From e283a75a19b1593b4e8fa82b93d5af03a2c69427 Mon Sep 17 00:00:00 2001 From: Maksim Shabunin Date: Mon, 19 Feb 2018 18:53:17 +0300 Subject: [PATCH] Minor refactoring in several C++ samples: - bgfg_segm - peopledetect - opencv_version - dnn/colorization - tapi/opencl_custom_kernel - tapi/dense_optical_flow (renamed tvl1_optical_flow) --- samples/cpp/bgfg_segm.cpp | 20 ++- samples/cpp/opencv_version.cpp | 14 +- samples/cpp/peopledetect.cpp | 213 +++++++++-------------- samples/dnn/colorization.cpp | 95 ++++++----- samples/tapi/dense_optical_flow.cpp | 151 +++++++++++++++++ samples/tapi/opencl_custom_kernel.cpp | 4 + samples/tapi/tvl1_optical_flow.cpp | 233 -------------------------- 7 files changed, 304 insertions(+), 426 deletions(-) create mode 100644 samples/tapi/dense_optical_flow.cpp delete mode 100644 samples/tapi/tvl1_optical_flow.cpp diff --git a/samples/cpp/bgfg_segm.cpp b/samples/cpp/bgfg_segm.cpp index 71473d124a..9fc2780b07 100644 --- a/samples/cpp/bgfg_segm.cpp +++ b/samples/cpp/bgfg_segm.cpp @@ -1,3 +1,7 @@ +// This file is part of OpenCV project. +// It is subject to the license terms in the LICENSE file found in the top-level directory +// of this distribution and at http://opencv.org/license.html + #include "opencv2/core.hpp" #include "opencv2/imgproc.hpp" #include "opencv2/video.hpp" @@ -10,10 +14,10 @@ using namespace cv; int main(int argc, const char** argv) { - const String keys = "{c camera||use video stream from camera (default is NO)}" - "{fn file_name|../data/tree.avi|video file}" - "{m method|mog2|method: background subtraction algorithm ('knn', 'mog2')}" - "{h help||show help message}"; + const String keys = "{c camera | 0 | use video stream from camera (device index starting from 0) }" + "{fn file_name | | use video file as input }" + "{m method | mog2 | method: background subtraction algorithm ('knn', 'mog2')}" + "{h help | | show help message}"; CommandLineParser parser(argc, argv, keys); parser.about("This sample demonstrates background segmentation."); if (parser.has("help")) @@ -21,7 +25,7 @@ int main(int argc, const char** argv) parser.printMessage(); return 0; } - bool useCamera = parser.has("camera"); + int camera = parser.get("camera"); String file = parser.get("file_name"); String method = parser.get("method"); if (!parser.check()) @@ -31,13 +35,13 @@ int main(int argc, const char** argv) } VideoCapture cap; - if (useCamera) - cap.open(0); + if (file.empty()) + cap.open(camera); else cap.open(file.c_str()); if (!cap.isOpened()) { - cout << "Can not open video stream: '" << (useCamera ? "" : file) << "'" << endl; + cout << "Can not open video stream: '" << (file.empty() ? "" : file) << "'" << endl; return 2; } diff --git a/samples/cpp/opencv_version.cpp b/samples/cpp/opencv_version.cpp index 0ee3494a40..b500f117e3 100644 --- a/samples/cpp/opencv_version.cpp +++ b/samples/cpp/opencv_version.cpp @@ -1,16 +1,17 @@ +// This file is part of OpenCV project. +// It is subject to the license terms in the LICENSE file found in the top-level directory +// of this distribution and at http://opencv.org/license.html + #include #include -const char* keys = -{ - "{ b build | | print complete build info }" - "{ h help | | print this help }" -}; +static const std::string keys = "{ b build | | print complete build info }" + "{ h help | | print this help }"; int main(int argc, const char* argv[]) { cv::CommandLineParser parser(argc, argv, keys); - + parser.about("This sample outputs OpenCV version and build configuration."); if (parser.has("help")) { parser.printMessage(); @@ -27,6 +28,5 @@ int main(int argc, const char* argv[]) { std::cout << "Welcome to OpenCV " << CV_VERSION << std::endl; } - return 0; } diff --git a/samples/cpp/peopledetect.cpp b/samples/cpp/peopledetect.cpp index 5fa2382f0f..ea45ae9c9b 100644 --- a/samples/cpp/peopledetect.cpp +++ b/samples/cpp/peopledetect.cpp @@ -1,177 +1,126 @@ -#include -#include +// This file is part of OpenCV project. +// It is subject to the license terms in the LICENSE file found in the top-level directory +// of this distribution and at http://opencv.org/license.html + #include #include #include -#include -#include #include +#include +#include using namespace cv; using namespace std; - -const char* keys = +class Detector { - "{ help h | | print help message }" - "{ image i | | specify input image}" - "{ camera c | | enable camera capturing }" - "{ video v | ../data/vtest.avi | use video as input }" - "{ directory d | | images directory}" -}; - -static void detectAndDraw(const HOGDescriptor &hog, Mat &img) -{ - vector found, found_filtered; - double t = (double) getTickCount(); - // Run the detector with default parameters. to get a higher hit-rate - // (and more false alarms, respectively), decrease the hitThreshold and - // groupThreshold (set groupThreshold to 0 to turn off the grouping completely). - hog.detectMultiScale(img, found, 0, Size(8,8), Size(32,32), 1.05, 2); - t = (double) getTickCount() - t; - cout << "detection time = " << (t*1000./cv::getTickFrequency()) << " ms" << endl; - - for(size_t i = 0; i < found.size(); i++ ) + enum Mode { Default, Daimler } m; + HOGDescriptor hog, hog_d; +public: + Detector() : m(Default), hog(), hog_d(Size(48, 96), Size(16, 16), Size(8, 8), Size(8, 8), 9) { - Rect r = found[i]; - - size_t j; - // Do not add small detections inside a bigger detection. - for ( j = 0; j < found.size(); j++ ) - if ( j != i && (r & found[j]) == r ) - break; - - if ( j == found.size() ) - found_filtered.push_back(r); + hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector()); + hog_d.setSVMDetector(HOGDescriptor::getDaimlerPeopleDetector()); } - - for (size_t i = 0; i < found_filtered.size(); i++) + void toggleMode() { m = (m == Default ? Daimler : Default); } + string modeName() const { return (m == Default ? "Default" : "Daimler"); } + vector detect(InputArray img) + { + // Run the detector with default parameters. to get a higher hit-rate + // (and more false alarms, respectively), decrease the hitThreshold and + // groupThreshold (set groupThreshold to 0 to turn off the grouping completely). + vector found; + if (m == Default) + hog.detectMultiScale(img, found, 0, Size(8,8), Size(32,32), 1.05, 2, false); + else if (m == Daimler) + hog_d.detectMultiScale(img, found, 0.5, Size(8,8), Size(32,32), 1.05, 2, true); + return found; + } + void adjustRect(Rect & r) const { - Rect r = found_filtered[i]; - // The HOG detector returns slightly larger rectangles than the real objects, // so we slightly shrink the rectangles to get a nicer output. r.x += cvRound(r.width*0.1); r.width = cvRound(r.width*0.8); r.y += cvRound(r.height*0.07); r.height = cvRound(r.height*0.8); - rectangle(img, r.tl(), r.br(), cv::Scalar(0,255,0), 3); } -} +}; + +static const string keys = "{ help h | | print help message }" + "{ camera c | 0 | capture video from camera (device index starting from 0) }" + "{ video v | | use video as input }"; int main(int argc, char** argv) { CommandLineParser parser(argc, argv, keys); - + parser.about("This sample demonstrates the use ot the HoG descriptor."); if (parser.has("help")) { - cout << "\nThis program demonstrates the use of the HoG descriptor using\n" - " HOGDescriptor::hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());\n"; parser.printMessage(); - cout << "During execution:\n\tHit q or ESC key to quit.