Vadim Pisarevsky
14 years ago
parent
f69aa40310
commit
ae83fe7645
7 changed files with 1008 additions and 0 deletions
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//*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
|
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//
|
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_HYBRIDTRACKER_H_ |
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#define __OPENCV_HYBRIDTRACKER_H_ |
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#include "opencv2/core/core.hpp" |
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#include "opencv2/core/operations.hpp" |
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#include "opencv2/imgproc/imgproc.hpp" |
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#include "opencv2/features2d/features2d.hpp" |
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#include "opencv2/video/tracking.hpp" |
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#include "opencv2/ml/ml.hpp" |
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#ifdef __cplusplus |
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namespace cv |
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{ |
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// Motion model for tracking algorithm. Currently supports objects that do not move much.
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// To add Kalman filter
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struct CV_EXPORTS CvMotionModel |
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{ |
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enum {LOW_PASS_FILTER = 0, KALMAN_FILTER = 1, EM = 2}; |
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CvMotionModel() |
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{ |
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} |
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float low_pass_gain; // low pass gain
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CvEMParams em_params; // EM parameters
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}; |
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// Mean Shift Tracker parameters for specifying use of HSV channel and CamShift parameters.
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struct CV_EXPORTS CvMeanShiftTrackerParams |
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{ |
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enum { H = 0, HS = 1, HSV = 2 }; |
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CvMeanShiftTrackerParams(int tracking_type = CvMeanShiftTrackerParams::HS, |
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CvTermCriteria term_crit = CvTermCriteria()) |
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{ |
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} |
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int tracking_type; |
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float h_range[]; |
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float s_range[]; |
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float v_range[]; |
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CvTermCriteria term_crit; |
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}; |
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// Feature tracking parameters
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struct CV_EXPORTS CvFeatureTrackerParams |
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{ |
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enum { SIFT = 0, SURF = 1, OPTICAL_FLOW = 2 }; |
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CvFeatureTrackerParams(int feature_type = 0, int window_size = 0) |
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{ |
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feature_type = 0; |
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window_size = 0; |
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} |
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int feature_type; // Feature type to use
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int window_size; // Window size in pixels around which to search for new window
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}; |
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// Hybrid Tracking parameters for specifying weights of individual trackers and motion model.
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struct CV_EXPORTS CvHybridTrackerParams |
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{ |
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CvHybridTrackerParams(float ft_tracker_weight = 0.5, float ms_tracker_weight = 0.5, |
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CvFeatureTrackerParams ft_params = CvFeatureTrackerParams(), |
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CvMeanShiftTrackerParams ms_params = CvMeanShiftTrackerParams(), |
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CvMotionModel model = CvMotionModel()) |
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{ |
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} |
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float ft_tracker_weight; |
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float ms_tracker_weight; |
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CvFeatureTrackerParams ft_params; |
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CvMeanShiftTrackerParams ms_params; |
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CvEMParams em_params; |
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int motion_model; |
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float low_pass_gain; |
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}; |
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// Performs Camshift using parameters from MeanShiftTrackerParams
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class CV_EXPORTS CvMeanShiftTracker |
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{ |
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private: |
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Mat hsv, hue; |
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Mat backproj; |
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Mat mask, maskroi; |
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MatND hist; |
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Rect prev_trackwindow; |
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RotatedRect prev_trackbox; |
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Point2f prev_center; |
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public: |
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CvMeanShiftTrackerParams params; |
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CvMeanShiftTracker(); |
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CvMeanShiftTracker(CvMeanShiftTrackerParams _params = CvMeanShiftTrackerParams()); |
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~CvMeanShiftTracker(); |
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void newTrackingWindow(Mat image, Rect selection); |
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RotatedRect updateTrackingWindow(Mat image); |
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Mat getHistogramProjection(int type); |
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void setTrackingWindow(Rect _window); |
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Rect getTrackingWindow(); |
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RotatedRect getTrackingEllipse(); |
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Point2f getTrackingCenter(); |
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}; |
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// Performs SIFT/SURF feature tracking using parameters from FeatureTrackerParams
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class CV_EXPORTS CvFeatureTracker |
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{ |
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private: |
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FeatureDetector* detector; |
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DescriptorExtractor* descriptor; |
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DescriptorMatcher* matcher; |
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vector<DMatch> matches; |
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Mat prev_image; |
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Mat prev_image_bw; |
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Rect prev_trackwindow; |
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Point2d prev_center; |
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int ittr; |
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vector<Point2f> features[2]; |
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public: |
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Mat disp_matches; |
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CvFeatureTrackerParams params; |
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CvFeatureTracker(); |
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CvFeatureTracker(CvFeatureTrackerParams params = CvFeatureTrackerParams(0,0)); |
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~CvFeatureTracker(); |
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void newTrackingWindow(Mat image, Rect selection); |
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Rect updateTrackingWindow(Mat image); |
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Rect updateTrackingWindowWithSIFT(Mat image); |
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Rect updateTrackingWindowWithFlow(Mat image); |
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void setTrackingWindow(Rect _window); |
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Rect getTrackingWindow(); |
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Point2f getTrackingCenter(); |
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}; |
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// Performs Hybrid Tracking and combines individual trackers using EM or filters
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class CV_EXPORTS CvHybridTracker |
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{ |
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private: |
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CvMeanShiftTracker* mstracker; |
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CvFeatureTracker* fttracker; |
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CvMat* samples; |
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CvMat* labels; |
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CvEM em_model; |
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Rect prev_window; |
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Point2f prev_center; |
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Mat prev_proj; |
