88 lines
3.0 KiB
Python
88 lines
3.0 KiB
Python
import numpy as np
|
|
import cv2
|
|
import cv2.cv as cv
|
|
import video
|
|
from common import anorm2, draw_str
|
|
from time import clock
|
|
|
|
help_message = '''
|
|
USAGE: lk_track.py [<video_source>]
|
|
|
|
Keys:
|
|
1 - toggle old/new CalcOpticalFlowPyrLK implementation
|
|
SPACE - reset features
|
|
'''
|
|
|
|
lk_params = dict( winSize = (21, 21),
|
|
maxLevel = 2,
|
|
criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03),
|
|
derivLambda = 0.0 )
|
|
|
|
feature_params = dict( maxCorners = 1000,
|
|
qualityLevel = 0.1,
|
|
minDistance = 5,
|
|
blockSize = 5 )
|
|
|
|
def calc_flow_old(img0, img1, p0):
|
|
p0 = [(x, y) for x, y in p0.reshape(-1, 2)]
|
|
h, w = img0.shape[:2]
|
|
img0_cv = cv.CreateMat(h, w, cv.CV_8U)
|
|
img1_cv = cv.CreateMat(h, w, cv.CV_8U)
|
|
np.asarray(img0_cv)[:] = img0
|
|
np.asarray(img1_cv)[:] = img1
|
|
t = clock()
|
|
features, status, error = cv.CalcOpticalFlowPyrLK(img0_cv, img1_cv, None, None, p0,
|
|
lk_params['winSize'], lk_params['maxLevel'], lk_params['criteria'], 0, p0)
|
|
return np.float32(features), status, error, clock()-t
|
|
|
|
def main():
|
|
import sys
|
|
try: video_src = sys.argv[1]
|
|
except: video_src = video.presets['chess']
|
|
|
|
print help_message
|
|
|
|
track_len = 4
|
|
tracks = []
|
|
cam = video.create_capture(video_src)
|
|
old_mode = True
|
|
while True:
|
|
ret, frame = cam.read()
|
|
vis = frame.copy()
|
|
if len(tracks) > 0:
|
|
p0 = np.float32([tr[-1] for tr in tracks]).reshape(-1, 1, 2)
|
|
img0 = cv2.cvtColor(prev_frame, cv.CV_BGR2GRAY)
|
|
img1 = cv2.cvtColor(frame, cv.CV_BGR2GRAY)
|
|
if old_mode:
|
|
p1, st, err, dt = calc_flow_old(img0, img1, p0)
|
|
else:
|
|
t = clock()
|
|
p1, st, err = cv2.calcOpticalFlowPyrLK(img0, img1, p0, None, **lk_params)
|
|
dt = clock()-t
|
|
for tr, (x, y) in zip(tracks, p1.reshape(-1, 2)):
|
|
tr.append((x, y))
|
|
if len(tr) > 10:
|
|
del tr[0]
|
|
cv2.circle(vis, (x, y), 2, (0, 255, 0), -1)
|
|
cv2.polylines(vis, [np.int32(tr) for tr in tracks], False, (0, 255, 0))
|
|
draw_str(vis, (20, 20), ['new', 'old'][old_mode]+' mode')
|
|
draw_str(vis, (20, 40), 'time: %.02f ms' % (dt*1000))
|
|
prev_frame = frame.copy()
|
|
|
|
cv2.imshow('lk_track', vis)
|
|
ch = cv2.waitKey(5)
|
|
if ch == 27:
|
|
break
|
|
if ch == ord(' ') or len(tracks) == 0:
|
|
gray = cv2.cvtColor(frame, cv.CV_BGR2GRAY)
|
|
p = cv2.goodFeaturesToTrack(gray, **feature_params)
|
|
p = [] if p is None else p.reshape(-1, 2)
|
|
tracks = []
|
|
for x, y in np.float32(p):
|
|
tracks.append([(x, y)])
|
|
if ch == ord('1'):
|
|
old_mode = not old_mode
|
|
|
|
if __name__ == '__main__':
|
|
main()
|