\n" - "\tUsing OpenCV version " << CV_VERSION << "\n" - "Note: camera device number must be different from -1.\n" << endl; return 0; } - - HOGDescriptor hog; - hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector()); - namedWindow("people detector", 1); - - string pattern_glob = ""; - string video_filename = "../data/vtest.avi"; - int camera_id = -1; - if (parser.has("directory")) + int camera = parser.get("camera"); + string file = parser.get("video"); + if (!parser.check()) { - pattern_glob = parser.get("directory"); - } - else if (parser.has("image")) - { - pattern_glob = parser.get("image"); - } - else if (parser.has("camera")) - { - camera_id = parser.get("camera"); - } - else if (parser.has("video")) - { - video_filename = parser.get("video"); + parser.printErrors(); + return 1; } - if (!pattern_glob.empty() || camera_id != -1 || !video_filename.empty()) + VideoCapture cap; + if (file.empty()) + cap.open(camera); + else + cap.open(file.c_str()); + if (!cap.isOpened()) { - //Read from input image files - vector filenames; - //Read from video file - VideoCapture vc; - Mat frame; + cout << "Can not open video stream: '" << (file.empty() ? "" : file) << "'" << endl; + return 2; + } - if (!pattern_glob.empty()) + cout << "Press 'q' or to quit." << endl; + cout << "Press to toggle between Default and Daimler detector" << endl; + Detector detector; + Mat frame; + for (;;) + { + cap >> frame; + if (frame.empty()) { - String folder(pattern_glob); - glob(folder, filenames); + cout << "Finished reading: empty frame" << endl; + break; } - else if (camera_id != -1) + int64 t = getTickCount(); + vector found = detector.detect(frame); + t = getTickCount() - t; + + // show the window { - vc.open(camera_id); - if (!vc.isOpened()) - { - stringstream msg; - msg << "can't open camera: " << camera_id; - throw runtime_error(msg.str()); - } + ostringstream buf; + buf << "Mode: " << detector.modeName() << " ||| " + << "FPS: " << fixed << setprecision(1) << (getTickFrequency() / (double)t); + putText(frame, buf.str(), Point(10, 30), FONT_HERSHEY_PLAIN, 2.0, Scalar(0, 0, 255), 2, LINE_AA); } - else + for (vector::iterator i = found.begin(); i != found.end(); ++i) { - vc.open(video_filename.c_str()); - if (!vc.isOpened()) - throw runtime_error(string("can't open video file: " + video_filename)); + Rect &r = *i; + detector.adjustRect(r); + rectangle(frame, r.tl(), r.br(), cv::Scalar(0, 255, 0), 2); } + imshow("People detector", frame); - vector::const_iterator it_image = filenames.begin(); - - for (;;) + // interact with user + const char key = (char)waitKey(30); + if (key == 27 || key == 'q') // ESC { - if (!pattern_glob.empty()) - { - bool read_image_ok = false; - for (; it_image != filenames.end(); ++it_image) - { - cout << "\nRead: " << *it_image << endl; - // Read current image - frame = imread(*it_image); - - if (!frame.empty()) - { - ++it_image; - read_image_ok = true; - break; - } - } - - //No more valid images - if (!read_image_ok) - { - //Release the image in order to exit the while loop - frame.release(); - } - } - else - { - vc >> frame; - } - - if (frame.empty()) - break; - - detectAndDraw(hog, frame); - - imshow("people detector", frame); - int c = waitKey( vc.isOpened() ? 