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RotatedRect trackbox; |
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int ittr; |
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Point2f curr_center; |
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inline float getL2Norm(Point2f p1, Point2f p2); |
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Mat getDistanceProjection(Mat image, Point2f center); |
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Mat getGaussianProjection(Mat image, int ksize, double sigma, Point2f center); |
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void updateTrackerWithEM(Mat image); |
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void updateTrackerWithLowPassFilter(Mat image); |
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public: |
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CvHybridTrackerParams params; |
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CvHybridTracker(); |
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CvHybridTracker(CvHybridTrackerParams params = CvHybridTrackerParams()); |
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~CvHybridTracker(); |
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void newTracker(Mat image, Rect selection); |
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void updateTracker(Mat image); |
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Rect getTrackingWindow(); |
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}; |
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typedef CvMotionModel MotionModel; |
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typedef CvMeanShiftTrackerParams MeanShiftTrackerParams; |
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typedef CvFeatureTrackerParams FeatureTrackerParams; |
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typedef CvHybridTrackerParams HybridTrackerParams; |
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typedef CvMeanShiftTracker MeanShiftTracker; |
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typedef CvFeatureTracker FeatureTracker; |
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typedef CvHybridTracker HybridTracker; |
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} |
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#endif |
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#endif |
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@ -0,0 +1,137 @@ |
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//*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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|
//
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|
// By downloading, copying, installing or using the software you agree to this license.
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|
// If you do not agree to this license, do not download, install,
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|
// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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|
//
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|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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|
// are permitted provided that the following conditions are met:
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|
//
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|
// * Redistribution's of source code must retain the above copyright notice,
|
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|
// this list of conditions and the following disclaimer.
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|
//
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|
// * Redistribution's in binary form must reproduce the above copyright notice,
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|
// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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|
// indirect, incidental, special, exemplary, or consequential damages
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|
// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp" |
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#include "opencv2/contrib/hybridtracker.hpp" |
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using namespace cv; |
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using namespace std; |
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CvMeanShiftTracker::CvMeanShiftTracker(CvMeanShiftTrackerParams _params) : params(_params) |
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{ |
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} |
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CvMeanShiftTracker::~CvMeanShiftTracker() |
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{ |
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} |
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void CvMeanShiftTracker::newTrackingWindow(Mat image, Rect selection) |
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{ |
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hist.release(); |
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int channels[] = { 0, 0 , 1, 1}; |
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float hrange[] = { 0, 180 }; |
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float srange[] = { 0, 1 }; |
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const float* ranges[] = {hrange, srange}; |
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cvtColor(image, hsv, CV_BGR2HSV); |
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inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask); |
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hue.create(hsv.size(), CV_8UC2); |
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mixChannels(&hsv, 1, &hue, 1, channels, 2); |
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Mat roi(hue, selection); |
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Mat maskroi(mask, selection); |
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int ch[] = {0, 1}; |
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int chsize[] = {32, 32}; |
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calcHist(&roi, 1, ch, maskroi, hist, 1, chsize, ranges); |
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normalize(hist, hist, 0, 255, CV_MINMAX); |
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prev_trackwindow = selection; |
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} |
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RotatedRect CvMeanShiftTracker::updateTrackingWindow(Mat image) |
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{ |
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int channels[] = { 0, 0 , 1, 1}; |
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float hrange[] = { 0, 180 }; |
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float srange[] = { 0, 1 }; |
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const float* ranges[] = {hrange, srange}; |
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cvtColor(image, hsv, CV_BGR2HSV); |
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inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask); |
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hue.create(hsv.size(), CV_8UC2); |
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mixChannels(&hsv, 1, &hue, 1, channels, 2); |
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int ch[] = {0, 1}; |
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calcBackProject(&hue, 1, ch, hist, backproj, ranges); |
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backproj &= mask; |
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prev_trackbox = CamShift(backproj, prev_trackwindow, TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1)); |
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int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5) / 6; |
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prev_trackwindow = Rect(prev_trackwindow.x - r, prev_trackwindow.y - r, prev_trackwindow.x + r, |
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prev_trackwindow.y + r) & Rect(0, 0, cols, rows); |
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prev_center.x = prev_trackwindow.x + prev_trackwindow.width / 2; |
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prev_center.y = prev_trackwindow.y + prev_trackwindow.height / 2; |
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#ifdef DEBUG_HYTRACKER |
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ellipse(image, prev_trackbox, Scalar(0, 0, 255), 1, CV_AA); |
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#endif |
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return prev_trackbox; |
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} |
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Mat CvMeanShiftTracker::getHistogramProjection(int type) |
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{ |
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Mat ms_backproj_f(backproj.size(), type); |
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backproj.convertTo(ms_backproj_f, type); |
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return ms_backproj_f; |
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} |
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void CvMeanShiftTracker::setTrackingWindow(Rect window) |
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{ |
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prev_trackwindow = window; |
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} |
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Rect CvMeanShiftTracker::getTrackingWindow() |
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{ |
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return prev_trackwindow; |
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} |
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RotatedRect CvMeanShiftTracker::getTrackingEllipse() |
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{ |
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return prev_trackbox; |
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} |
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Point2f CvMeanShiftTracker::getTrackingCenter() |
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{ |
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return prev_center; |
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} |
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@ -0,0 +1,219 @@ |
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//*M///////////////////////////////////////////////////////////////////////////////////////
|
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//
|
||||||
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||||
|
//
|
||||||
|
// By downloading, copying, installing or using the software you agree to this license.
