Merge pull request #300 from kurnianggoro:multitracker
Vadim Pisarevsky
10 years ago
commit
ffa6637b94
5 changed files with 592 additions and 0 deletions
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/*----------------------------------------------
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* Usage: |
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* example_tracking_multitracker <video_name> [algorithm] |
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* |
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* example: |
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* example_tracking_multitracker Bolt/img/%04d.jpg |
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* example_tracking_multitracker faceocc2.webm KCF |
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* |
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* Note: after the OpenCV libary is installed, |
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* please re-compile this code with "HAVE_OPENCV" parameter activated |
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* to enable the high precission of fps computation |
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*--------------------------------------------------*/ |
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/* after the OpenCV libary is installed
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* please uncomment the the line below and re-compile this code |
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* to enable high precission of fps computation |
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*/ |
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//#define HAVE_OPENCV
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#include <opencv2/core/utility.hpp> |
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#include <opencv2/tracking.hpp> |
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#include <opencv2/videoio.hpp> |
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#include <opencv2/highgui.hpp> |
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#include <iostream> |
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#include <cstring> |
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#include <ctime> |
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#ifdef HAVE_OPENCV |
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#include <opencv2/flann.hpp> |
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#endif |
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#define RESET "\033[0m" |
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#define RED "\033[31m" /* Red */ |
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#define GREEN "\033[32m" /* Green */ |
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using namespace std; |
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using namespace cv; |
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int main( int argc, char** argv ){ |
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// show help
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if(argc<2){ |
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cout<< |
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" Usage: example_tracking_multitracker <video_name> [algorithm]\n" |
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" examples:\n" |
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" example_tracking_multitracker Bolt/img/%04d.jpg\n" |
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" example_tracking_multitracker faceocc2.webm MEDIANFLOW\n" |
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" \n" |
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" Note: after the OpenCV libary is installed,\n" |
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" please re-compile with the HAVE_OPENCV parameter activated\n" |
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" to enable the high precission of fps computation.\n" |
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<< endl; |
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return 0; |
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} |
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// timer
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#ifdef HAVE_OPENCV |
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cvflann::StartStopTimer timer; |
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#else |
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clock_t timer; |
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#endif |
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// for showing the speed
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double fps; |
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std::string text; |
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char buffer [50]; |
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// set the default tracking algorithm
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std::string trackingAlg = "KCF"; |
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// set the tracking algorithm from parameter
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if(argc>2) |
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trackingAlg = argv[2]; |
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// create the tracker
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MultiTracker trackers(trackingAlg); |
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// container of the tracked objects
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vector<Rect2d> objects; |
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// set input video
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std::string video = argv[1]; |
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VideoCapture cap(video); |
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Mat frame; |
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// get bounding box
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cap >> frame; |
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selectROI("tracker",frame,objects); |
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//quit when the tracked object(s) is not provided
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if(objects.size()<1) |
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return 0; |
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// initialize the tracker
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trackers.add(frame,objects); |
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// do the tracking
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printf(GREEN "Start the tracking process, press ESC to quit.\n" RESET); |
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for ( ;; ){ |
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// get frame from the video
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cap >> frame; |
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// stop the program if no more images
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if(frame.rows==0 || frame.cols==0) |
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break; |
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// start the timer
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#ifdef HAVE_OPENCV |
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timer.start(); |
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#else |
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timer=clock(); |
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#endif |
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//update the tracking result
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trackers.update(frame); |
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// calculate the processing speed
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#ifdef HAVE_OPENCV |
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timer.stop(); |
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fps=1.0/timer.value; |
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timer.reset(); |
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#else |
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timer=clock(); |
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trackers.update(frame); |
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timer=clock()-timer; |
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fps=(double)CLOCKS_PER_SEC/(double)timer; |
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#endif |
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// draw the tracked object
