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Add sample of sparse pyrlk optical flow thread safe
This commit is contained in:
juanitov
committed by
Alexander Alekhin
Alexander Alekhin
parent
cbae431752
commit
eaf0b04530
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#include <iostream>
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#include <vector>
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#include <sstream>
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#include "opencv2/core/core.hpp"
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#include "cvconfig.h"
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#ifdef HAVE_TBB
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#include <tbb/parallel_for_each.h>
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#include <tbb/task_scheduler_init.h>
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include "opencv2/video/video.hpp"
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#include "opencv2/gpu/gpu.hpp"
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using namespace std;
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using namespace cv;
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using namespace cv::gpu;
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static void download(const GpuMat& d_mat, vector<Point2f>& vec)
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{
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vec.resize(d_mat.cols);
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Mat mat(1, d_mat.cols, CV_32FC2, (void*)&vec[0]);
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d_mat.download(mat);
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}
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static void download(const GpuMat& d_mat, vector<uchar>& vec)
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{
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vec.resize(d_mat.cols);
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Mat mat(1, d_mat.cols, CV_8UC1, (void*)&vec[0]);
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d_mat.download(mat);
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}
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static void drawArrows(Mat& frame, const vector<Point2f>& prevPts, const vector<Point2f>& nextPts, const vector<uchar>& status, Scalar line_color = Scalar(0, 0, 255))
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{
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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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template <typename T> inline T clamp (T x, T a, T b)
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{
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return ((x) > (a) ? ((x) < (b) ? (x) : (b)) : (a));
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}
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template <typename T> inline T mapValue(T x, T a, T b, T c, T d)
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{
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x = clamp(x, a, b);
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return c + (d - c) * (x - a) / (b - a);
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}
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////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////
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struct S_Thread_data
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{
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Size winSize;
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int maxLevel;
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int iters;
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Stream stream;
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Mat frame0;
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Mat frame1;
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Mat frame1Gray;
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GpuMat d_frame0Gray;
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GpuMat d_prevPts;
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bool useGray;
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};
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struct pyrLK_task
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{
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pyrLK_task(size_t n):
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_n(n),
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_thread_data(NULL){}
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void operator()()
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{
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// Sparse
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PyrLKOpticalFlow d_pyrLK;
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d_pyrLK.winSize.width = _thread_data->winSize.width;
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d_pyrLK.winSize.height = _thread_data->winSize.height;
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d_pyrLK.maxLevel = _thread_data->maxLevel;
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d_pyrLK.iters = _thread_data->iters;
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GpuMat d_frame0(_thread_data->frame0);
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GpuMat d_frame1(_thread_data->frame1);
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GpuMat d_frame1Gray(_thread_data->frame1Gray);
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GpuMat d_nextPts;
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GpuMat d_status;
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bool useGray = _thread_data->useGray;
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d_pyrLK.sparse_multi(useGray ? _thread_data->d_frame0Gray : d_frame0,
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useGray ? d_frame1Gray : d_frame1,
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_thread_data->d_prevPts, d_nextPts,
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d_status, _thread_data->stream, NULL);
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// Draw arrows
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vector<Point2f> prevPts(_thread_data->d_prevPts.cols);
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download(_thread_data->d_prevPts, prevPts);
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vector<Point2f> nextPts(d_nextPts.cols);
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download(d_nextPts, nextPts);
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vector<uchar> status(d_status.cols);
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download(d_status, status);
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drawArrows(_thread_data->frame0, prevPts, nextPts, status, Scalar(255, 0, 0));
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}
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size_t _n;
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struct S_Thread_data* _thread_data;
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};
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template <typename T> struct invoker {
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void operator()(T& it) const {it();}
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};
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#define THREADS_NB 12
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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 | false | 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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"{ gray | gray | false | use grayscale sources [PyrLK Sparse] }"
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"{ win_size | win_size | 21 | specify windows size [PyrLK] }"
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"{ max_level | max_level | 3 | specify max level [PyrLK] }"
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"{ iters | iters | 30 | specify iterations count [PyrLK] }"
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"{ points | points | 4000 | specify points count [GoodFeatureToTrack] }"
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"{ min_dist | min_dist | 0 | specify minimal distance between points [GoodFeatureToTrack] }";
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CommandLineParser cmd(argc, argv, keys);
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if (cmd.get<bool>("help"))
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{
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cout << "Usage: pyrlk_optical_flow_multithreading [options]" << endl;
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cout << "Avaible options:" << endl;
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cmd.printParams();
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return 0;
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}
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string fname0 = cmd.get<string>("left");
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string fname1 = cmd.get<string>("right");
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if (fname0.empty() || fname1.empty())
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{
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cerr << "Missing input file names" << endl;
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return -1;
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}
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bool useGray = cmd.get<bool>("gray");
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int winSize = cmd.get<int>("win_size");
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int maxLevel = cmd.get<int>("max_level");
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int iters = cmd.get<int>("iters");
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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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Mat frame0 = imread(fname0);
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Mat frame1 = imread(fname1);
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if (frame0.empty() || frame1.empty())
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{
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cout << "Can't load input images" << endl;
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return -1;
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}
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cout << "Image size : " << frame0.cols << " x " << frame0.rows << endl;
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cout << "Points count : " << points << endl;
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cout << endl;
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Mat frame0Gray;
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cvtColor(frame0, frame0Gray, COLOR_BGR2GRAY);
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Mat frame1Gray;
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cvtColor(frame1, frame1Gray, COLOR_BGR2GRAY);
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// goodFeaturesToTrack
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GoodFeaturesToTrackDetector_GPU detector(points, 0.01, minDist);
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GpuMat d_frame0Gray(frame0Gray);
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GpuMat d_prevPts;
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detector(d_frame0Gray, d_prevPts);
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// Sparse
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tbb::task_scheduler_init init(THREADS_NB);
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std::vector<pyrLK_task> tasks;
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S_Thread_data s_thread_data[THREADS_NB];
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for (unsigned int uiI = 0; uiI < THREADS_NB; ++uiI)
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{
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s_thread_data[uiI].stream = Stream();
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s_thread_data[uiI].frame0 = frame0.clone();
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s_thread_data[uiI].frame1 = frame1.clone();
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s_thread_data[uiI].frame1Gray = frame0Gray.clone();
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s_thread_data[uiI].iters = iters;
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s_thread_data[uiI].useGray = useGray;
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s_thread_data[uiI].maxLevel = maxLevel;
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s_thread_data[uiI].winSize.height = winSize;
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s_thread_data[uiI].winSize.width = winSize;
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s_thread_data[uiI].d_frame0Gray = d_frame0Gray.clone();
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s_thread_data[uiI].d_prevPts = d_prevPts.clone();
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tasks.push_back(pyrLK_task(uiI));
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tasks.back()._thread_data = &(s_thread_data[uiI]);
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}
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tbb::parallel_for_each(tasks.begin(),tasks.end(),invoker<pyrLK_task>());
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for (unsigned int uiI = 0; uiI < THREADS_NB; ++uiI)
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{
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stringstream ss;
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ss << "PyrLK MultiThreading [Sparse] " << uiI;
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imshow(ss.str(), s_thread_data[uiI].frame0);
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ss.str("");
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}
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waitKey();
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return 0;
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}
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#else
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int main(int , const char* [])
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{
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std::cout << "This example pyrlk_optical_flow_multithreading must be compiled with TBB Option" << std::endl;
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return 0;
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}
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#endif // HAVE_TBB
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