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@ -2,6 +2,14 @@ import numpy as np |
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import cv2 |
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import video |
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help_message = '''USAGE: camshift.py [<video source>] |
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Select a bright colored object to track. |
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Keys: |
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ESC - exit |
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b - toggle back-projected probability visualization |
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''' |
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class App(object): |
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@ -14,6 +22,7 @@ class App(object): |
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self.selection = None |
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self.drag_start = None |
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self.tracking_state = 0 |
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self.show_backproj = False |
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def onmouse(self, event, x, y, flags, param): |
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x, y = np.int16([x, y]) # BUG |
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@ -47,37 +56,49 @@ class App(object): |
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def run(self): |
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while True: |
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ret, self.frame = self.cam.read() |
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self.frame = self.frame.copy() |
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vis = self.frame.copy() |
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hsv = cv2.cvtColor(self.frame, cv2.COLOR_BGR2HSV) |
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mask = cv2.inRange(hsv, np.array((0, 60, 32)), np.array((180, 255, 255))) |
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if self.selection: |
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x0, y0, x1, y1 = self.selection |
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self.track_window = (x0, y0, x1-x0, y1-y0) |
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hsv_roi = hsv[y0:y1, x0:x1] |
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hist = cv2.calcHist( [hsv_roi], [0], None, [16], [0, 180] ) |
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mask_roi = mask[y0:y1, x0:x1] |
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hist = cv2.calcHist( [hsv_roi], [0], mask_roi, [16], [0, 180] ) |
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cv2.normalize(hist, hist, 0, 255, cv2.NORM_MINMAX); |
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self.hist = hist.reshape(-1) |
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self.show_hist() |
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roi = self.frame[y0:y1, x0:x1] |
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cv2.bitwise_not(roi, roi) |
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vis_roi = vis[y0:y1, x0:x1] |
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cv2.bitwise_not(vis_roi, vis_roi) |
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vis[mask == 0] = 0 |
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if self.tracking_state == 1: |
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self.selection = None |
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prob = cv2.calcBackProject([hsv], [0], self.hist, [0, 180], 1) |
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prob &= mask |
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term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 ) |
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print cv2.CamShift(prob, term_crit) |
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#cv2.imshow('back', back) |
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track_box, self.track_window = cv2.CamShift(prob, self.track_window, term_crit) |
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if self.show_backproj: |
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vis[:] = prob[...,np.newaxis] |
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try: cv2.ellipse(vis, track_box, (0, 0, 255), 2) |
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except: print track_box |
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cv2.imshow('camshift', self.frame) |
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if cv2.waitKey(5) == 27: |
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cv2.imshow('camshift', vis) |
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ch = cv2.waitKey(5) |
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if ch == 27: |
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break |
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if ch == ord('b'): |
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self.show_backproj = not self.show_backproj |
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if __name__ == '__main__': |
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import sys |
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try: video_src = sys.argv[1] |
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except: video_src = video.presets['chess'] |
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print help_message |
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App(video_src).run() |
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