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for(unsigned i=0;i<trackers.objects.size();i++) |
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rectangle( frame, trackers.objects[i], Scalar( 255, 0, 0 ), 2, 1 ); |
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// draw the processing speed
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sprintf (buffer, "speed: %.0f fps", fps); |
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text = buffer; |
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putText(frame, text, Point(20,20), FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255)); |
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// show image with the tracked object
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imshow("tracker",frame); |
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//quit on ESC button
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if(waitKey(1)==27)break; |
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} |
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} |
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@ -0,0 +1,120 @@ |
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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) 2013, OpenCV Foundation, 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 the copyright holders 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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namespace cv { |
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// constructor
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MultiTracker::MultiTracker(const String& trackerType):defaultAlgorithm(trackerType){}; |
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// destructor
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MultiTracker::~MultiTracker(){}; |
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// add an object to be tracked, defaultAlgorithm is used
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bool MultiTracker::add(const Mat& image, const Rect2d& boundingBox){ |
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// quit if defaultAlgorithm has not been configured
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if(defaultAlgorithm==""){ |
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printf("Default algorithm was not defined!\n"); |
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return false; |
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} |
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// add a new tracked object
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return add(defaultAlgorithm.c_str(), image, boundingBox); |
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}; |
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// add a new tracked object
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bool MultiTracker::add( const String& trackerType, const Mat& image, const Rect2d& boundingBox ){ |
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// declare a new tracker
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Ptr<Tracker> newTracker = Tracker::create( trackerType ); |
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// add the created tracker algorithm to the trackers list
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trackerList.push_back(newTracker); |
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// add the ROI to the bounding box list
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objects.push_back(boundingBox); |
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// initialize the created tracker
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return trackerList.back()->init(image, boundingBox); |
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}; |
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// add a set of objects to be tracked
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bool MultiTracker::add(const String& trackerType, const Mat& image, std::vector<Rect2d> boundingBox){ |
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// status of the tracker addition
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bool stat=false; |
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// add tracker for all input objects
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for(unsigned i =0;i<boundingBox.size();i++){ |
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stat=add(trackerType,image,boundingBox[i]); |
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if(!stat)break; |
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} |
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// return the status
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return stat; |
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}; |
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// add a set of object to be tracked, defaultAlgorithm is used.
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bool MultiTracker::add(const Mat& image, std::vector<Rect2d> boundingBox){ |
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// quit if defaultAlgorithm has not been configured
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if(defaultAlgorithm==""){ |
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printf("Default algorithm was not defined!\n"); |
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return false; |
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} |
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return add(defaultAlgorithm.c_str(), image, boundingBox); |
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}; |
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// update position of the tracked objects, the result is stored in internal storage
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bool MultiTracker::update( const Mat& image){ |
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for(unsigned i=0;i< trackerList.size(); i++){ |
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trackerList[i]->update(image, objects[i]); |
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} |
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return true; |
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}; |
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// update position of the tracked objects, the result is copied to external variable
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bool MultiTracker::update( const Mat& image, std::vector<Rect2d> & boundingBox ){ |
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update(image); |
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boundingBox=objects; |
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return true; |
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}; |
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} /* namespace cv */ |
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@ -0,0 +1,184 @@ |
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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) 2013, OpenCV Foundation, 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 the copyright holders 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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namespace cv { |
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void ROISelector::mouseHandler(int event, int x, int y, int flags, void *param){ |
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ROISelector *self =static_cast<ROISelector*>(param); |
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self->opencv_mouse_callback(event,x,y,flags,param); |
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} |
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void ROISelector::opencv_mouse_callback( int event, int x, int y, int , void *param ){ |
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handlerT * data = (handlerT*)param; |
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switch( event ){ |
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// update the selected bounding box
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case EVENT_MOUSEMOVE: |
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if( data->isDrawing ){ |
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if(data->drawFromCenter){ |
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data->box.width = 2*(x-data->center.x)/*data->box.x*/; |
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data->box.height = 2*(y-data->center.y)/*data->box.y*/; |
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data->box.x = data->center.x-data->box.width/2.0; |
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data->box.y = data->center.y-data->box.height/2.0; |
