Comments (12)
Nuzhny007
commented on August 16, 2024
2
I have bad news for you. This project requires OpenCV 3.x and compiler with C++11 standart support. Visual studio 2010 and opencv 2.4.9 are not supported - too old versions.
from multitarget-tracker.
Smorodov
commented on August 16, 2024
1
Hi, still not clear what do you want, this code is for MOG2, it uses MOG2,
and if it works, than no bugs here.
2017-08-23 7:10 GMT+03:00 dulithaaaa <[email protected]>:
… Thank you very much sir,sir i have code can you find what is bug in the
code please,it works only to MOG2
On Wednesday, August 23, 2017 9:16 AM, Sergey Nuzhny <
***@***.***> wrote:
Sir,I have a code of tracking i attached that file.it worked only to
MOG2,could you please look at that code and tell me what modification needs
to be required.
Hi!
I don't know what do you want. How can I advise you?
This project - Multitarget-tracker contains full stack of algorithms for
motion detection. I can tell you how it works.
- You need CMake gui application, start it.
- Select folder Mulitarget-tracker (with CMakeLists.txt file).
- Select subfolder folder build.
- Push a button Configure, select your MSVC compler. Wait.
- If OpenCV wasn't founded automatic then select OpenCV_DIR manually. Push
a button Configure again.
- Push a button Generate.
- Now the folder build contains a solution file (.sln). Lets open it in
Visual studio!
The end.
—
You are receiving this because you authored the thread.
Reply to this email directly, view it on GitHub, or mute the thread.
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include <opencv2/highgui.hpp>
#include <opencv2/video.hpp>
#include <stdio.h>
#include <ctime>
#include <iostream>
#include <sstream>
#include "TrackedObject.h"
using namespace cv;
using namespace std;
// Global constant
const bool SHOW_ALL_OPERATION_RESULTS = true; // defines if different
operation results should be shown
const bool WINDOW_NAMES_READABLE = false; // if set, creates y-offset to
make window names readable
const int ELEMENTS_PER_ROW = 3; // defines how much windows are shown
within a row
const bool TRACKING_RESULTS_IN_ORIGINAL = false; // shows tracking results
in original frame
// video related constants
const int VIDEO_NUMBER = 1; // 1:10, choose different number for different
video
const bool LOOP_VIDEO = true; // defines if video should be looped
infinitely
const char* VIDEO_DIRECTORY_PATH = ".\\detect.avi\\"; // define path to
video directory
const bool SOURCE2GRAY = false; // defines, if source frame should be
converted to gray
// foreground segmentation postprocessing related constants
const int HISTORY = 1000; // MOG2 parameter: amount of considered frames
const double VAR_THRESHOLD = 20; // MOG2 parameter: threshold for degree
of minimum variance
const bool DETECT_SHADOWS = false; // MOG2 parameter: defines if shadows
should be detected
int thresholdMask = 100; // defines start value of threshold for
// binarization of foreground frame
const int THRESHOLD_MASK_MAX = 255; // defines maximum value for threshold
// morphing related constants
const int KERNEL_TYPE = MORPH_ELLIPSE; // choose: MORPH_RECT, MORPH_CROSS,
MORPH_ELLIPSE
int kernelSizeClose = 5; // defines start value for kernel size of close
op.
int kernelSizeErode = 5; // defines start value for kernel size of erode
op.
int kernelSizeDilate = 5; // defines start value for kernel size of dilate
op.
