera = true;
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if (init_camera)
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{
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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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init_camera = false;
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}
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camera.setupProjectionMatrix();
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camera.setupModelViewMatrix();
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render(data->tex);
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render(data->arr, RenderMode::TRIANGLES);
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}
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#endif
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template <typename T> inline T clamp (T x, T a, T b)
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{
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return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a));
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}
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template <typename T> inline T mapValue(T x, T a, T b, T c, T d)
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{
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x = clamp(x, a, b);
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return c + (d - c) * (x - a) / (b - a);
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}
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static void getFlowField(const Mat& u, const Mat& v, Mat& flowField)
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{
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float maxDisplacement = 1.0f;
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for (int i = 0; i < u.rows; ++i)
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{
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const float* ptr_u = u.ptr<float>(i);
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const float* ptr_v = v.ptr<float>(i);
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for (int j = 0; j < u.cols; ++j)
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{
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float d = max(fabsf(ptr_u[j]), fabsf(ptr_v[j]));
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if (d > maxDisplacement)
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maxDisplacement = d;
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}
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}
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flowField.create(u.size(), CV_8UC4);
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for (int i = 0; i < flowField.rows; ++i)
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{
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const float* ptr_u = u.ptr<float>(i);
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const float* ptr_v = v.ptr<float>(i);
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Vec4b* row = flowField.ptr<Vec4b>(i);
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for (int j = 0; j < flowField.cols; ++j)
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{
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row[j][0] = 0;
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row[j][1] = static_cast<unsigned char> (mapValue (-ptr_v[j], -maxDisplacement, maxDisplacement, 0.0f, 255.0f));
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row[j][2] = static_cast<unsigned char> (mapValue ( ptr_u[j], -maxDisplacement, maxDisplacement, 0.0f, 255.0f));
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row[j][3] = 255;
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}
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}
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}
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int main(int argc, const char* argv[])
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{
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const char* keys =
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"{ h help | | 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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"{ gray | | use grayscale sources [PyrLK Sparse] }"
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"{ win_size | 21 | specify windows size [PyrLK] }"
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"{ max_level | 3 | specify max level [PyrLK] }"
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"{ iters | 30 | specify iterations count [PyrLK] }"
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"{ points | 4000 | specify points count [GoodFeatureToTrack] }"
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"{ min_dist | 0 | specify minimal distance between points [GoodFeatureToTrack] }";
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CommandLineParser cmd(argc, argv, keys);
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if (cmd.has("help") || !cmd.check())
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{
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cmd.printMessage();
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cmd.printErrors();
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return 0;
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}
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string fname0 = cmd.get<string>("left");
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string fname1 = cmd.get<string>("right");
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if (fname0.empty() || fname1.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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bool useGray = cmd.has("gray");
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int winSize = cmd.get<int>("win_size");
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int maxLevel = cmd.get<int>("max_level");
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int iters = cmd.get<int>("iters");
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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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Mat frame0 = imread(fname0);
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Mat frame1 = imread(fname1);
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if (frame0.empty() || frame1.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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namedWindow("PyrLK [Sparse]", WINDOW_NORMAL);
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namedWindow("PyrLK [Dense] Flow Field", WINDOW_NORMAL);
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#ifdef HAVE_OPENGL
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namedWindow("PyrLK [Dense]", WINDOW_OPENGL);
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setGlDevice();
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#endif
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cout << "Image size : " << frame0.cols << " x " << frame0.rows << endl;
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cout << "Points count : " << points << endl;
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cout << endl;
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Mat frame0Gray;
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cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY);
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Mat frame1Gray;
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cvtColor(frame1, frame1Gray, COLOR_BGR2GRAY);
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// goodFeaturesToTrack
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GoodFeaturesToTrackDetector_GPU detector(points, 0.01, minDist);
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GpuMat d_frame0Gray(frame0Gray);
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GpuMat d_prevPts;
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detector(d_frame0Gray, d_prevPts);
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// Sparse
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PyrLKOpticalFlow d_pyrLK;
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d_pyrLK.winSize.width = winSize;
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d_pyrLK.winSize.height = winSize;
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d_pyrLK.maxLevel = maxLevel;
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d_pyrLK.iters = iters;
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GpuMat d_frame0(frame0);
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GpuMat d_frame1(frame1);
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GpuMat d_frame1Gray(frame1Gray);
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GpuMat d_nextPts;
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GpuMat d_status;
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d_pyrLK.sparse(useGray ? d_frame0Gray : d_frame0, useGray ? d_frame1Gray : d_frame1, d_prevPts, d_nextPts, d_status);
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// Draw arrows
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vector<Point2f> prevPts(d_prevPts.cols);
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download(d_prevPts, prevPts);
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vector<Point2f> nextPts(d_nextPts.cols);
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download(d_nextPts, nextPts);
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vector<uchar> status(d_status.cols);
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download(d_status, status);
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drawArrows(frame0, prevPts, nextPts, status, Scalar(255, 0, 0));
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imshow("PyrLK [Sparse]", frame0);
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// Dense
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GpuMat d_u;
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GpuMat d_v;
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d_pyrLK.dense(d_frame0Gray, d_frame1Gray, d_u, d_v);
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// Draw flow field
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Mat flowField;
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getFlowField(Mat(d_u), Mat(d_v), flowField);
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imshow("PyrLK [Dense] Flow Field", flowField);
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#ifdef HAVE_OPENGL
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setOpenGlContext("PyrLK [Dense]");
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GpuMat d_vertex, d_colors;
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createOpticalFlowNeedleMap(d_u, d_v, d_vertex, d_colors);
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DrawData drawData;
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drawData.tex.copyFrom(d_frame0Gray);
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drawData.arr.setVertexArray(d_vertex);
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drawData.arr.setColorArray(d_colors, false);
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setOpenGlDrawCallback("PyrLK [Dense]", drawCallback, &drawData);
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#endif
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waitKey();
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return 0;
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}
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