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}else{ |
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data->box.width = x-data->box.x; |
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data->box.height = y-data->box.y; |
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} |
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} |
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break; |
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// start to select the bounding box
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case EVENT_LBUTTONDOWN: |
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data->isDrawing = true; |
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data->box = cvRect( x, y, 0, 0 ); |
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data->center = Point2f((float)x,(float)y); |
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break; |
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// cleaning up the selected bounding box
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case EVENT_LBUTTONUP: |
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data->isDrawing = false; |
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if( data->box.width < 0 ){ |
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data->box.x += data->box.width; |
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data->box.width *= -1; |
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} |
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if( data->box.height < 0 ){ |
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data->box.y += data->box.height; |
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data->box.height *= -1; |
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} |
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break; |
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} |
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} |
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Rect2d ROISelector::select(Mat img, bool fromCenter){ |
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return select("ROI selector", img, fromCenter); |
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} |
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Rect2d ROISelector::select(const std::string& windowName, Mat img, bool showCrossair, bool fromCenter){ |
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key=0; |
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// set the drawing mode
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selectorParams.drawFromCenter = fromCenter; |
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// show the image and give feedback to user
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imshow(windowName,img); |
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// copy the data, rectangle should be drawn in the fresh image
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selectorParams.image=img.clone(); |
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// select the object
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setMouseCallback( windowName, mouseHandler, (void *)&selectorParams ); |
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// end selection process on SPACE (32) BACKSPACE (27) or ENTER (13)
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while(!(key==32 || key==27 || key==13)){ |
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// draw the selected object
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rectangle( |
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selectorParams.image, |
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selectorParams.box, |
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Scalar(255,0,0),2,1 |
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); |
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// draw cross air in the middle of bounding box
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if(showCrossair){ |
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// horizontal line
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line( |
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selectorParams.image, |
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Point((int)selectorParams.box.x,(int)(selectorParams.box.y+selectorParams.box.height/2)), |
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Point((int)(selectorParams.box.x+selectorParams.box.width),(int)(selectorParams.box.y+selectorParams.box.height/2)), |
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Scalar(255,0,0),2,1 |
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); |
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// vertical line
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line( |
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selectorParams.image, |
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Point((int)(selectorParams.box.x+selectorParams.box.width/2),(int)selectorParams.box.y), |
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Point((int)(selectorParams.box.x+selectorParams.box.width/2),(int)(selectorParams.box.y+selectorParams.box.height)), |
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Scalar(255,0,0),2,1 |
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); |
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} |
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// show the image bouding box
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imshow(windowName,selectorParams.image); |
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// reset the image
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selectorParams.image=img.clone(); |
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//get keyboard event
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key=waitKey(1); |
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} |
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return selectorParams.box; |
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} |
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void ROISelector::select(const std::string& windowName, Mat img, std::vector<Rect2d> & boundingBox, bool fromCenter){ |
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std::vector<Rect2d> box; |
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Rect2d temp; |
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key=0; |
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// show notice to user
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printf("Select an object to track and then press SPACE or ENTER button!\n" ); |
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printf("Finish the selection process by pressing BACKSPACE button!\n" ); |
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// while key is not Backspace
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while(key!=27){ |
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temp=select(windowName, img, true, fromCenter); |
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if(temp.width>0 && temp.height>0) |
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box.push_back(temp); |
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} |
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boundingBox=box; |
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} |
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ROISelector _selector; |
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Rect2d selectROI(Mat img, bool fromCenter){ |
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return _selector.select("ROI selector", img, true, fromCenter); |
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}; |
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Rect2d selectROI(const std::string& windowName, Mat img, bool showCrossair, bool fromCenter){ |
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printf("Select an object to track and then press SPACE or ENTER button!\n" ); |
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return _selector.select(windowName,img, showCrossair, fromCenter); |
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}; |
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void selectROI(const std::string& windowName, Mat img, std::vector<Rect2d> & boundingBox, bool fromCenter){ |
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return _selector.select(windowName, img, boundingBox, fromCenter); |
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} |
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} /* namespace cv */ |
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