const int KERNEL_SIZE_MAX = 20; // defines maximum value for threshold
// drawing related constants
const Scalar DEFAULT_DRAWING_COLOR = Scalar(0, 255, 0); // defines default
color of bounding boxes and labels
const int CONTOUR_MIN_AREA = 500; // defines minimum area of contours
const int BBOX_MIN_AREA = 3000; // defines minimum area of bounding boxes
const bool SHOW_LABELS = false; // shows labels of object adjusted to the
bounding box
const int HEATMAP_RANGE = 25; // defines size of different colors in heat
map
// and threshold (color of highest weight)
// bounding box and label related constants
const float ALPHA = 0.5; // defines opacity of rectangle and label
const int LABEL_HEIGHT = 20; // defines height of label
const char* TEST_NAME = "Car"; // defines name for test labels
const int TEXT_FONT_FACE = 2; // defines font of label text
const int TEXT_THICKNESS = 2; // defines thickness of label text
const int TEXT_LINE_TYPE = 0; // defines line type of label text
const double TEXT_FONT_SCALE = 0.7; // defines scale of label text
// tracking related constants
const bool TRACKING = true; // defines if tracking is active
const bool STATEFUL_TRACKING = true; // defines if stateful tracking with
TrackedObjects is active
const int MAX_COUNT_TOTAL = 150; // defines max no. of tracked points in
total
const int MAX_COUNT_PER_CAR = 25; // defines max no. of tracked points per
car
const int MIN_POINTS_TRACKED_OBJECT = 3; // defines min no. of points for
tracked objects
const int INIT_INTERVAL = 15; // defines, after how many frames the
tracker should initialize new points
const TermCriteria termcrit(TermCriteria::COUNT | TermCriteria::EPS, 20,
0.03); // defines criteria for klt tracker
const Size subPixWinSize(10, 10);
const Size winSize(31, 31);
/// Global variables
// window related variables
int scale = 10; // scales windows (and mats) after processing before
displaying
// (10 is equal to standard size, 20 to doubled size)
// video related variables
int frameStart = 1; // defines frame to start (set in video chooser)
int frameEnd = 0; // defines frame to end (set in video chooser)
// frame related variables
Mat frame; //current frame
Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
Mat frameGray; // current frame in grayscale
Mat frameGrayPrev; // previous frame in grayscale
Mat frameThreshold; // frame with applied threshold (to elimante shadows
etc.)
Mat frameMorphed; // morphed frame (to elimante noise)
Mat frameMasked; // morphed frame applied as a mask to the original frame
Mat frameContours; // drawn contours
Mat frameKltTracking; // klt tracking lanes
Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
// tracking related variables
bool resetFeatures = false;
Point2f point;
vector<Point2f> points[2];
int amountHandledContoursPrev = 0;
vector<TrackedObject> trackedObjects;
int objectCounter;
int keyboard; //input from keyboard
/// Function Headers
char* videoChooser();
void processVideo(char* videoFilename);
void showFrame(char* windowName, Mat frame, int width,int height, int
position);
void resizeFrames();
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame);
void showControlPanel();
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat
frameKltTracking, vector<vector<Point>> contours);
void trackObjects(vector<vector<Point>> contours, size_t currentPoint);
size_t* getCorrespondingObject(vector<Point> contour);
void handleProcessedPoints();
Scalar getHeatMapColor(float value);
void processVideo(char* videoFilename);
void processImages(char* firstFrameFilename);
char* VIDEO_FILE = "visiontraffic.avi";
int main(int argc, char* argv[])
{
char* videoPath = new char[100];
/// initialize variables
// define path of video file
strcpy(videoPath, VIDEO_DIRECTORY_PATH);
strcat(videoPath, videoChooser());
//create GUI windows
namedWindow("Original");
namedWindow("Foreground (MOG2)");
namedWindow("Threshold");
namedWindow("Morphed");
namedWindow("Contours");
namedWindow("Masked Original Frame");
namedWindow("KLT Tracking");
//create Background Subtractor objects
pMOG2 = createBackgroundSubtractorMOG2(HISTORY, VAR_THRESHOLD,
DETECT_SHADOWS); //MOG2 approach
//input data coming from a video
processVideo(VIDEO_FILE);
//destroy GUI windows
destroyAllWindows();
return EXIT_SUCCESS;
}
void processVideo(char* videoFilename) {
//create the capture object
VideoCapture capture(videoFilename);
if (!capture.isOpened()) {
//error in opening the video input
cerr << "Unable to open video file: " << videoFilename << endl;
exit(EXIT_FAILURE);
}
