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233 lines
7.0 KiB
C++
233 lines
7.0 KiB
C++
#include <iostream>
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#include <vector>
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#include <iomanip>
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#include "opencv2/core/utility.hpp"
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/videoio.hpp"
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#include "opencv2/highgui.hpp"
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#include "opencv2/core/ocl.hpp"
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#include "opencv2/video/video.hpp"
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using namespace std;
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using namespace cv;
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typedef unsigned char uchar;
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#define LOOP_NUM 10
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int64 work_begin = 0;
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int64 work_end = 0;
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static void workBegin()
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{
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work_begin = getTickCount();
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}
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static void workEnd()
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{
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work_end += (getTickCount() - work_begin);
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}
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static double getTime()
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{
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return work_end * 1000. / getTickFrequency();
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}
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static void drawArrows(UMat& _frame, const vector<Point2f>& prevPts, const vector<Point2f>& nextPts, const vector<uchar>& status,
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Scalar line_color = Scalar(0, 0, 255))
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{
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Mat frame = _frame.getMat(ACCESS_WRITE);
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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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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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"{ c camera | 0 | enable camera capturing }"
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"{ v video | | use video as input }"
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"{ o output | pyrlk_output.jpg| specify output save path when input is images }"
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"{ points | 1000 | specify points count [GoodFeatureToTrack] }"
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"{ min_dist | 0 | specify minimal distance between points [GoodFeatureToTrack] }"
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"{ m cpu_mode | false | run without OpenCL }";
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CommandLineParser cmd(argc, argv, keys);
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if (cmd.has("help"))
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{
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cout << "Usage: pyrlk_optical_flow [options]" << endl;
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cout << "Available options:" << endl;
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cmd.printMessage();
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return EXIT_SUCCESS;
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}
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bool defaultPicturesFail = true;
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string fname0 = samples::findFile(cmd.get<string>("left"));
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string fname1 = samples::findFile(cmd.get<string>("right"));
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string vdofile = cmd.get<string>("video");
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string outfile = cmd.get<string>("output");
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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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int inputName = cmd.get<int>("c");
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UMat frame0;
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imread(fname0, IMREAD_GRAYSCALE).copyTo(frame0);
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UMat frame1;
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imread(fname1, IMREAD_GRAYSCALE).copyTo(frame1);
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vector<cv::Point2f> pts(points);
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vector<cv::Point2f> nextPts(points);
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vector<unsigned char> status(points);
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vector<float> err;
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cout << "Points count : " << points << endl << endl;
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if (frame0.empty() || frame1.empty())
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{
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VideoCapture capture;
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UMat frame, frameCopy;
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UMat frame0Gray, frame1Gray;
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UMat ptr0, ptr1;
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if(vdofile.empty())
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capture.open( inputName );
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else
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capture.open(vdofile.c_str());
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int c = inputName ;
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if(!capture.isOpened())
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{
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if(vdofile.empty())
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cout << "Capture from CAM " << c << " didn't work" << endl;
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else
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cout << "Capture from file " << vdofile << " failed" <<endl;
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if (defaultPicturesFail)
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return EXIT_FAILURE;
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goto nocamera;
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}
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cout << "In capture ..." << endl;
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for(int i = 0;; i++)
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{
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if( !capture.read(frame) )
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break;
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if (i == 0)
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{
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frame.copyTo( frame0 );
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cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY);
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}
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else
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{
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if (i%2 == 1)
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{
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frame.copyTo(frame1);
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cvtColor(frame1, frame1Gray, COLOR_BGR2GRAY);
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ptr0 = frame0Gray;
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ptr1 = frame1Gray;
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}
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else
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{
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frame.copyTo(frame0);
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cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY);
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ptr0 = frame1Gray;
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ptr1 = frame0Gray;
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}
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pts.clear();
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goodFeaturesToTrack(ptr0, pts, points, 0.01, 0.0);
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if(pts.size() == 0)
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continue;
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calcOpticalFlowPyrLK(ptr0, ptr1, pts, nextPts, status, err);
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if (i%2 == 1)
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frame1.copyTo(frameCopy);
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else
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frame0.copyTo(frameCopy);
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drawArrows(frameCopy, pts, nextPts, status, Scalar(255, 0, 0));
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imshow("PyrLK [Sparse]", frameCopy);
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}
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char key = (char)waitKey(10);
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if (key == 27)
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break;
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else if (key == 'm' || key == 'M')
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{
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ocl::setUseOpenCL(!cv::ocl::useOpenCL());
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cout << "Switched to " << (ocl::useOpenCL() ? "OpenCL" : "CPU") << " mode\n";
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}
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}
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capture.release();
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}
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else
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{
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nocamera:
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if (cmd.has("cpu_mode"))
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{
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ocl::setUseOpenCL(false);
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std::cout << "OpenCL was disabled" << std::endl;
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}
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for(int i = 0; i <= LOOP_NUM; i ++)
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{
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cout << "loop" << i << endl;
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if (i > 0) workBegin();
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goodFeaturesToTrack(frame0, pts, points, 0.01, minDist);
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calcOpticalFlowPyrLK(frame0, frame1, pts, nextPts, status, err);
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if (i > 0 && i <= LOOP_NUM)
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workEnd();
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if (i == LOOP_NUM)
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{
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cout << "average time (noCamera) : ";
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cout << getTime() / LOOP_NUM << " ms" << endl;
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drawArrows(frame0, pts, nextPts, status, Scalar(255, 0, 0));
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imshow("PyrLK [Sparse]", frame0);
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imwrite(outfile, frame0);
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}
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}
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}
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waitKey();
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return EXIT_SUCCESS;
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}
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