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#!/usr/bin/env python
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'''
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Feature homography
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==================
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Example of using features2d framework for interactive video homography matching.
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ORB features and FLANN matcher are used. The actual tracking is implemented by
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PlaneTracker class in plane_tracker.py
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Inspired by http://www.youtube.com/watch?v=-ZNYoL8rzPY
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video: http://www.youtube.com/watch?v=FirtmYcC0Vc
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Usage
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-----
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feature_homography.py [<video source>]
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Keys:
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SPACE - pause video
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Select a textured planar object to track by drawing a box with a mouse.
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'''
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import numpy as np
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import cv2
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# local modules
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import video
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import common
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from common import getsize, draw_keypoints
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from plane_tracker import PlaneTracker
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class App:
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def __init__(self, src):
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self.cap = video.create_capture(src)
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self.frame = None
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self.paused = False
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self.tracker = PlaneTracker()
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cv2.namedWindow('plane')
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self.rect_sel = common.RectSelector('plane', self.on_rect)
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def on_rect(self, rect):
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self.tracker.clear()
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self.tracker.add_target(self.frame, rect)
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def run(self):
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while True:
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playing = not self.paused and not self.rect_sel.dragging
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if playing or self.frame is None:
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ret, frame = self.cap.read()
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if not ret:
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break
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self.frame = frame.copy()
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w, h = getsize(self.frame)
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vis = np.zeros((h, w*2, 3), np.uint8)
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vis[:h,:w] = self.frame
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if len(self.tracker.targets) > 0:
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target = self.tracker.targets[0]
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vis[:,w:] = target.image
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draw_keypoints(vis[:,w:], target.keypoints)
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x0, y0, x1, y1 = target.rect
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cv2.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
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if playing:
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tracked = self.tracker.track(self.frame)
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if len(tracked) > 0:
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tracked = tracked[0]
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cv2.polylines(vis, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
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for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
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cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
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draw_keypoints(vis, self.tracker.frame_points)
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self.rect_sel.draw(vis)
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cv2.imshow('plane', vis)
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ch = cv2.waitKey(1)
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if ch == ord(' '):
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self.paused = not self.paused
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if ch == 27:
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break
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if __name__ == '__main__':
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print __doc__
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import sys
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try:
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video_src = sys.argv[1]
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except:
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video_src = 0
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App(video_src).run()
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