|
||||||
|
// If you do not agree to this license, do not download, install,
|
||||||
|
// copy or use the software.
|
||||||
|
//
|
||||||
|
//
|
||||||
|
// License Agreement
|
||||||
|
// For Open Source Computer Vision Library
|
||||||
|
//
|
||||||
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||||
|
// Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
|
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|
// Third party copyrights are property of their respective owners.
|
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|
//
|
||||||
|
// Redistribution and use in source and binary forms, with or without modification,
|
||||||
|
// are permitted provided that the following conditions are met:
|
||||||
|
//
|
||||||
|
// * Redistribution's of source code must retain the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer.
|
||||||
|
//
|
||||||
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer in the documentation
|
||||||
|
// and/or other materials provided with the distribution.
|
||||||
|
//
|
||||||
|
// * The name of Intel Corporation may not be used to endorse or promote products
|
||||||
|
// derived from this software without specific prior written permission.
|
||||||
|
//
|
||||||
|
// This software is provided by the copyright holders and contributors "as is" and
|
||||||
|
// any express or implied warranties, including, but not limited to, the implied
|
||||||
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||||
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||||
|
// indirect, incidental, special, exemplary, or consequential damages
|
||||||
|
// (including, but not limited to, procurement of substitute goods or services;
|
||||||
|
// loss of use, data, or profits; or business interruption) however caused
|
||||||
|
// and on any theory of liability, whether in contract, strict liability,
|
||||||
|
// or tort (including negligence or otherwise) arising in any way out of
|
||||||
|
// the use of this software, even if advised of the possibility of such damage.
|
||||||
|
//
|
||||||
|
//M*/
|
||||||
|
#include "precomp.hpp" |
||||||
|
#include <stdio.h> |
||||||
|
#include <iostream> |
||||||
|
#include <highgui.h> |
||||||
|
#include "opencv2/calib3d/calib3d.hpp" |
||||||
|
#include "opencv2/contrib/hybridtracker.hpp" |
||||||
|
|
||||||
|
using namespace cv; |
||||||
|
|
||||||
|
CvFeatureTracker::CvFeatureTracker(CvFeatureTrackerParams _params) : |
||||||
|
params(_params) |
||||||
|
{ |
||||||
|
switch (params.feature_type) |
||||||
|
{ |
||||||
|
case CvFeatureTrackerParams::SIFT: |
||||||
|
detector = new SiftFeatureDetector( |
||||||
|
SIFT::DetectorParams::GET_DEFAULT_THRESHOLD(), |
||||||
|
SIFT::DetectorParams::GET_DEFAULT_EDGE_THRESHOLD() + 0.7, |
||||||
|
SIFT::CommonParams::DEFAULT_NOCTAVES + 4, |
||||||
|
SIFT::CommonParams::DEFAULT_NOCTAVE_LAYERS + 2, |
||||||
|
SIFT::CommonParams::DEFAULT_FIRST_OCTAVE, |
||||||
|
SIFT::CommonParams::FIRST_ANGLE); |
||||||
|
case CvFeatureTrackerParams::SURF: |
||||||
|
detector = new SurfFeatureDetector(400, 3, 4); |
||||||
|
default: |
||||||
|
detector = new GoodFeaturesToTrackDetector(); |
||||||
|
} |
||||||
|
|
||||||
|
descriptor = new SurfDescriptorExtractor(3, 4, false); |
||||||
|
|
||||||
|
matcher = new BruteForceMatcher<L2<float> > (); |
||||||
|
} |
||||||
|
|
||||||
|
CvFeatureTracker::~CvFeatureTracker() |
||||||
|
{ |
||||||
|
} |
||||||
|
|
||||||
|
void CvFeatureTracker::newTrackingWindow(Mat image, Rect selection) |
||||||
|
{ |
||||||
|
image.copyTo(prev_image); |
||||||
|
cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY); |
||||||
|
prev_trackwindow = selection; |
||||||
|
prev_center.x = selection.x; |
||||||
|
prev_center.y = selection.y; |
||||||
|
ittr = 0; |
||||||
|
} |
||||||
|
|
||||||
|
Rect CvFeatureTracker::updateTrackingWindow(Mat image) |
||||||
|
{ |
||||||
|
if(params.feature_type == CvFeatureTrackerParams::OPTICAL_FLOW) |
||||||
|
return updateTrackingWindowWithFlow(image); |
||||||
|
else |
||||||
|
updateTrackingWindowWithSIFT(image); |
||||||
|
} |
||||||
|
|
||||||
|
Rect CvFeatureTracker::updateTrackingWindowWithSIFT(Mat image) |
||||||
|
{ |
||||||
|
ittr++; |
||||||
|
vector<KeyPoint> prev_keypoints, curr_keypoints; |
||||||
|
vector<Point2f> prev_keys, curr_keys; |
||||||
|
Mat prev_desc, curr_desc; |
||||||
|
|
||||||
|
Rect window = prev_trackwindow; |
||||||
|
Mat mask = Mat::zeros(image.size(), CV_8UC1); |
||||||
|
rectangle(mask, Point(window.x, window.y), Point(window.x + window.width, |
