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94 lines
2.6 KiB
94 lines
2.6 KiB
#!/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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