///read input data. ESC or 'q' for quitting
while ((char)keyboard != 'q' && (char)keyboard != 27) {
//read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
//update the background model
pMOG2->apply(frame, fgMaskMOG2);
stringstream ss;
rectangle(frame, cv::Point(10, 2), cv::Point(100, 20),
cv::Scalar(255, 255, 255), -1);
ss << capture.get(CAP_PROP_POS_FRAMES);
string frameNumberString = ss.str();
putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
imshow("Frame", frame);
imshow("FG Mask MOG 2", fgMaskMOG2);
pMOG2->apply(frame, fgMaskMOG2);
imshow("Frame", frame);
imshow("FG Mask MOG 2", fgMaskMOG2);
//get the frame number and write it on the current frame
rectangle(frame, Point(10, 2), Point(100, 20), Scalar(255, 255, 255), -1);
frameNumberCurrent << capture.get(CAP_PROP_POS_FRAMES);
frameInfo << frameNumberCurrent.str() << "/" << frameNumberTotal.str();
putText(frame, frameInfo.str(), Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
//get the input from the keyboard
keyboard = waitKey(30);
/// variable declaration and initialization
// morphing related variables (initialized during each loop, since
parameters are changable)
Mat kernelClose;
Mat kernelErode;
Mat kernelDilate;
// frame related variables
stringstream frameNumberTotal;
stringstream frameNumberCurrent;
stringstream frameInfo;
int frameWidth = 0,
frameHeight = 0;
// contour related variables
vector<vector<Point>> contours;
vector<Vec4i> hierarchy;
// displaying related variables
int r = 1; // counter for row
//// video processing
frameNumberTotal << capture.get(CAP_PROP_FRAME_COUNT);
frameWidth = (int)capture.get(CV_CAP_PROP_FRAME_WIDTH);
frameHeight = (int)capture.get(CV_CAP_PROP_FRAME_HEIGHT);
if (frameEnd == 0)
frameEnd = (int)capture.get(CAP_PROP_FRAME_COUNT);
// set video to defined start frame
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// show control panel (enables modification of some variables in realtime)
showControlPanel();
while ((char)keyboard != 27) {
// read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
// convert original frame to grayscale if specified by constant
if (SOURCE2GRAY)
frameGray.copyTo(frame);
// re-initialize objects with changable parameters
if (kernelSizeClose > 0)
kernelClose = getStructuringElement(KERNEL_TYPE, Size(kernelSizeClose,
kernelSizeClose));
if (kernelSizeErode > 0)
kernelErode = getStructuringElement(KERNEL_TYPE, Size(kernelSizeErode,
kernelSizeErode));
if (kernelSizeDilate > 0)
kernelDilate = getStructuringElement(KERNEL_TYPE, Size(kernelSizeDilate,
kernelSizeDilate));
}
// apply threshold to MOG2 frame to get rid of shadows etc
threshold(fgMaskMOG2, frameThreshold, thresholdMask, 255, THRESH_BINARY);
// apply morphology operations to thresholded frame
if (kernelSizeClose > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_CLOSE, kernelClose);
if (kernelSizeErode > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_ERODE, kernelErode);
if (kernelSizeDilate > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_DILATE, kernelDilate);
frameThreshold.copyTo(frameMorphed);
// save previous masked frame as grayscale frame for later tracking
if (!frameMasked.empty())
cvtColor(frameMasked, frameGrayPrev, CV_RGB2GRAY);
// apply morphed mask, but save before the morphed frame before
frameMorphed.copyTo(frameContours);
frameMorphed.copyTo(frameMasked);
frame.copyTo(frameMasked, frameMasked);
// save new masked frame as grayscale frame for later tracking, also save
mask to KltTracking frame
cvtColor(frameMasked, frameGray, CV_RGB2GRAY);
frameMasked.copyTo(frameKltTracking);
// draw and fill contours
findContours(frameContours, contours, hierarchy, CV_RETR_EXTERNAL,
CV_CHAIN_APPROX_SIMPLE);
setIdentity(frameContours, Scalar(0, 0, 0));
drawContours(frameContours, contours, -1, Scalar(255, 255, 255), -1);
// draws rectangle around identified contours
drawBoundingBoxes(contours, frameMasked);
// prepare for and apply tracking algorithm (use grayscale copies of
masked frame)
if (!frameGrayPrev.empty() && TRACKING)
applyKltTracking(frameGray, frameGrayPrev, frameKltTracking, contours);
/// show the different frames (from last to first row, to overlay windows
bar)
resizeFrames(); // resize all frames
if (SHOW_ALL_OPERATION_RESULTS) {
// row 3
r = 3;
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 1 +
(r - 1)*ELEMENTS_PER_ROW);
// row 2
r = 2;
showFrame("Morphed", frameMorphed, frameWidth, frameHeight, 1 + (r -
1)*ELEMENTS_PER_ROW);
showFrame("Contours", frameContours, frameWidth, frameHeight, 2 + (r -
1)*ELEMENTS_PER_ROW);
