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192 lines
5.6 KiB
Python
Executable File
192 lines
5.6 KiB
Python
Executable File
#! /usr/bin/env python
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print "OpenCV Python version of lkdemo"
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import sys
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# import the necessary things for OpenCV
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import cv2.cv as cv
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#############################################################################
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# some "constants"
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win_size = 10
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MAX_COUNT = 500
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#############################################################################
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# some "global" variables
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image = None
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pt = None
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add_remove_pt = False
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flags = 0
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night_mode = False
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need_to_init = False
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#############################################################################
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# the mouse callback
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# the callback on the trackbar
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def on_mouse (event, x, y, flags, param):
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# we will use the global pt and add_remove_pt
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global pt
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global add_remove_pt
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if image is None:
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# not initialized, so skip
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return
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if image.origin != 0:
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# different origin
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y = image.height - y
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if event == cv.CV_EVENT_LBUTTONDOWN:
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# user has click, so memorize it
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pt = (x, y)
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add_remove_pt = True
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#############################################################################
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# so, here is the main part of the program
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if __name__ == '__main__':
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frames = sys.argv[1:]
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if frames == []:
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print "usage lkdemo.py <image files>"
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sys.exit(1)
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# display a small howto use it
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print "Hot keys: \n" \
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"\tESC - quit the program\n" \
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"\tr - auto-initialize tracking\n" \
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"\tc - delete all the points\n" \
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"\tn - switch the \"night\" mode on/off\n" \
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"\tSPACE - next frame\n" \
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"To add/remove a feature point click it\n"
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# first, create the necessary windows
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cv.NamedWindow ('LkDemo', cv.CV_WINDOW_AUTOSIZE)
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# register the mouse callback
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cv.SetMouseCallback ('LkDemo', on_mouse, None)
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fc = 0
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while 1:
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# do forever
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frame = cv.LoadImage(frames[fc])
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if image is None:
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# create the images we need
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image = cv.CreateImage (cv.GetSize (frame), 8, 3)
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image.origin = frame.origin
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grey = cv.CreateImage (cv.GetSize (frame), 8, 1)
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prev_grey = cv.CreateImage (cv.GetSize (frame), 8, 1)
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pyramid = cv.CreateImage (cv.GetSize (frame), 8, 1)
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prev_pyramid = cv.CreateImage (cv.GetSize (frame), 8, 1)
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features = []
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# copy the frame, so we can draw on it
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cv.Copy (frame, image)
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# create a grey version of the image
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cv.CvtColor (image, grey, cv.CV_BGR2GRAY)
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if night_mode:
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# night mode: only display the points
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cv.SetZero (image)
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if need_to_init:
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# we want to search all the good points
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# create the wanted images
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eig = cv.CreateImage (cv.GetSize (grey), 32, 1)
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temp = cv.CreateImage (cv.GetSize (grey), 32, 1)
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# the default parameters
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quality = 0.01
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min_distance = 10
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# search the good points
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features = cv.GoodFeaturesToTrack (
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grey, eig, temp,
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MAX_COUNT,
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quality, min_distance, None, 3, 0, 0.04)
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# refine the corner locations
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features = cv.FindCornerSubPix (
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grey,
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features,
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(win_size, win_size), (-1, -1),
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(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20, 0.03))
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elif features != []:
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# we have points, so display them
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# calculate the optical flow
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features, status, track_error = cv.CalcOpticalFlowPyrLK (
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prev_grey, grey, prev_pyramid, pyramid,
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features,
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(win_size, win_size), 3,
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(cv.CV_TERMCRIT_ITER|cv.CV_TERMCRIT_EPS, 20, 0.03),
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flags)
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# set back the points we keep
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features = [ p for (st,p) in zip(status, features) if st]
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if add_remove_pt:
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# we have a point to add, so see if it is close to
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# another one. If yes, don't use it
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def ptptdist(p0, p1):
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dx = p0[0] - p1[0]
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dy = p0[1] - p1[1]
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return dx**2 + dy**2
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if min([ ptptdist(pt, p) for p in features ]) < 25:
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# too close
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add_remove_pt = 0
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# draw the points as green circles
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for the_point in features:
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cv.Circle (image, (int(the_point[0]), int(the_point[1])), 3, (0, 255, 0, 0), -1, 8, 0)
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if add_remove_pt:
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# we want to add a point
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# refine this corner location and append it to 'features'
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features += cv.FindCornerSubPix (
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grey,
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[pt],
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(win_size, win_size), (-1, -1),
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(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS,
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20, 0.03))
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# we are no longer in "add_remove_pt" mode
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add_remove_pt = False
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# swapping
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prev_grey, grey = grey, prev_grey
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prev_pyramid, pyramid = pyramid, prev_pyramid
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need_to_init = False
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# we can now display the image
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cv.ShowImage ('LkDemo', image)
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# handle events
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c = cv.WaitKey(10) % 0x100
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if c == 27:
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# user has press the ESC key, so exit
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break
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# processing depending on the character
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if 32 <= c and c < 128:
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cc = chr(c).lower()
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if cc == 'r':
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need_to_init = True
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elif cc == 'c':
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features = []
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elif cc == 'n':
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night_mode = not night_mode
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elif cc == ' ':
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fc = (fc + 1) % len(frames)
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