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231 lines
8.8 KiB
C++
231 lines
8.8 KiB
C++
//---------------------------------------------------------------------------//
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// Copyright (c) 2013-2014 Mageswaran.D <mageswaran1989@gmail.com>
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//
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// Distributed under the Boost Software License, Version 1.0
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// See accompanying file LICENSE_1_0.txt or copy at
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// http://www.boost.org/LICENSE_1_0.txt
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//
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// See http://kylelutz.github.com/compute for more information.
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//---------------------------------------------------------------------------//
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#include <iostream>
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <boost/compute/source.hpp>
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#include <boost/compute/system.hpp>
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#include <boost/compute/interop/opencv/core.hpp>
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#include <boost/compute/interop/opencv/highgui.hpp>
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namespace compute = boost::compute;
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// This example shows how to find naive optical flow with OpenCV.
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// Acquires camera frames and transfer it to the GPU,
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// and finds optical flow written in OpenCL
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int main(int argc, char *argv[])
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{
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//Check command line
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if(argc < 2){
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std::cerr << "usage: " << argv[0]
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<< " -1/0/1/2 " << std::endl;
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return -1;
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}
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//OpenCV camera handle
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cv::VideoCapture cap;
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if(!cap.open(atoi(argv[1])))
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{
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std::cerr << "Please connect the camera!"<< std::endl;
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return -1;
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}
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// get default device and setup context
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compute::device gpu = compute::system::default_device();
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compute::context context(gpu);
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compute::command_queue queue(context, gpu);
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// read image with OpenCV
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cv::Mat previous_cv_image;
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cap >> previous_cv_image;
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if(!previous_cv_image.data){
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std::cerr << "failed to load frame" << std::endl;
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return -1;
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}
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// Read image with OpenCV
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cv::Mat current_cv_image;
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cap >> current_cv_image;
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if(!current_cv_image.data){
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std::cerr << "failed to load image" << std::endl;
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return -1;
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}
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// Convert image to BGRA (OpenCL requires 16-byte aligned data)
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cv::cvtColor(previous_cv_image, previous_cv_image, CV_BGR2BGRA);
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cv::cvtColor(current_cv_image, current_cv_image, CV_BGR2BGRA);
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// Transfer image to gpu
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compute::image2d dev_previous_image =
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compute::opencv_create_image2d_with_mat(
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previous_cv_image, compute::image2d::read_write, queue
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);
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// Transfer image to gpu
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compute::image2d dev_current_image =
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compute::opencv_create_image2d_with_mat(
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current_cv_image, compute::image2d::read_write, queue
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);
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// Create output image
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compute::image2d dev_output_image(
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context,
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compute::image2d::write_only,
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dev_previous_image.get_format(),
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dev_previous_image.width(),
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dev_previous_image.height()
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);
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// Create naive optical flow program
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const char source[] =
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BOOST_COMPUTE_STRINGIZE_SOURCE
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(
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__kernel void optical_flow (
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read_only
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image2d_t current_image,
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read_only image2d_t previous_image,
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write_only image2d_t optical_flow,
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const float scale,
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const float offset,
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const float lambda,
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const float threshold )
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{
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sampler_t sampler = CLK_ADDRESS_CLAMP_TO_EDGE;
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int2 coords = (int2)(get_global_id(0), get_global_id(1));
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float4 current_pixel = read_imagef(current_image,
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sampler,
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coords);
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float4 previous_pixel = read_imagef(previous_image,
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sampler,
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coords);
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int2 x1 = (int2)(offset, 0.f);
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int2 y1 = (int2)(0.f, offset);
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//get the difference
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float4 curdif = previous_pixel - current_pixel;
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//calculate the gradient
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//Image 2 first
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float4 gradx = read_imagef(previous_image,
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sampler,
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coords+x1) -
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read_imagef(previous_image,
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sampler,
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coords-x1);
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//Image 1
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gradx += read_imagef(current_image,
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sampler,
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coords+x1) -
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read_imagef(current_image,
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sampler,
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coords-x1);
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//Image 2 first
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float4 grady = read_imagef(previous_image,
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sampler,
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coords+y1) -
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read_imagef(previous_image,
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sampler,
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coords-y1);
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//Image 1
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grady += read_imagef(current_image,
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sampler,
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coords+y1) -
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read_imagef(current_image,
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sampler,
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coords-y1);
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float4 sqr = (gradx*gradx) +
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(grady*grady) +
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(float4)(lambda,lambda, lambda, lambda);
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float4 gradmag = sqrt(sqr);
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///////////////////////////////////////////////////
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float4 vx = curdif * (gradx / gradmag);
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float vxd = vx.x;//assumes greyscale
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//format output for flowrepos, out(-x,+x,-y,+y)
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float2 xout = (float2)(fmax(vxd,0.f),fabs(fmin(vxd,0.f)));
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xout *= scale;
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///////////////////////////////////////////////////
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float4 vy = curdif*(grady/gradmag);
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float vyd = vy.x;//assumes greyscale
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//format output for flowrepos, out(-x,+x,-y,+y)
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float2 yout = (float2)(fmax(vyd,0.f),fabs(fmin(vyd,0.f)));
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yout *= scale;
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///////////////////////////////////////////////////
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float4 out = (float4)(xout, yout);
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float cond = (float)isgreaterequal(length(out), threshold);
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out *= cond;
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write_imagef(optical_flow, coords, out);
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}
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);
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compute::program optical_program =
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compute::program::create_with_source(source, context);
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optical_program.build();
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// create flip kernel and set arguments
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compute::kernel optical_kernel(optical_program, "optical_flow");
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float scale = 10;
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float offset = 1;
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float lambda = 0.0025;
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float threshold = 1.0;
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char key;
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optical_kernel.set_arg(0, dev_previous_image);
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optical_kernel.set_arg(1, dev_current_image);
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optical_kernel.set_arg(2, dev_output_image);
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optical_kernel.set_arg(3, scale);
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optical_kernel.set_arg(4, offset);
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optical_kernel.set_arg(5, lambda);
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optical_kernel.set_arg(6, threshold);
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// Set the image area
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size_t origin[2] = { 0, 0 };
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size_t region[2] = { dev_previous_image.width(),
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dev_previous_image.height() };
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while(key != 27) //check for escape key
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{
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cap >> current_cv_image;
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// Convert image to BGRA (OpenCL requires 16-byte aligned data)
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cv::cvtColor(current_cv_image, current_cv_image, CV_BGR2BGRA);
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// Update the device image memory with current frame data
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compute::opencv_copy_mat_to_image(previous_cv_image,
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dev_previous_image,
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queue);
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compute::opencv_copy_mat_to_image(current_cv_image,
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dev_current_image,
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queue);
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// Run the kernel on the device
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queue.enqueue_nd_range_kernel(optical_kernel, 2, origin, region, 0);
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// Show host image
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cv::imshow("Previous Frame", previous_cv_image);
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cv::imshow("Current Frame", current_cv_image);
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// Show GPU image
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compute::opencv_imshow("filtered image", dev_output_image, queue);
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// Copy current frame container to previous frame container
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current_cv_image.copyTo(previous_cv_image);
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// wait
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key = cv::waitKey(10);
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}
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return 0;
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}
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