||||||
|
window.y + window.height), Scalar(255), CV_FILLED); |
||||||
|
|
||||||
|
detector->detect(prev_image, prev_keypoints, mask); |
||||||
|
|
||||||
|
window.x -= params.window_size; |
||||||
|
window.y -= params.window_size; |
||||||
|
window.width += params.window_size; |
||||||
|
window.height += params.window_size; |
||||||
|
rectangle(mask, Point(window.x, window.y), Point(window.x + window.width, |
||||||
|
window.y + window.height), Scalar(255), CV_FILLED); |
||||||
|
|
||||||
|
detector->detect(image, curr_keypoints, mask); |
||||||
|
|
||||||
|
if (prev_keypoints.size() > 4 && curr_keypoints.size() > 4) |
||||||
|
{ |
||||||
|
descriptor->compute(prev_image, prev_keypoints, prev_desc); |
||||||
|
descriptor->compute(image, curr_keypoints, curr_desc); |
||||||
|
|
||||||
|
matcher->match(prev_desc, curr_desc, matches); |
||||||
|
|
||||||
|
for (int i = 0; i < matches.size(); i++) |
||||||
|
{ |
||||||
|
prev_keys.push_back(prev_keypoints[matches[i].queryIdx].pt); |
||||||
|
curr_keys.push_back(curr_keypoints[matches[i].trainIdx].pt); |
||||||
|
} |
||||||
|
|
||||||
|
Mat T = findHomography(prev_keys, curr_keys, CV_LMEDS); |
||||||
|
|
||||||
|
prev_trackwindow.x += T.at<double> (0, 2); |
||||||
|
prev_trackwindow.y += T.at<double> (1, 2); |
||||||
|
} |
||||||
|
|
||||||
|
prev_center.x = prev_trackwindow.x; |
||||||
|
prev_center.y = prev_trackwindow.y; |
||||||
|
prev_image = image; |
||||||
|
return prev_trackwindow; |
||||||
|
} |
||||||
|
|
||||||
|
Rect CvFeatureTracker::updateTrackingWindowWithFlow(Mat image) |
||||||
|
{ |
||||||
|
ittr++; |
||||||
|
Size subPixWinSize(10,10), winSize(31,31); |
||||||
|
Mat image_bw; |
||||||
|
TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03); |
||||||
|
vector<uchar> status; |
||||||
|
vector<float> err; |
||||||
|
|
||||||
|
cvtColor(image, image_bw, CV_BGR2GRAY); |
||||||
|
cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY); |
||||||
|
|
||||||
|
if (ittr == 1) |
||||||
|
{ |
||||||
|
Mat mask = Mat::zeros(image.size(), CV_8UC1); |
||||||
|
rectangle(mask, Point(prev_trackwindow.x, prev_trackwindow.y), Point( |
||||||
|
prev_trackwindow.x + prev_trackwindow.width, prev_trackwindow.y |
||||||
|
+ prev_trackwindow.height), Scalar(255), CV_FILLED); |
||||||
|
goodFeaturesToTrack(image_bw, features[1], 500, 0.01, 20, mask, 3, 0, 0.04); |
||||||
|
cornerSubPix(image_bw, features[1], subPixWinSize, Size(-1, -1), termcrit); |
||||||
|
} |
||||||
|
else |
||||||
|
{ |
||||||
|
calcOpticalFlowPyrLK(prev_image_bw, image_bw, features[0], features[1], |
||||||
|
status, err, winSize, 3, termcrit); |
||||||
|
|
||||||
|
Point2f feature0_center(0, 0); |
||||||
|
Point2f feature1_center(0, 0); |
||||||
|
int goodtracks = 0; |
||||||
|
for (int i = 0; i < features[1].size(); i++) |
||||||
|
{ |
||||||
|
if (status[i] == 1) |
||||||
|
{ |
||||||
|
feature0_center.x += features[0][i].x; |
||||||
|
feature0_center.y += features[0][i].y; |
||||||
|
feature1_center.x += features[1][i].x; |
||||||
|
feature1_center.y += features[1][i].y; |
||||||
|
goodtracks++; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
feature0_center.x /= goodtracks; |
||||||
|
feature0_center.y /= goodtracks; |
||||||
|
feature1_center.x /= goodtracks; |
||||||
|
feature1_center.y /= goodtracks; |
||||||
|
|
||||||
|
prev_center.x += (feature1_center.x - feature0_center.x); |
||||||
|
prev_center.y += (feature1_center.y - feature0_center.y); |
||||||
|
|
||||||
|
prev_trackwindow.x = (int)prev_center.x; |
||||||
|
prev_trackwindow.y = (int)prev_center.y; |
||||||
|
} |
||||||
|
|
||||||
|
swap(features[0], features[1]); |
||||||
|
image.copyTo(prev_image); |
||||||
|
} |
||||||
|
|
||||||
|
void CvFeatureTracker::setTrackingWindow(Rect _window) |
||||||
|
{ |
||||||
|
prev_trackwindow = _window; |
||||||
|
} |
||||||
|
|
||||||
|
Rect CvFeatureTracker::getTrackingWindow() |
||||||
|
{ |
||||||
|
return prev_trackwindow; |
||||||
|
} |
||||||
|
|
||||||
|
Point2f CvFeatureTracker::getTrackingCenter() |
||||||
|
{ |
||||||
|
Point2f center(0, 0); |
||||||
|
center.x = prev_center.x + prev_trackwindow.width/2.0; |
||||||
|
center.y = prev_center.y + prev_trackwindow.height/2.0; |
||||||
|
return center; |
||||||
|
} |
||||||
|
|
||||||
@ -0,0 +1,225 @@ |
|||||||
|
//*M///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
//
|
||||||
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||||
|
//
|
||||||
|
// By downloading, copying, installing or using the software you agree to this license.
