void testApp::draw() {
ofBackground(0);
depthImage.draw(0, 0);
ofEnableBlendMode(OF_BLENDMODE_ADD);
drawMat(sobelxy, 0, 0);
ofDisableBlendMode();
drawMat(sobelbox, 640, 0);
triangulator.drawLines();
ofDrawBitmapString(ofToString(attempts), 10, 20);
}
void LukasKanadeOpticalFlow::drawMotionField_GPU(cv::gpu::GpuMat &imgU, cv::gpu::GpuMat &imgV, cv::gpu::GpuMat &imgMotion,
int xSpace, int ySpace, float minCutoff, float maxCutoff, float multiplier, CvScalar color)
{
cv::Mat uMat( imgU );
cv::Mat vMat( imgV );
cv::Mat drawMat(cv::Size( imgU.size().width, imgU.size().height), CV_8UC3 );
int x = 0, y = 0;
float *ptri;
float deltaX = 0.0, deltaY = 0.0, angle = 0.0, hyp = 0.0;
cv::Point p0, p1;
for( y = ySpace; y < uMat.rows; y += ySpace )
{
for(x = xSpace; x < uMat.cols; x += xSpace )
{
p0.x = x;
p0.y = y;
ptri = uMat.ptr<float>(y);
deltaX = ptri[x];
ptri = vMat.ptr<float>(y);
deltaY = ptri[x];
angle = atan2(deltaY, deltaX);
hyp = sqrt(deltaX*deltaX + deltaY*deltaY);
if( hyp > minCutoff && hyp < maxCutoff )
{
p1.x = p0.x + cvRound(multiplier*hyp*cos(angle));
p1.y = p0.y + cvRound(multiplier*hyp*sin(angle));
cv::line(drawMat,p0,p1,color,1,CV_AA,0);
/*
p0.x = p1.x + cvRound(2*cos(angle-M_PI + M_PI/4));
p0.y = p1.y + cvRound(2*sin(angle-M_PI + M_PI/4));
cv::line( imgMotion, p0, p1, color,1, CV_AA, 0);
p0.x = p1.x + cvRound(2*cos(angle-M_PI - M_PI/4));
p0.y = p1.y + cvRound(2*sin(angle-M_PI - M_PI/4));
cv::line( imgMotion, p0, p1, color,1, CV_AA, 0);
*/
}
}
}
imgMotion.upload( drawMat );
}
void LukasKanadeOpticalFlow::apply( cv::gpu::GpuMat * _gpu_frame )
{
// create new local copy
cv::gpu::GpuMat newMat;
// convert to 8bit greyscale
cv::gpu::cvtColor( *_gpu_frame, newMat, CV_BGRA2GRAY );
if( newMat.size() != last_gpu_frame.size() )
{
// if the roi was resized, resie the last_gpu_frame, too
last_gpu_frame = cv::gpu::GpuMat( newMat.rows, newMat.cols, CV_8UC1 );
}
if( last_gpu_frame.type() == newMat.type() )
{
// do the flow calculation
dflow_lukaskanade.dense( last_gpu_frame, newMat, uGPU, vGPU );
}
// copy the current frame to the last frame, necessary for computing the next flow
newMat.copyTo( last_gpu_frame );
cv::Mat uMat( uGPU );
cv::Mat vMat( vGPU );
std::cout << "neMat type:" << newMat.type() << std::endl;
cv::gpu::cvtColor( newMat, newMat, CV_GRAY2BGR );
cv::Mat drawMat( newMat.rows, newMat.cols, newMat.type() );
//drawMotionField_GPU( uGPU, vGPU, newMat, 10, 10, 0.0, 40.0, 1.0, CV_RGB( 230, 230, 230 ) );
drawColorField( uMat, vMat, drawMat );
//drawMotionField( uMat, vMat, drawMat, 10, 10, 20, 100, 1.0, cv::Scalar( 255, 0, 0 ) );
cv::cvtColor( drawMat, drawMat, CV_BGR2RGBA );
_gpu_frame->upload( drawMat );
//newMat.copyTo( *_gpu_frame );
}
void drawMat(Mat& mat, float x, float y) {
drawMat(mat, x, y, mat.cols, mat.rows);
}
