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Merge pull request #214 from LaurentBerger/bugfix4269

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bugfix4269 included remarks in http://answers.opencv.org/question/59293/...
pull/240/head
Vadim Pisarevsky 10 years ago
parent 9064d28d2a 6122d265d1
commit 860eda950e
1 changed files with 50 additions and 53 deletions
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  1. 103
      modules/optflow/samples/motempl.cpp

103
modules/optflow/samples/motempl.cpp
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@ -13,21 +13,20 @@ using namespace cv::motempl;
static void help(void)
{
printf(
"\nThis program demonstrated the use of motion templates -- basically using the gradients\n"
"of thresholded layers of decaying frame differencing. New movements are stamped on top with floating system\n"
"time code and motions too old are thresholded away. This is the 'motion history file'. The program reads from the camera of your choice or from\n"
"a file. Gradients of motion history are used to detect direction of motoin etc\n"
"Usage :\n"
"./motempl [camera number 0-n or file name, default is camera 0]\n"
);
"\nThis program demonstrated the use of motion templates -- basically using the gradients\n"
"of thresholded layers of decaying frame differencing. New movements are stamped on top with floating system\n"
"time code and motions too old are thresholded away. This is the 'motion history file'. The program reads from the camera of your choice or from\n"
"a file. Gradients of motion history are used to detect direction of motion etc\n"
"Usage :\n"
"./motempl [camera number 0-n or file name, default is camera 0]\n"
);
}
// various tracking parameters (in seconds)
const double MHI_DURATION = 1;
const double MHI_DURATION = 5;
const double MAX_TIME_DELTA = 0.5;
const double MIN_TIME_DELTA = 0.05;
// number of cyclic frame buffer used for motion detection
// (should, probably, depend on FPS)
const int N = 4;
// ring image buffer
vector<Mat> buf;
@ -41,9 +40,9 @@ vector<Rect> regions;
// img - input video frame
// dst - resultant motion picture
// args - optional parameters
static void update_mhi( const Mat& img, Mat& dst, int diff_threshold )
static void update_mhi(const Mat& img, Mat& dst, int diff_threshold)
{
double timestamp = (double)clock()/CLOCKS_PER_SEC; // get current time in seconds
double timestamp = (double)clock() / CLOCKS_PER_SEC; // get current time in seconds
Size size = img.size();
int i, idx1 = last;
Rect comp_rect;
@ -55,57 +54,54 @@ static void update_mhi( const Mat& img, Mat& dst, int diff_threshold )
// allocate images at the beginning or
// reallocate them if the frame size is changed
if( mhi.size() != size )
if (mhi.size() != size)
{
mhi = Mat::zeros(size, CV_32F);
zplane = Mat::zeros(size, CV_8U);
buf.resize(N);
for( i = 0; i < N; i++ )
{
buf[i] = Mat::zeros(size, CV_8U);
}
buf[0] = Mat::zeros(size, CV_8U);
buf[1] = Mat::zeros(size, CV_8U);
}
cvtColor( img, buf[last], COLOR_BGR2GRAY ); // convert frame to grayscale
cvtColor(img, buf[last], COLOR_BGR2GRAY); // convert frame to grayscale
int idx2 = (last + 1) % N; // index of (last - (N-1))th frame
int idx2 = (last + 1) % 2; // index of (last - (N-1))th frame
last = idx2;
Mat silh = buf[idx2];
absdiff( buf[idx1], buf[idx2], silh ); // get difference between frames
absdiff(buf[idx1], buf[idx2], silh); // get difference between frames
threshold( silh, silh, diff_threshold, 1, THRESH_BINARY ); // and threshold it
updateMotionHistory( silh, mhi, timestamp, MHI_DURATION ); // update MHI
threshold(silh, silh, diff_threshold, 1, THRESH_BINARY); // and threshold it
updateMotionHistory(silh, mhi, timestamp, MHI_DURATION); // update MHI