|
||||||
|
// If you do not agree to this license, do not download, install,
|
||||||
|
// copy or use the software.
|
||||||
|
//
|
||||||
|
//
|
||||||
|
// License Agreement
|
||||||
|
// For Open Source Computer Vision Library
|
||||||
|
//
|
||||||
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||||
|
// Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
|
||||||
|
// Third party copyrights are property of their respective owners.
|
||||||
|
//
|
||||||
|
// Redistribution and use in source and binary forms, with or without modification,
|
||||||
|
// are permitted provided that the following conditions are met:
|
||||||
|
//
|
||||||
|
// * Redistribution's of source code must retain the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer.
|
||||||
|
//
|
||||||
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer in the documentation
|
||||||
|
// and/or other materials provided with the distribution.
|
||||||
|
//
|
||||||
|
// * The name of Intel Corporation may not be used to endorse or promote products
|
||||||
|
// derived from this software without specific prior written permission.
|
||||||
|
//
|
||||||
|
// This software is provided by the copyright holders and contributors "as is" and
|
||||||
|
// any express or implied warranties, including, but not limited to, the implied
|
||||||
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||||
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||||
|
// indirect, incidental, special, exemplary, or consequential damages
|
||||||
|
// (including, but not limited to, procurement of substitute goods or services;
|
||||||
|
// loss of use, data, or profits; or business interruption) however caused
|
||||||
|
// and on any theory of liability, whether in contract, strict liability,
|
||||||
|
// or tort (including negligence or otherwise) arising in any way out of
|
||||||
|
// the use of this software, even if advised of the possibility of such damage.
|
||||||
|
//
|
||||||
|
//M*/
|
||||||
|
#include "precomp.hpp" |
||||||
|
#include "opencv2/contrib/hybridtracker.hpp" |
||||||
|
|
||||||
|
using namespace cv; |
||||||
|
using namespace std; |
||||||
|
|
||||||
|
CvHybridTracker::CvHybridTracker() { |
||||||
|
|
||||||
|
} |
||||||
|
|
||||||
|
CvHybridTracker::CvHybridTracker(HybridTrackerParams _params) : |
||||||
|
params(_params) { |
||||||
|
params.ft_params.feature_type = CvFeatureTrackerParams::SIFT; |
||||||
|
mstracker = new CvMeanShiftTracker(params.ms_params); |
||||||
|
fttracker = new CvFeatureTracker(params.ft_params); |
||||||
|
} |
||||||
|
|
||||||
|
CvHybridTracker::~CvHybridTracker() { |
||||||
|
if (mstracker != NULL) |
||||||
|
delete mstracker; |
||||||
|
if (fttracker != NULL) |
||||||
|
delete fttracker; |
||||||
|
} |
||||||
|
|
||||||
|
inline float CvHybridTracker::getL2Norm(Point2f p1, Point2f p2) { |
||||||
|
float distance = (p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y |
||||||
|
- p2.y); |
||||||
|
return sqrt(distance); |
||||||
|
} |
||||||
|
|
||||||
|
Mat CvHybridTracker::getDistanceProjection(Mat image, Point2f center) { |
||||||
|
Mat hist(image.size(), CV_64F); |
||||||
|
|
||||||
|
double lu = getL2Norm(Point(0, 0), center); |
||||||
|
double ru = getL2Norm(Point(0, image.size().width), center); |
||||||
|
double rd = getL2Norm(Point(image.size().height, image.size().width), |
||||||
|
center); |
||||||
|
double ld = getL2Norm(Point(image.size().height, 0), center); |
||||||
|
|
||||||
|
double max = (lu < ru) ? lu : ru; |
||||||
|
max = (max < rd) ? max : rd; |
||||||
|
max = (max < ld) ? max : ld; |
||||||
|
|
||||||
|
for (int i = 0; i < hist.rows; i++) |
||||||
|
for (int j = 0; j < hist.cols; j++) |
||||||
|
hist.at<double> (i, j) = 1.0 - (getL2Norm(Point(i, j), center) |
||||||
|
/ max); |
||||||
|
|
||||||
|
return hist; |
||||||
|
} |
||||||
|
|
||||||
|