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 3
+ (r - 1)*ELEMENTS_PER_ROW);
// row 1
r = 1;
showFrame("Original", frame, frameWidth, frameHeight, 1 + (r -
1)*ELEMENTS_PER_ROW);
showFrame("Foreground (MOG2)", fgMaskMOG2, frameWidth, frameHeight, 2 + (r
- 1)*ELEMENTS_PER_ROW);
showFrame("Threshold", frameThreshold, frameWidth, frameHeight, 3 + (r -
1)*ELEMENTS_PER_ROW);
}
else {
// row 1
r = 1;
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 1
+ (r - 1)*ELEMENTS_PER_ROW);
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 2 +
(r - 1)*ELEMENTS_PER_ROW);
}
// shows image for the specified amount of milliseconds
keyboard = waitKey(30);
switch (keyboard) {
case 'r':
resetFeatures = true; // reset on pressed 'r'
break;
}
// loop through the video if end is reached and loop is set
if (LOOP_VIDEO && (frameNumberCurrent.str().compare(std::to_string(frameEnd))
== 0))
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// ensure that new feature points are initialized every INIT_INTERVAL
frames for the tracker
if (std::stoi(frameNumberCurrent.str()) % INIT_INTERVAL == 0 &&
trackedObjects.size() > 0)
resetFeatures = true;
// cleaning operation: clean string streams
frameNumberCurrent.str("");
frameInfo.str("");
}
// cleaning operation: release capture object
capture.release();
//imshow("FG Mask MOG 2", fgMaskMOG2);
//get the input from the keyboard
//keyboard = waitKey(30);
//}
//delete capture object
////capture.release();
}
char* videoChooser() {
// variable declaration
char* videoFile = "dog.avi"; // saves name of selected video file
// chooses video file depending on chosen video number
switch (VIDEO_NUMBER) {
case 1:
videoFile = "visiontraffic.avi";
frameStart = 90;
frameEnd = 440;
break;
case 2:
videoFile = "viptraffic.avi";
break;
case 3:
videoFile = "highwayII_raw.avi";
break;
case 4:
videoFile = "dispersed.ogv";
break;
case 5:
videoFile = "highspeed.ogv";
break;
case 6:
videoFile = "hightraffic-dark.ogv";
break;
case 7:
videoFile = "hightraffic-occlude.ogv";
break;
case 8:
videoFile = "threecars.ogv";
break;
case 9:
videoFile = "turntraffic-dark.ogv";
break;
case 10:
videoFile = "visor_1261565143617_cesta1.wmv";
break;
default:
break;
}
return videoFile;
}
void showFrame(char* windowName, Mat frame, int width, int height, int
position) {
// variable declaration and initialization
int x = 0, // x-coordinates for position
y = 0, // y-coordinates for position
yOffset = 30; // offset for y-coordinates, since windows bar does not
count into frame height
// strategy for y-offset: create windows from last row to first to overlay
the bar
// create y-Offset if defince to make titles of windows readable
if (!WINDOW_NAMES_READABLE) {
yOffset += -32;
}
else if (position > ELEMENTS_PER_ROW) {
yOffset += 32;
}
// create window and display defined frame
cv::namedWindow(windowName);
cv::imshow(windowName, frame);
// resize stats for position calculation, if defined
if (scale != 10) {
// filter for the case, that it's zero, since range is not adjustable in
opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// calculate new width and height
width = (int)(width * scaleFactor);
height = (int)(height * scaleFactor);
}
//// get positioning
// get x coordinates with width
if (((position - 1) % ELEMENTS_PER_ROW) != 0)
x = ((position - 1) % ELEMENTS_PER_ROW) * width;
// get y coordinates with height
if (position > ELEMENTS_PER_ROW)
y = (position - (position - 1) % ELEMENTS_PER_ROW) / ELEMENTS_PER_ROW *
height;
// place window at calculated position
moveWindow(windowName, x, y + yOffset);
}
void resizeFrames() {
//resize all frames, if defined
if (scale != 10 && scale > 0) {
// filter for the case, that it's zero, since range is not adjustable in
opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// resize all frames
resize(frame, frame, Size(100,100), scaleFactor, scaleFactor,
CV_INTER_LINEAR);
resize(fgMaskMOG2, fgMaskMOG2, Size(100,100), scaleFactor, scaleFactor,
CV_INTER_LINEAR);
resize(frameThreshold, frameThreshold, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
resize(frameMorphed, frameMorphed, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
resize(frameMasked, frameMasked, Size(100,100), scaleFactor, scaleFactor,
CV_INTER_LINEAR);
resize(frameContours, frameContours, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
resize(frameKltTracking, frameKltTracking, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
}
}
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame) {
// variable declaration
int amountHandledContours = 0;
Scalar drawingColor = DEFAULT_DRAWING_COLOR;
