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annotate c/optical-flow.cpp @ 12:ff5403319cec

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optical flow demo working
author Nicolas Saunier <nico@confins.net>
date Wed, 11 Nov 2009 23:25:23 -0500
parents e77e2fd69b02
children 3ead4bcd001c
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1 #include "cvutils.hpp"
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2 #include "utils.hpp"
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4 #include "opencv/cv.h"
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5 #include "opencv/highgui.h"
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7 #include <iostream>
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8 #include <ctime>
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10 using namespace std;
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11
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12 void videoTiming(CvCapture* inputVideo) {
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13 IplImage* frame = cvQueryFrame(inputVideo);
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14 //IplImage* bwFrame = allocateImage(frame->width, frame->height, IPL_DEPTH_8U, 1);
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16 int frameNum = 0;
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17 time_t seconds;
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18 time_t t0 = time(NULL);
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19 while (frame) {
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20 frameNum = ::goToFrameNum(inputVideo, frameNum, frameNum+1000);
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21 seconds = time(NULL)-t0;
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22
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23 cout << frameNum << " " << seconds << endl;
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24 }
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25 }
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27 int main(int argc, char *argv[]) {
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28 //cout << "Hello World" << endl;
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29
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30 CvCapture *inputVideo = 0;
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31 if (argc == 1)
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32 inputVideo = cvCreateCameraCapture(-1);
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33 else
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34 inputVideo = cvCaptureFromFile(argv[1]);
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35
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36 int frameNum = 0;
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37 cvNamedWindow("Optical Flow", CV_WINDOW_AUTOSIZE);
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38
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39 // allocate space for pyramids
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40 IplImage* frame = cvQueryFrame(inputVideo);
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41 CvSize frameSize = cvSize(frame->width, frame->height);
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42
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43 IplImage* frame1_1C = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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44 cvConvertImage(frame, frame1_1C);
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45
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46 IplImage *frame1 = ::allocateImage(frameSize, IPL_DEPTH_8U, 3);
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47 cvConvertImage(frame, frame1);
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48
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49 frame = cvQueryFrame(inputVideo);
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50
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51 IplImage* frame2_1C = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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52 cvConvertImage(frame, frame2_1C);
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53
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54 IplImage *eig_image = ::allocateImage(frameSize, IPL_DEPTH_32F, 1);
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55 IplImage *temp_image = ::allocateImage(frameSize, IPL_DEPTH_32F, 1);
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56
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57 int nFeatures = 1000;
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58 CvPoint2D32f frame1_features[1000];
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59
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60 CvPoint2D32f frame2_features[1000];
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61
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62 char optical_flow_found_feature[1000];
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63 float optical_flow_feature_error[1000];
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64
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65 CvSize optical_flow_window = cvSize(3,3);
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66
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67 CvTermCriteria optical_flow_termination_criteria = cvTermCriteria( CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, .3 );
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68 IplImage* pyramid1 = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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69 IplImage* pyramid2 = ::allocateImage(frameSize, IPL_DEPTH_8U, 1);
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70
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71 int pressedKey = '?';
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72 while (frame && !::interruptionKey(pressedKey)) {
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73 cvGoodFeaturesToTrack(frame1_1C, eig_image, temp_image, frame1_features, &nFeatures, .01, .01, NULL);
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74 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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75
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76 for(int i = 0; i < nFeatures; i++) {
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77 /* If Pyramidal Lucas Kanade didn't really find the feature, skip it. */
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78 if ( optical_flow_found_feature[i] == 0 ) continue;
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79
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80 int line_thickness; line_thickness = 1;
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81 /* CV_RGB(red, green, blue) is the red, green, and blue components
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82 * of the color you want, each out of 255.
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83 */
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84 CvScalar line_color; line_color = CV_RGB(255,0,0);
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85
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86 /* Let's make the flow field look nice with arrows. */
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87
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88 /* The arrows will be a bit too short for a nice visualization because of the high framerate
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89 * (ie: there's not much motion between the frames). So let's lengthen them by a factor of 3.
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90 */
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91 CvPoint p,q;
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92 p.x = (int) frame1_features[i].x;
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93 p.y = (int) frame1_features[i].y;
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94 q.x = (int) frame2_features[i].x;
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95 q.y = (int) frame2_features[i].y;
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96
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97 double angle; angle = atan2( (double) p.y - q.y, (double) p.x - q.x );
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98 double hypotenuse; hypotenuse = sqrt( square(p.y - q.y) + square(p.x - q.x) );
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99
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100 /* Here we lengthen the arrow by a factor of three. */
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101 q.x = (int) (p.x - 3 * hypotenuse * cos(angle));
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102 q.y = (int) (p.y - 3 * hypotenuse * sin(angle));
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103
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104 /* Now we draw the main line of the arrow. */
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105 /* "frame1" is the frame to draw on.
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106 * "p" is the point where the line begins.
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107 * "q" is the point where the line stops.
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108 * "CV_AA" means antialiased drawing.
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109 * "0" means no fractional bits in the center cooridinate or radius.
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110 */
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111 cvLine( frame1, p, q, line_color, line_thickness, CV_AA, 0 );
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112 /* Now draw the tips of the arrow. I do some scaling so that the
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113 * tips look proportional to the main line of the arrow.
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114 */
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115 p.x = (int) (q.x + 9 * cos(angle + pi / 4));
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116 p.y = (int) (q.y + 9 * sin(angle + pi / 4));
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117 cvLine( frame1, p, q, line_color, line_thickness, CV_AA, 0 );
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118 p.x = (int) (q.x + 9 * cos(angle - pi / 4));
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119 p.y = (int) (q.y + 9 * sin(angle - pi / 4));
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120 cvLine( frame1, p, q, line_color, line_thickness, CV_AA, 0 );
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121 }
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122 cvShowImage("Optical Flow", frame1);
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123 //cvWaitKey(5);
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124 pressedKey = cvWaitKey(5);
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125 frame = cvQueryFrame(inputVideo);
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126 frameNum++;
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127 cout << frameNum << endl;
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128
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129 cvCopy(frame2_1C, frame1_1C);
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130 cvCopy(pyramid2, pyramid1);
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131 cvConvertImage(frame, frame2_1C);
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132 cvConvertImage(frame, frame1);
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133 }
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134
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135 return 1;
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136 }