Mat CvHybridTracker::getGaussianProjection(Mat image, int ksize, double sigma, |
||||||
|
Point2f center) { |
||||||
|
Mat kernel = getGaussianKernel(ksize, sigma, CV_64F); |
||||||
|
double max = kernel.at<double> (ksize / 2); |
||||||
|
|
||||||
|
Mat hist(image.size(), CV_64F); |
||||||
|
for (int i = 0; i < hist.rows; i++) |
||||||
|
for (int j = 0; j < hist.cols; j++) { |
||||||
|
int pos = getL2Norm(Point(i, j), center); |
||||||
|
if (pos < ksize / 2.0) |
||||||
|
hist.at<double> (i, j) = 1.0 - (kernel.at<double> (pos) / max); |
||||||
|
} |
||||||
|
|
||||||
|
return hist; |
||||||
|
} |
||||||
|
|
||||||
|
void CvHybridTracker::newTracker(Mat image, Rect selection) { |
||||||
|
prev_proj = Mat::zeros(image.size(), CV_64FC1); |
||||||
|
prev_center = Point2f(selection.x + selection.width / 2.0, selection.y |
||||||
|
+ selection.height / 2.0); |
||||||
|
prev_window = selection; |
||||||
|
|
||||||
|
mstracker->newTrackingWindow(image, selection); |
||||||
|
fttracker->newTrackingWindow(image, selection); |
||||||
|
|
||||||
|
params.em_params.covs = NULL; |
||||||
|
params.em_params.means = NULL; |
||||||
|
params.em_params.probs = NULL; |
||||||
|
params.em_params.nclusters = 1; |
||||||
|
params.em_params.weights = NULL; |
||||||
|
params.em_params.cov_mat_type = CvEM::COV_MAT_SPHERICAL; |
||||||
|
params.em_params.start_step = CvEM::START_AUTO_STEP; |
||||||
|
params.em_params.term_crit.max_iter = 10000; |
||||||
|
params.em_params.term_crit.epsilon = 0.001; |
||||||
|
params.em_params.term_crit.type = CV_TERMCRIT_ITER | CV_TERMCRIT_EPS; |
||||||
|
|
||||||
|
samples = cvCreateMat(2, 1, CV_32FC1); |
||||||
|
labels = cvCreateMat(2, 1, CV_32SC1); |
||||||
|
|
||||||
|
ittr = 0; |
||||||
|
} |
||||||
|
|
||||||
|
void CvHybridTracker::updateTracker(Mat image) { |
||||||
|
ittr++; |
||||||
|
|
||||||
|
//copy over clean images: TODO
|
||||||
|
mstracker->updateTrackingWindow(image); |
||||||
|
fttracker->updateTrackingWindowWithFlow(image); |
||||||
|
|
||||||
|
if (params.motion_model == CvMotionModel::EM) |
||||||
|
updateTrackerWithEM(image); |
||||||
|
else |
||||||
|
updateTrackerWithLowPassFilter(image); |
||||||
|
|
||||||
|
// Regression to find new weights
|
||||||
|
Point2f ms_center = mstracker->getTrackingEllipse().center; |
||||||
|
Point2f ft_center = fttracker->getTrackingCenter(); |
||||||
|
|
||||||
|
#ifdef DEBUG_HYTRACKER |
||||||
|
circle(image, ms_center, 3, Scalar(0, 0, 255), -1, 8); |
||||||
|
circle(image, ft_center, 3, Scalar(255, 0, 0), -1, 8); |
||||||
|
putText(image, "ms", Point(ms_center.x+2, ms_center.y), FONT_HERSHEY_PLAIN, 0.75, Scalar(255, 255, 255)); |
||||||
|
putText(image, "ft", Point(ft_center.x+2, ft_center.y), FONT_HERSHEY_PLAIN, 0.75, Scalar(255, 255, 255)); |
||||||
|
#endif |
||||||
|
|
||||||
|
double ms_len = getL2Norm(ms_center, curr_center); |
||||||
|
double ft_len = getL2Norm(ft_center, curr_center); |
||||||
|
double total_len = ms_len + ft_len; |
||||||
|
|
||||||
|
params.ms_tracker_weight *= (ittr - 1); |
||||||
|
params.ms_tracker_weight += (ms_len / total_len); |
||||||
|
params.ms_tracker_weight /= ittr; |
||||||
|
params.ft_tracker_weight *= (ittr - 1); |
||||||
|
params.ft_tracker_weight += (ft_len / total_len); |
||||||
|
params.ft_tracker_weight /= ittr; |
||||||
|
|
||||||
|
circle(image, prev_center, 3, Scalar(0, 0, 0), -1, 8); |
||||||
|
circle(image, curr_center, 3, Scalar(255, 255, 255), -1, 8); |
||||||
|
|
||||||
|
prev_center = curr_center; |
||||||
|
prev_window.x = (int)(curr_center.x-prev_window.width/2.0); |
||||||
|
prev_window.y = (int)(curr_center.y-prev_window.height/2.0); |
||||||
|
|
||||||
|
mstracker->setTrackingWindow(prev_window); |
||||||
|
fttracker->setTrackingWindow(prev_window); |
||||||
|
} |
||||||
|
|
||||||
|
void CvHybridTracker::updateTrackerWithEM(Mat image) { |
||||||
|
Mat ms_backproj = mstracker->getHistogramProjection(CV_64F); |
