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annotate c/optical-flow.cpp @ 1228:5654c9173548

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merged (bicycle)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 12 Jul 2023 13:21:08 -0400
parents bc4ea09b1743
children
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1 #include "cvutils.hpp"
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2 #include "utils.hpp"
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3
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4 #include "opencv/cv.h"
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5 #include "opencv/highgui.h"
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6
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7 #include <iostream>
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8 #include <ctime>
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9
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10 /* MSVC does not have lrintf */
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11 #ifdef _MSC_VER
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12 static inline long lrintf(float f){
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13 /* x64 does not supported embedded assembly */
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14 #ifdef _M_X64
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15 return (long)((f>0.0f) ? (f + 0.5f):(f -0.5f));
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16 #else
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17 int i;
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18
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19 _asm{
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20 fld f
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21 fistp i
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22 };
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23
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24 return i;
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25 #endif
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26 }
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27 #endif
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28
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29 using namespace std;
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30
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31 void videoTiming(CvCapture* inputVideo) {
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32 IplImage* frame = cvQueryFrame(inputVideo);
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33 //IplImage* bwFrame = allocateImage(frame->width, frame->height, IPL_DEPTH_8U, 1);
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35 int frameNum = 0;
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36 time_t seconds;
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37 time_t t0 = time(NULL);
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38 while (frame) {
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39 frameNum = ::goToFrameNum(inputVideo, frameNum, frameNum+1000);
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40 seconds = time(NULL)-t0;
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41
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42 cout << frameNum << " " << seconds << endl;
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43 }
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44 }
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46 int main(int argc, char *argv[]) {
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47 //cout << "Hello World" << endl;
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48
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49 CvCapture *inputVideo = 0;
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50 if (argc == 1)
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51 inputVideo = cvCreateCameraCapture(-1);
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52 else
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53 inputVideo = cvCaptureFromFile(argv[1]);
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54
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55 int frameNum = 0;
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56 cvNamedWindow("Optical Flow", CV_WINDOW_AUTOSIZE);
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57
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58 // allocate space for pyramids
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59 IplImage* frame = cvQueryFrame(inputVideo);
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60 CvSize frameSize = cvSize(frame->width, frame->height);
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61
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62 IplImage* frame1_1C = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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63 cvConvertImage(frame, frame1_1C);
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64
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65 IplImage *frame1 = ::allocateImage(frameSize, IPL_DEPTH_8U, 3);
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66 cvConvertImage(frame, frame1);
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67
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68 frame = cvQueryFrame(inputVideo);
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70 IplImage* frame2_1C = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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71 cvConvertImage(frame, frame2_1C);
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72
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73 IplImage *eig_image = ::allocateImage(frameSize, IPL_DEPTH_32F, 1);
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74 IplImage *temp_image = ::allocateImage(frameSize, IPL_DEPTH_32F, 1);
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75
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76 int nFeatures = 1000;
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77 CvPoint2D32f frame1_features[1000];
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78
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79 CvPoint2D32f frame2_features[1000];
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80
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81 char optical_flow_found_feature[1000];
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82 float optical_flow_feature_error[1000];
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83
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84 CvSize optical_flow_window = cvSize(3,3);
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85
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86 CvTermCriteria optical_flow_termination_criteria = cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 );
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87 IplImage* pyramid1 = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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88 IplImage* pyramid2 = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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89
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90 int pressedKey = '?';
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91 while (frame && !::interruptionKey(pressedKey)) {
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92 cvGoodFeaturesToTrack(frame1_1C, eig_image, temp_image, frame1_features, &nFeatures, 0.05 /*quality*/, 1/* min dist*/, NULL);
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93 cvCalcOpticalFlowPyrLK(frame1_1C, frame2_1C, pyramid1, pyramid2, frame1_features, frame2_features, nFeatures, optical_flow_window, 5, optical_flow_found_feature, optical_flow_feature_error, optical_flow_termination_criteria, 0 );
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94
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95 for(int i = 0; i < nFeatures; i++) {
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96 if (optical_flow_found_feature[i] != 0) {
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97 int line_thickness = 1;
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98 CvScalar line_color = CV_RGB(255,0,0);
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99
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100 CvPoint p,q;
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101 p.x = lrintf(frame1_features[i].x);
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102 p.y = lrintf(frame1_features[i].y);
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103 q.x = lrintf(frame2_features[i].x);
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104 q.y = lrintf(frame2_features[i].y);
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105
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106 double dx = frame2_features[i].x-frame1_features[i].x;
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107 double dy = frame2_features[i].y-frame1_features[i].y;
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108
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109 double angle = atan2( (double) p.y - q.y, (double) p.x - q.x );
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110 double dist = sqrt(square(dx) + square(dy));
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111
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112 if (dist > 2.) { // min motion distance
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113 q.x = lrintf(frame1_features[i].x+dx*3); //(p.x - 3 * hypotenuse * cos(angle));
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114 q.y = lrintf(frame1_features[i].y+dy*3); //(p.y - 3 * hypotenuse * sin(angle));
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115
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116 /* Now we draw the main line of the arrow. */
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117 cvLine( frame1, p, q, line_color, line_thickness, CV_AA, 0 );
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118 /* Now draw the tips of the arrow. I do some scaling so that the
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119 * tips look proportional to the main line of the arrow.
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120 */
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121 float arrowSize = 6;
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122 p.x = lrintf(q.x + arrowSize * cos(angle + pi / 4));
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123 p.y = lrintf(q.y + arrowSize * sin(angle + pi / 4));
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124 cvLine( frame1, p, q, line_color, line_thickness, CV_AA, 0 );
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125 p.x = lrintf(q.x + arrowSize * cos(angle - pi / 4));
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126 p.y = lrintf(q.y + arrowSize * sin(angle - pi / 4));
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127 cvLine( frame1, p, q, line_color, line_thickness, CV_AA, 0 );
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128 }
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129 }
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130 }
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131 cvShowImage("Optical Flow", frame1);
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132 pressedKey = cvWaitKey(5);
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133 frame = cvQueryFrame(inputVideo);
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134 frameNum++;
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135 cout << frameNum << endl;
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136
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137 cvCopy(frame2_1C, frame1_1C);
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138 cvCopy(pyramid2, pyramid1);
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139 cvConvertImage(frame, frame2_1C);
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140 cvConvertImage(frame, frame1);
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141 }
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142
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143 return 1;
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144 }