1 #include <iostream>
2 #include <vector>
3 #include <sstream>
4
5 #include "opencv2/core.hpp"
6 #include "opencv2/core/utility.hpp"
7 #include "opencv2/highgui.hpp"
8 #include "opencv2/video.hpp"
9 #include "opencv2/cudaoptflow.hpp"
10 #include "opencv2/cudaarithm.hpp"
11
12 using namespace std;
13 using namespace cv;
14 using namespace cv::cuda;
15
16 template <typename T>
mapVal(T x,T a,T b,T c,T d)17 inline T mapVal(T x, T a, T b, T c, T d)
18 {
19 x = ::max(::min(x, b), a);
20 return c + (d-c) * (x-a) / (b-a);
21 }
22
colorizeFlow(const Mat & u,const Mat & v,Mat & dst)23 static void colorizeFlow(const Mat &u, const Mat &v, Mat &dst)
24 {
25 double uMin, uMax;
26 cv::minMaxLoc(u, &uMin, &uMax, 0, 0);
27 double vMin, vMax;
28 cv::minMaxLoc(v, &vMin, &vMax, 0, 0);
29 uMin = ::abs(uMin); uMax = ::abs(uMax);
30 vMin = ::abs(vMin); vMax = ::abs(vMax);
31 float dMax = static_cast<float>(::max(::max(uMin, uMax), ::max(vMin, vMax)));
32
33 dst.create(u.size(), CV_8UC3);
34 for (int y = 0; y < u.rows; ++y)
35 {
36 for (int x = 0; x < u.cols; ++x)
37 {
38 dst.at<uchar>(y,3*x) = 0;
39 dst.at<uchar>(y,3*x+1) = (uchar)mapVal(-v.at<float>(y,x), -dMax, dMax, 0.f, 255.f);
40 dst.at<uchar>(y,3*x+2) = (uchar)mapVal(u.at<float>(y,x), -dMax, dMax, 0.f, 255.f);
41 }
42 }
43 }
44
main(int argc,char ** argv)45 int main(int argc, char **argv)
46 {
47 CommandLineParser cmd(argc, argv,
48 "{ l left | ../data/basketball1.png | specify left image }"
49 "{ r right | ../data/basketball2.png | specify right image }"
50 "{ h help | | print help message }");
51
52 cmd.about("Farneback's optical flow sample.");
53 if (cmd.has("help") || !cmd.check())
54 {
55 cmd.printMessage();
56 cmd.printErrors();
57 return 0;
58 }
59
60
61 string pathL = cmd.get<string>("left");
62 string pathR = cmd.get<string>("right");
63 if (pathL.empty()) cout << "Specify left image path\n";
64 if (pathR.empty()) cout << "Specify right image path\n";
65 if (pathL.empty() || pathR.empty()) return -1;
66
67 Mat frameL = imread(pathL, IMREAD_GRAYSCALE);
68 Mat frameR = imread(pathR, IMREAD_GRAYSCALE);
69 if (frameL.empty()) cout << "Can't open '" << pathL << "'\n";
70 if (frameR.empty()) cout << "Can't open '" << pathR << "'\n";
71 if (frameL.empty() || frameR.empty()) return -1;
72
73 GpuMat d_frameL(frameL), d_frameR(frameR);
74 GpuMat d_flow;
75 Ptr<cuda::FarnebackOpticalFlow> d_calc = cuda::FarnebackOpticalFlow::create();
76 Mat flowxy, flowx, flowy, image;
77
78 bool running = true, gpuMode = true;
79 int64 t, t0=0, t1=1, tc0, tc1;
80
81 cout << "Use 'm' for CPU/GPU toggling\n";
82
83 while (running)
84 {
85 t = getTickCount();
86
87 if (gpuMode)
88 {
89 tc0 = getTickCount();
90 d_calc->calc(d_frameL, d_frameR, d_flow);
91 tc1 = getTickCount();
92
93 GpuMat planes[2];
94 cuda::split(d_flow, planes);
95
96 planes[0].download(flowx);
97 planes[1].download(flowy);
98 }
99 else
100 {
101 tc0 = getTickCount();
102 calcOpticalFlowFarneback(
103 frameL, frameR, flowxy, d_calc->getPyrScale(), d_calc->getNumLevels(), d_calc->getWinSize(),
104 d_calc->getNumIters(), d_calc->getPolyN(), d_calc->getPolySigma(), d_calc->getFlags());
105 tc1 = getTickCount();
106
107 Mat planes[] = {flowx, flowy};
108 split(flowxy, planes);
109 flowx = planes[0]; flowy = planes[1];
110 }
111
112 colorizeFlow(flowx, flowy, image);
113
114 stringstream s;
115 s << "mode: " << (gpuMode?"GPU":"CPU");
116 putText(image, s.str(), Point(5, 25), FONT_HERSHEY_SIMPLEX, 1., Scalar(255,0,255), 2);
117
118 s.str("");
119 s << "opt. flow FPS: " << cvRound((getTickFrequency()/(tc1-tc0)));
120 putText(image, s.str(), Point(5, 65), FONT_HERSHEY_SIMPLEX, 1., Scalar(255,0,255), 2);
121
122 s.str("");
123 s << "total FPS: " << cvRound((getTickFrequency()/(t1-t0)));
124 putText(image, s.str(), Point(5, 105), FONT_HERSHEY_SIMPLEX, 1., Scalar(255,0,255), 2);
125
126 imshow("flow", image);
127
128 char ch = (char)waitKey(3);
129 if (ch == 27)
130 running = false;
131 else if (ch == 'm' || ch == 'M')
132 gpuMode = !gpuMode;
133
134 t0 = t;
135 t1 = getTickCount();
136 }
137
138 return 0;
139 }
140