||||||
|
Mat ms_distproj = getDistanceProjection(image, mstracker->getTrackingCenter()); |
||||||
|
Mat ms_proj = ms_backproj.mul(ms_distproj); |
||||||
|
|
||||||
|
float dist_err = getL2Norm(mstracker->getTrackingCenter(), fttracker->getTrackingCenter()); |
||||||
|
Mat ft_gaussproj = getGaussianProjection(image, dist_err, -1, fttracker->getTrackingCenter()); |
||||||
|
Mat ft_distproj = getDistanceProjection(image, fttracker->getTrackingCenter()); |
||||||
|
Mat ft_proj = ft_gaussproj.mul(ft_distproj); |
||||||
|
|
||||||
|
Mat proj = params.ms_tracker_weight * ms_proj + params.ft_tracker_weight * ft_proj + prev_proj; |
||||||
|
|
||||||
|
int sample_count = countNonZero(proj); |
||||||
|
cvReleaseMat(&samples); |
||||||
|
cvReleaseMat(&labels); |
||||||
|
samples = cvCreateMat(sample_count, 2, CV_32FC1); |
||||||
|
labels = cvCreateMat(sample_count, 1, CV_32SC1); |
||||||
|
|
||||||
|
int count = 0; |
||||||
|
for (int i = 0; i < proj.rows; i++) |
||||||
|
for (int j = 0; j < proj.cols; j++) |
||||||
|
if (proj.at<double> (i, j) > 0) { |
||||||
|
samples->data.fl[count * 2] = i; |
||||||
|
samples->data.fl[count * 2 + 1] = j; |
||||||
|
count++; |
||||||
|
} |
||||||
|
|
||||||
|
em_model.train(samples, 0, params.em_params, labels); |
||||||
|
|
||||||
|
curr_center.x = em_model.getMeans().at<double> (0, 0); |
||||||
|
curr_center.y = em_model.getMeans().at<double> (0, 1); |
||||||
|
} |
||||||
|
|
||||||
|
void CvHybridTracker::updateTrackerWithLowPassFilter(Mat image) { |
||||||
|
RotatedRect ms_track = mstracker->getTrackingEllipse(); |
||||||
|
Point2f ft_center = fttracker->getTrackingCenter(); |
||||||
|
|
||||||
|
float a = params.low_pass_gain; |
||||||
|
curr_center.x = (1.0 - a) * prev_center.x + a * (params.ms_tracker_weight * ms_track.center.x + params.ft_tracker_weight * ft_center.x); |
||||||
|
curr_center.y = (1.0 - a) * prev_center.y + a * (params.ms_tracker_weight * ms_track.center.y + params.ft_tracker_weight * ft_center.y); |
||||||
|
} |
||||||
|
|
||||||
|
Rect CvHybridTracker::getTrackingWindow() { |
||||||
|
return prev_window; |
||||||
|
} |
||||||
|
|
||||||
@ -0,0 +1,178 @@ |
|||||||
|
/*
|
||||||
|
* |
||||||
|
* Hybrid Tracking in OpenCV |
||||||
|
* Usage: ./hybridtrackingsample live |
||||||
|
* |
||||||
|
* For Benchmarking against the Bonn benchmark dataset |
||||||
|
* wget http://www.iai.uni-bonn.de/~kleind/tracking/datasets/seqG.zip
|
||||||
|
* unzip seqG.zip -d ./seqG |
||||||
|
* ffmpeg -i seqG/Vid_G_rubikscube.avi seqG/%04d.png |
||||||
|
* ./hytrack seqG/Vid_G_rubikscube.txt |
||||||
|
* |
||||||
|
*/ |
||||||
|
|
||||||
|
#include <cv.h> |
||||||
|
#include <ml.h> |
||||||
|
#include <cvaux.h> |
||||||
|
#include <highgui.h> |
||||||
|
#include <stdio.h> |
||||||
|
#include <time.h> |
||||||
|
#include <iostream> |
||||||
|
|
||||||
|
#include "opencv2/contrib/hybridtracker.hpp" |
||||||
|
|
||||||
|
using namespace cv; |
||||||
|
using namespace std; |
||||||
|
|
||||||
|
Mat frame, image; |
||||||
|
Rect selection; |
||||||
|
Point origin; |
||||||
|
bool selectObject = false; |
||||||
|
int trackObject = 0; |
||||||
|
int live = 1; |
||||||
|
|
||||||
|
void drawRectangle(Mat* image, Rect win) { |
||||||
|
rectangle(*image, Point(win.x, win.y), Point(win.x + win.width, win.y |
||||||
|
+ win.height), Scalar(0, 255, 0), 2, CV_AA); |
||||||
|
} |
||||||
|
|
||||||
|
void onMouse(int event, int x, int y, int, void*) { |
||||||
|
if (selectObject) { |
||||||
|
selection.x = MIN(x, origin.x); |
||||||
|
selection.y = MIN(y, origin.y); |
||||||
|
selection.width = std::abs(x - origin.x); |
||||||
|
selection.height = std::abs(y - origin.y); |
||||||
|
selection &= Rect(0, 0, image.cols, image.rows); |
||||||
|
} |
||||||
|
|
||||||
|
switch (event) { |
||||||
|
case CV_EVENT_LBUTTONDOWN: |
||||||
|
origin = Point(x, y); |
||||||
|
selection = Rect(x, y, 0, 0); |
||||||