// convert MHI to blue 8u image
mhi.convertTo( mask, CV_8U, 255./MHI_DURATION, (MHI_DURATION - timestamp)*255./MHI_DURATION );
Mat planes[] = {mask, zplane, zplane};
mhi.convertTo(mask, CV_8U, 255. / MHI_DURATION, (MHI_DURATION - timestamp)*255. / MHI_DURATION);
Mat planes[] = { mask, zplane, zplane };
merge(planes, 3, dst);
// calculate motion gradient orientation and valid orientation mask
calcMotionGradient( mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3 );
calcMotionGradient(mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3);
// segment motion: get sequence of motion components
// segmask is marked motion components map. It is not used further
regions.clear();
segmentMotion(mhi, segmask, regions, timestamp, MAX_TIME_DELTA);
// iterate through the motion components,
// One more iteration (i == -1) corresponds to the whole image (global motion)
for( i = -1; i < (int)regions.size(); i++ ) {
for (i = -1; i < (int)regions.size(); i++) {
if( i < 0 ) { // case of the whole image
comp_rect = Rect( 0, 0, size.width, size.height );
color = Scalar(255,255,255);
if (i < 0) { // case of the whole image
comp_rect = Rect(0, 0, size.width, size.height);
color = Scalar(255, 255, 255);
magnitude = 100;
}
else { // i-th motion component
comp_rect = regions[i];
if( comp_rect.width + comp_rect.height < 100 ) // reject very small components
if (comp_rect.width + comp_rect.height < 100) // reject very small components
continue;
color = Scalar(0,0,255);
color = Scalar(0, 0, 255);
magnitude = 30;
}
@ -116,22 +112,22 @@ static void update_mhi( const Mat& img, Mat& dst, int diff_threshold )
Mat mask_roi = mask(comp_rect);
// calculate orientation
angle = calcGlobalOrientation( orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION);
angle = calcGlobalOrientation(orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION);
angle = 360.0 - angle; // adjust for images with top-left origin
count = norm( silh, 0, NORM_L1, 0 ); // calculate number of points within silhouette ROI
count = norm(silh_roi, NORM_L1);; // calculate number of points within silhouette ROI
// check for the case of little motion
if( count < comp_rect.width*comp_rect.height * 0.05 )
if (count < comp_rect.width*comp_rect.height * 0.05)
continue;
// draw a clock with arrow indicating the direction
center = Point( (comp_rect.x + comp_rect.width/2),
(comp_rect.y + comp_rect.height/2) );
center = Point((comp_rect.x + comp_rect.width / 2),
(comp_rect.y + comp_rect.height / 2));
circle( dst, center, cvRound(magnitude*1.2), color, 3, 16, 0 );
line( dst, center, Point( cvRound( center.x + magnitude*cos(angle*CV_PI/180)),
cvRound( center.y - magnitude*sin(angle*CV_PI/180))), color, 3, 16, 0 );
circle(img, center, cvRound(magnitude*1.2), color, 3, 16, 0);
line(img, center, Point(cvRound(center.x + magnitude*cos(angle*CV_PI / 180)),
cvRound(center.y - magnitude*sin(angle*CV_PI / 180))), color, 3, 16, 0);
}
}
@ -142,28 +138,29 @@ int main(int argc, char** argv)
help();
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
cap.open( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
cap.open( argv[1] );
if (argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
cap.open(argc == 2 ? argv[1][0] - '0' : 0);
else if (argc == 2)
cap.open(argv[1]);
if( !cap.isOpened() )
if (!cap.isOpened())
{
printf("Could not initialize video capture\n");
return 0;
}
buf.resize(2);
Mat image, motion;
for(;;)
for (;;)
{
cap >> image;
if( image.empty() )
if (image.empty())
break;
update_mhi( image, motion, 30 );
imshow( "Motion", motion );
update_mhi(image, motion, 30);
imshow("Image", image);
imshow("Motion", motion);
if( waitKey(10) >= 0 )
if (waitKey(10) >= 0)
break;
}

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