30 : 0 ) & 255; - if ( c == 'q' || c == 'Q' || c == 27) - break; + cout << "Exit requested" << endl; + break; + } + else if (key == ' ') + { + detector.toggleMode(); } } - return 0; } diff --git a/samples/dnn/colorization.cpp b/samples/dnn/colorization.cpp index 1c4ae07aac..9329e11d6a 100644 --- a/samples/dnn/colorization.cpp +++ b/samples/dnn/colorization.cpp @@ -1,20 +1,18 @@ -// -// This program is based on https://github.com/richzhang/colorization/blob/master/colorization/colorize.py -// download the caffemodel from: http://eecs.berkeley.edu/~rich.zhang/projects/2016_colorization/files/demo_v2/colorization_release_v2.caffemodel -// and the prototxt from: https://github.com/richzhang/colorization/blob/master/colorization/models/colorization_deploy_v2.prototxt -// +// This file is part of OpenCV project. +// It is subject to the license terms in the LICENSE file found in the top-level directory +// of this distribution and at http://opencv.org/license.html + #include #include #include +#include + using namespace cv; using namespace cv::dnn; - -#include using namespace std; - // the 313 ab cluster centers from pts_in_hull.npy (already transposed) -float hull_pts[] = { +static float hull_pts[] = { -90., -90., -90., -90., -90., -80., -80., -80., -80., -80., -80., -80., -80., -70., -70., -70., -70., -70., -70., -70., -70., -70., -70., -60., -60., -60., -60., -60., -60., -60., -60., -60., -60., -60., -60., -50., -50., -50., -50., -50., -50., -50., -50., -50., -50., -50., -50., -50., -50., -40., -40., -40., -40., -40., -40., -40., -40., -40., -40., -40., -40., -40., -40., -40., -30., @@ -43,54 +41,61 @@ float hull_pts[] = { -20., -10., 0., 10., 20., 30., 40., 50., 60., 70., -90., -80., -70., -60., -50., -40., -30., -20., -10., 0. }; - int main(int argc, char **argv) { - CommandLineParser parser(argc, argv, - "{ help | false | print this help message }" - "{ proto | colorization_deploy_v2.prototxt | model configuration }" - "{ model | colorization_release_v2.caffemodel | model weights }" - "{ image | space_shuttle.jpg | path to image file }" - "{ opencl | false | enable OpenCL }" - ); - - String modelTxt = parser.get("proto"); - String modelBin = parser.get("model"); - String imageFile = parser.get("image"); - if (parser.get("help") || modelTxt.empty() || modelBin.empty() || imageFile.empty()) + const string about = + "This sample demonstrates recoloring grayscale images with dnn.\n" + "This program is based on:\n" + " http://richzhang.github.io/colorization\n" + " https://github.com/richzhang/colorization\n" + "Download caffemodel and prototxt files:\n" + " http://eecs.berkeley.edu/~rich.zhang/projects/2016_colorization/files/demo_v2/colorization_release_v2.caffemodel\n" + " https://raw.githubusercontent.com/richzhang/colorization/master/colorization/models/colorization_deploy_v2.prototxt\n"; + const string keys = + "{ h help | | print this help message }" + "{ proto | colorization_deploy_v2.prototxt | model configuration }" + "{ model | colorization_release_v2.caffemodel | model weights }" + "{ image | space_shuttle.jpg | path to image file }" + "{ opencl | | enable OpenCL }"; + CommandLineParser parser(argc, argv, keys); + parser.about(about); + if (parser.has("help")) { - cout << "A sample app to demonstrate recoloring grayscale images with dnn." << endl; parser.printMessage(); return 0; } - - // fixed input size for the pretrained network - int W_in = 224; - int H_in = 224; - - Net net = dnn::readNetFromCaffe(modelTxt, modelBin); - - // setup additional layers: - int sz[] = {2, 313, 1, 1}; - Mat pts_in_hull(4, sz, CV_32F, hull_pts); - Ptr class8_ab = net.getLayer("class8_ab"); - class8_ab->blobs.push_back(pts_in_hull); - - Ptr conv8_313_rh = net.getLayer("conv8_313_rh"); - conv8_313_rh->blobs.push_back(Mat(1, 313, CV_32F, 2.606f)); - - if (parser.get("opencl")) + string modelTxt = parser.get("proto"); + string modelBin = parser.get("model"); + string imageFile = parser.get("image"); + bool useOpenCL = parser.has("opencl"); + if (!parser.check()) { - net.setPreferableTarget(DNN_TARGET_OPENCL); + parser.printErrors(); + return 1; } Mat img = imread(imageFile); if (img.empty()) { - std::cerr << "Can't read image from the file: " << imageFile << std::endl; - exit(-1); + cout << "Can't read image from file: " << imageFile << endl; + return 2; } + // fixed input size for the pretrained network + const int W_in = 224; + const int H_in = 224; + Net net = dnn::readNetFromCaffe(modelTxt, modelBin); + if (useOpenCL) + net.setPreferableTarget(DNN_TARGET_OPENCL); + + // setup additional layers: + int sz[] = {2, 313, 1, 1}; + const Mat pts_in_hull(4, sz, CV_32F, hull_pts); + Ptr class8_ab = net.getLayer("class8_ab"); + class8_ab->blobs.push_back(pts_in_hull); + Ptr conv8_313_rh = net.getLayer("conv8_313_rh"); + conv8_313_rh->blobs.push_back(Mat(1, 313, CV_32F, Scalar(2.606))); + // extract L channel and subtract mean Mat lab, L, input; img.convertTo(img, CV_32F, 1.0/255); @@ -111,13 +116,11 @@ int main(int argc, char **argv) resize(a, a, img.size()); resize(b, b, img.size()); - // merge, and convert back to bgr + // merge, and convert back to BGR Mat color, chn[] = {L, a, b}; merge(chn, 3, lab); cvtColor(lab, color, COLOR_Lab2BGR); - namedWindow("color", WINDOW_NORMAL); - namedWindow("original", WINDOW_NORMAL); imshow("color", color); imshow("original", img); waitKey(); diff --git a/samples/tapi/dense_optical_flow.cpp b/samples/tapi/dense_optical_flow.cpp new file mode 100644 index 0000000000..27ca2b867a --- /dev/null +++ b/samples/tapi/dense_optical_flow.cpp @@ -0,0 +1,151 @@ +// This file is part of OpenCV project. +// It is subject to the license terms in the LICENSE file found in the top-level directory +// of this distribution and at http://opencv.org/license.html + +#include +#include +#include + +#include "opencv2/core/ocl.hpp" +#include "opencv2/core/utility.hpp" +#include "opencv2/imgcodecs.hpp" +#include "opencv2/videoio.hpp" +#include "opencv2/highgui.hpp" +#include "opencv2/video.hpp" + +using namespace std; +using namespace cv; + +static Mat getVisibleFlow(InputArray flow) +{ + vector flow_vec; + split(flow, flow_vec); + UMat magnitude, angle; + cartToPolar(flow_vec[0], flow_vec[1], magnitude, angle, true); + magnitude.convertTo(magnitude, CV_32F, 0.2); + vector hsv_vec; + hsv_vec.push_back(angle); + hsv_vec.push_back(UMat::ones(angle.size(), angle.type())); + hsv_vec.push_back(magnitude); + UMat hsv; + merge(hsv_vec, hsv); + Mat img; + cvtColor(hsv, img, COLOR_HSV2BGR); + return img; +} + +static Size fitSize(const Size & sz, const Size & bounds) +{ + CV_Assert(sz.area() > 0); + if (sz.width > bounds.width || sz.height > bounds.height) + { + double scale = std::min((double)bounds.width / sz.width, (double)bounds.height / sz.height); + return Size(cvRound(sz.width * scale), cvRound(sz.height * scale)); + } + return sz; +} + +int main(int argc, const char* argv[]) +{ + const char* keys = + "{ h help | | print help message }" + "{ c camera | 0 | capture video from camera (device index starting from 0) }" + "{ a algorithm | fb | algorithm (supported: 'fb', 'tvl')}" + "{ m cpu | | run without OpenCL }" + "{ v video | | use video as input }" + "{ o original | | use original frame size (do not resize to 640x480)}" + ; + CommandLineParser parser(argc, argv, keys); + parser.about("This sample demonstrates using of dense optical flow algorithms."); + if (parser.has("help")) + { + parser.printMessage(); + return 0; + } + int camera = parser.get("camera"); + string algorithm = parser.get("algorithm"); + bool useCPU = parser.has("cpu"); + string filename = parser.get("video"); + bool useOriginalSize = parser.has("original"); + if (!parser.check()) + { + parser.printErrors(); + return 1; + } + + VideoCapture cap; + if(filename.empty()) + cap.open(camera); + else + cap.open(filename); + if (!cap.isOpened()) + { + cout << "Can not open video stream: '" << (filename.empty() ? "" : filename) << "'" << endl; + return 2; + } + + cv::Ptr alg; + if (algorithm == "fb") + alg = cv::FarnebackOpticalFlow::create(); + else if (algorithm == "tvl") + alg = cv::DualTVL1OpticalFlow::create(); + else + { + cout << "Invalid algorithm: " << algorithm << endl; + return 3; + } + + ocl::setUseOpenCL(!useCPU); + + cout << "Press 'm' to toggle CPU/GPU processing mode" << endl; + cout << "Press ESC or 'q' to exit" << endl; + + UMat prevFrame, frame, input_frame, flow; + for(;;) + { + if (!cap.read(input_frame) || input_frame.empty()) + { + cout << "Finished reading: empty frame" << endl; + break; + } + Size small_size = fitSize(input_frame.size(), Size(640, 480)); + if (!useOriginalSize && small_size != input_frame.size()) + resize(input_frame, frame, small_size); + else + frame = input_frame; + cvtColor(frame, frame, COLOR_BGR2GRAY); + imshow("frame", frame); + if (!prevFrame.empty()) + { + int64 t = getTickCount(); + alg->calc(prevFrame, frame, flow); + t = getTickCount() - t; + { + Mat img = getVisibleFlow(flow); + ostringstream buf; + buf << "Algo: " << algorithm << " | " + << "Mode: " << (useCPU ? "CPU" : "GPU") << " | " + << "FPS: " << fixed << setprecision(1) << (getTickFrequency() / (double)t); + putText(img, buf.str(), Point(10, 30), FONT_HERSHEY_PLAIN, 2.0, Scalar(0, 0, 255), 2, LINE_AA); + imshow("Dense optical flow field", img); + } + } + frame.copyTo(prevFrame); + + // interact with user + const char key = (char)waitKey(30); + if (key == 27 || key == 'q') // ESC + { + cout << "Exit requested" << endl; + break; + } + else if (key == 'm') + { + useCPU = !useCPU; + ocl::setUseOpenCL(!useCPU); + cout << "Set processing mode to: " << (useCPU ? "CPU" : "GPU") << endl; + } + } + + return 0; +} diff --git a/samples/tapi/opencl_custom_kernel.cpp b/samples/tapi/opencl_custom_kernel.cpp index 87f5b9a24a..2395061a9a 100644 --- a/samples/tapi/opencl_custom_kernel.cpp +++ b/samples/tapi/opencl_custom_kernel.cpp @@ -1,3 +1,7 @@ +// This file is part of OpenCV project. +// It is subject to the license terms in the LICENSE file found in the top-level directory +// of this distribution and at http://opencv.org/license.html + #include "opencv2/core.hpp" #include "opencv2/core/ocl.hpp" #include "opencv2/highgui.hpp" diff --git a/samples/tapi/tvl1_optical_flow.cpp b/samples/tapi/tvl1_optical_flow.cpp deleted file mode 100644 index 3d301ee033..0000000000 --- a/samples/tapi/tvl1_optical_flow.cpp +++ /dev/null @@ -1,233 +0,0 @@ -#include -#include -#include - -#include "opencv2/core/ocl.hpp" -#include "opencv2/core/utility.hpp" -#include "opencv2/imgcodecs.hpp" -#include "opencv2/videoio.hpp" -#include "opencv2/highgui.hpp" -#include "opencv2/video.hpp" - -using namespace std; -using namespace cv; - -typedef unsigned char uchar; -#define LOOP_NUM 10 -int64 work_begin = 0; -int64 work_end = 0; - -static void workBegin() -{ - work_begin = getTickCount(); -} -static void workEnd() -{ - work_end += (getTickCount() - work_begin); -} -static double getTime() -{ - return work_end * 1000. / getTickFrequency(); -} - -template inline T clamp (T x, T a, T b) -{ - return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a)); -} - -template 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(i); - const float* ptr_v = v.ptr(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(i); - const float* ptr_v = v.ptr(i); - - - Vec4b* row = flowField.ptr(i); - - for (int j = 0; j < flowField.cols; ++j) - { - row[j][0] = 0; - row[j][1] = static_cast (mapValue (-ptr_v[j], -maxDisplacement, maxDisplacement, 0.0f, 255.0f)); - row[j][2] = static_cast (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 | | print help message }" - "{ l left | | specify left image }" - "{ r right | | specify right image }" - "{ o output | tvl1_output.jpg | specify output save path }" - "{ c camera | 0 | enable camera capturing }" - "{ m cpu_mode | | run without OpenCL }" - "{ v video | | use video as input }"; - - CommandLineParser cmd(argc, argv, keys); - - if (cmd.has("help")) - { - cout << "Usage: pyrlk_optical_flow [options]" << endl; - cout << "Available options:" << endl; - cmd.printMessage(); - return EXIT_SUCCESS; - } - - string fname0 = cmd.get("l"); - string fname1 = cmd.get("r"); - string vdofile = cmd.get("v"); - string outpath = cmd.get("o"); - bool useCPU = cmd.get("m"); - bool useCamera = cmd.get("c"); - int inputName = cmd.get("c"); - - UMat frame0, frame1; - imread(fname0, cv::IMREAD_GRAYSCALE).copyTo(frame0); - imread(fname1, cv::IMREAD_GRAYSCALE).copyTo(frame1); - cv::Ptr alg = cv::createOptFlow_DualTVL1(); - - UMat flow; - Mat show_flow; - vector flow_vec; - if (frame0.empty() || frame1.empty()) - useCamera = true; - - if (useCamera) - { - VideoCapture capture; - UMat frame, frameCopy; - UMat frame0Gray, frame1Gray; - UMat ptr0, ptr1; - - if(vdofile.empty()) - capture.open( inputName ); - else - capture.open(vdofile.c_str()); - - if(!capture.isOpened()) - { - if(vdofile.empty()) - cout << "Capture from CAM " << inputName << " didn't work" << endl; - else - cout << "Capture from file " << vdofile << " failed" <calc(ptr0, ptr1, flow); - split(flow, flow_vec); - - if (i%2 == 1) - frame1.copyTo(frameCopy); - else - frame0.copyTo(frameCopy); - getFlowField(flow_vec[0].getMat(ACCESS_READ), flow_vec[1].getMat(ACCESS_READ), show_flow); - imshow("tvl1 optical flow field", show_flow); - } - - char key = (char)waitKey(10); - if (key == 27) - break; - else if (key == 'm' || key == 'M') - { - ocl::setUseOpenCL(!cv::ocl::useOpenCL()); - cout << "Switched to " << (ocl::useOpenCL() ? "OpenCL" : "CPU") << " mode\n"; - } - } - - capture.release(); - } - else - { -nocamera: - if (cmd.has("cpu_mode")) - { - ocl::setUseOpenCL(false); - std::cout << "OpenCL was disabled" << std::endl; - } - for(int i = 0; i <= LOOP_NUM; i ++) - { - cout << "loop" << i << endl; - - if (i > 0) workBegin(); - - alg->calc(frame0, frame1, flow); - split(flow, flow_vec); - - if (i > 0 && i <= LOOP_NUM) - workEnd(); - - if (i == LOOP_NUM) - { - if (useCPU) - cout << "average CPU time (noCamera) : "; - else - cout << "average GPU time (noCamera) : "; - cout << getTime() / LOOP_NUM << " ms" << endl; - - getFlowField(flow_vec[0].getMat(ACCESS_READ), flow_vec[1].getMat(ACCESS_READ), show_flow); - imshow("PyrLK [Sparse]", show_flow); - imwrite(outpath, show_flow); - } - } - } - - waitKey(); - - return EXIT_SUCCESS; -}