|
selectObject = true; |
||||||
|
break; |
||||||
|
case CV_EVENT_LBUTTONUP: |
||||||
|
selectObject = false; |
||||||
|
trackObject = -1; |
||||||
|
break; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
void help() |
||||||
|
{ |
||||||
|
printf("Usage: ./hytrack live or ./hytrack <test_file> \n\
|
||||||
|
For Live View or Benchmarking. Read documentation is source code.\n\n"); |
||||||
|
} |
||||||
|
|
||||||
|
|
||||||
|
int main(int argc, char** argv) |
||||||
|
{ |
||||||
|
if(argc != 2) { |
||||||
|
help(); |
||||||
|
return 1; |
||||||
|
} |
||||||
|
|
||||||
|
FILE* f; |
||||||
|
VideoCapture cap; |
||||||
|
char test_file[20] = ""; |
||||||
|
char dir[20] = ""; |
||||||
|
|
||||||
|
if (strcmp(argv[1], "live") != 0) |
||||||
|
{ |
||||||
|
sprintf(test_file, "%s", argv[1]); |
||||||
|
f = fopen(test_file, "r"); |
||||||
|
char vid[20]; |
||||||
|
fscanf(f, "%s\n", vid); |
||||||
|
cout << "Benchmarking against " << vid << endl; |
||||||
|
live = 0; |
||||||
|
} |
||||||
|
else |
||||||
|
{ |
||||||
|
cap.open(0); |
||||||
|
if (!cap.isOpened()) |
||||||
|
{ |
||||||
|
cout << "Failed to open camera" << endl; |
||||||
|
return 0; |
||||||
|
} |
||||||
|
cout << "Opened camera" << endl; |
||||||
|
cap.set(CV_CAP_PROP_FRAME_WIDTH, 640); |
||||||
|
cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480); |
||||||
|
cap >> frame; |
||||||
|
} |
||||||
|
|
||||||
|
HybridTrackerParams params; |
||||||
|
// motion model params
|
||||||
|
params.motion_model = CvMotionModel::LOW_PASS_FILTER; |
||||||
|
params.low_pass_gain = 0.1; |
||||||
|
// mean shift params
|
||||||
|
params.ms_tracker_weight = 0.8; |
||||||
|
params.ms_params.tracking_type = CvMeanShiftTrackerParams::HS; |
||||||
|
// feature tracking params
|
||||||
|
params.ft_tracker_weight = 0.2; |
||||||
|
params.ft_params.feature_type = CvFeatureTrackerParams::OPTICAL_FLOW; |
||||||
|
params.ft_params.window_size = 0; |
||||||
|
|
||||||
|
HybridTracker tracker(params); |
||||||
|
char img_file[20] = "seqG/0001.png"; |
||||||
|
char img_file_num[10]; |
||||||
|
namedWindow("Win", 1); |
||||||
|
|
||||||
|
setMouseCallback("Win", onMouse, 0); |
||||||
|
|
||||||
|
int i = 0; |
||||||
|
float w[4]; |
||||||
|
while(1) |
||||||
|
{ |
||||||
|
i++; |
||||||
|
if (live) |
||||||
|
{ |
||||||
|
cap >> frame; |
||||||
|
frame.copyTo(image); |
||||||
|
} |
||||||
|
else |
||||||
|
{ |
||||||
|
fscanf(f, "%d %f %f %f %f\n", &i, &w[0], &w[1], &w[2], &w[3]); |
||||||
|
sprintf(img_file, "seqG/%04d.png", i); |
||||||
|
image = imread(img_file, CV_LOAD_IMAGE_COLOR); |
||||||
|
selection = Rect(w[0]*image.cols, w[1]*image.rows, w[2]*image.cols, w[3]*image.rows); |
||||||
|
} |
||||||
|
|
||||||
|
if (image.data == NULL) |
||||||
|
continue; |
||||||
|
|
||||||
|
sprintf(img_file_num, "Frame: %d", i); |
||||||
|
putText(image, img_file_num, Point(10, image.rows-20), FONT_HERSHEY_PLAIN, 0.75, Scalar(255, 255, 255)); |
||||||
|
if (!image.empty()) |
||||||
|
{ |
||||||
|
|
||||||
|
if (trackObject < 0) |
||||||
|
{ |
||||||
|
tracker.newTracker(image, selection); |
||||||
|
trackObject = 1; |
||||||
|
} |
||||||
|
|
||||||
|
if (trackObject) |
||||||
|
{ |
||||||
|
tracker.updateTracker(image); |
||||||
|
drawRectangle(&image, tracker.getTrackingWindow()); |
||||||
|
} |
||||||
|
|
||||||
|
if (selectObject && selection.width > 0 && selection.height > 0) |
||||||
|
{ |
||||||
|
Mat roi(image, selection); |
||||||
|
bitwise_not(roi, roi); |
||||||
|
} |
||||||
|
|
||||||
|
drawRectangle(&image, Rect(w[0]*image.cols, w[1]*image.rows, w[2]*image.cols, w[3]*image.rows)); |
||||||
|
imshow("Win", image); |
||||||
|
|
||||||
|
waitKey(100); |
||||||
|
} |
||||||
|
else |
||||||
|
i = 0; |
||||||
|
} |
||||||
|
|
||||||
|
fclose(f); |
||||||
|
return 0; |
||||||
|
|
||||||
|
} |
||||||
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Reference in new issue