313 lines
8.9 KiB
C++
313 lines
8.9 KiB
C++
#include <iostream>
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#include <iomanip>
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#include <string>
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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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using namespace std;
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using namespace cv;
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using namespace cv::gpu;
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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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try
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{
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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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cout << "Usage: brox_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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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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cv::gpu::printShortCudaDeviceInfo(cv::gpu::getDevice());
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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_fu, d_fv, 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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for(;;)
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{
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int key = toupper(waitKey(10) & 0xff);
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switch (key)
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{
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case 27:
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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 < static_cast<int>(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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}
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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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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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#ifdef HAVE_OPENGL
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void needleMapDraw(void* userdata)
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{
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const GlArrays* arr = static_cast<const GlArrays*>(userdata);
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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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camera.setupProjectionMatrix();
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camera.setupModelViewMatrix();
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render(*arr, RenderMode::TRIANGLES);
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}
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#endif
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