// create bounding rect of object and draw on defined frame
for (vector<vector<Point>>::iterator itc = contours.begin(); itc !=
contours.end(); itc++) {
// variable declaration and initialization
Rect boundingBox = boundingRect(Mat(*itc));
Mat overlay;
// only handle rectangles with a minimum area
if (boundingBox.area() >= CONTOUR_MIN_AREA) {
if (contourArea(*itc) >= CONTOUR_MIN_AREA) {
// get corresponding object, if there's one, to define the drawing color
size_t* indexCorrespondingObject = getCorrespondingObject(*itc);
if (indexCorrespondingObject != NULL)
drawingColor = trackedObjects[*indexCorrespondingObject].getColor();
// draw contours regardless of area
drawContours(frame, contours, -1, drawingColor, 1);
// handle bounding boxes (but only if they're bigger than defined minimum
area)
if (boundingBox.area() >= BBOX_MIN_AREA) {
// copy frame to
frame.copyTo(overlay);
// draw rectangle
rectangle(overlay, boundingBox, drawingColor, 3);
// draw test label if constant is set
if (SHOW_LABELS)
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), drawingColor, -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frame, 1 - ALPHA, 0, frame);
// afterwards, put text with object name into the label, if constant is
set
if (SHOW_LABELS)
putText(frame, TEST_NAME, Point(boundingBox.x + 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(0, 0, 0),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
// count handled contours
amountHandledContours++;
}
}
}
}
// re-initialize feature tracker if new objects appeared in this frame
if (amountHandledContours > amountHandledContoursPrev) {
resetFeatures = true;
cout << amountHandledContours << "/" << amountHandledContoursPrev << endl;
}
amountHandledContoursPrev = amountHandledContours;
}
void showControlPanel() {
// constant declaration
const int WIDTH = 400,
HEIGHT = 240;
const char* nameWindow = "Control Panel";
const char* nameTrackbarWindowScale = "Scale";
const char* nameTrackbarThreshold = "Threshold";
const char* nameTrackbarKernelSizeClose = "SizeClose";
const char* nameTrackbarKernelSizeErode = "SizeErode";
const char* nameTrackbarKernelSizeDilate = "SizeDilate";
// create window
namedWindow(nameWindow, CV_WINDOW_AUTOSIZE | CV_GUI_NORMAL);
resizeWindow(nameWindow, WIDTH, HEIGHT);
// window relating parameters
createTrackbar(nameTrackbarWindowScale, nameWindow, &scale, 20, NULL);
createTrackbar(nameTrackbarThreshold, nameWindow, &thresholdMask,
THRESHOLD_MASK_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeClose, nameWindow, &kernelSizeClose,
KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeErode, nameWindow, &kernelSizeErode,
KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeDilate, nameWindow,
&kernelSizeDilate, KERNEL_SIZE_MAX, NULL);
}
/**
* @function for klt tracking
*/
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat
frameKltTracking, vector<vector<Point>> contours) {
/// variable declaration
vector<Point2f> newPoints;
/// calculate features and then the optical flow
if (resetFeatures) {
// automatic initialization
goodFeaturesToTrack(frameGray, newPoints, MAX_COUNT_TOTAL, 0.01, 10,
Mat(), 3, 0, 0.04);
cornerSubPix(frameGray, newPoints, subPixWinSize, Size(-1, -1), termcrit);
//points[0].clear(); // could solve performance issue, but creates strange
behaviour:
// trackedObjects also reset every reset
//points[1].clear();
// initialize with all available points from tracked objects
for (std::vector<TrackedObject>::size_type l = 0; l !=
trackedObjects.size(); l++)
for (std::vector<TrackedObject>::size_type j = 0; j !=
trackedObjects[l].getPoints().size(); j++) {
points[0].push_back(trackedObjects[l].getPoints()[j]);
}
}
if (!points[0].empty() || trackedObjects.size() > 0) {
// variable declaration
vector<uchar> status;
vector<float> err;
size_t i, k;
// check if previous frame is existing, otherwise copy the current one
if (frameGrayPrev.empty())
frameGray.copyTo(frameGrayPrev);
// calculate the optical flow with KLT
calcOpticalFlowPyrLK(frameGrayPrev, frameGray, points[0], points[1],
status, err, winSize,
3, termcrit, 0, 0.001);
/// iterate through all found points
for (i = k = 0; i < points[1].size(); i++) {
// don't handle point, if there's no corresponding point from the last
frame
if (!status[i])
continue;
// otherwise save and draw point (shrink's point vector, resizes after the
for loop)
points[1][k++] = points[1][i];
/// get corresponding contour and object, otherwise create new tracked
object
if (STATEFUL_TRACKING)
trackObjects(contours, i);
else
circle(frameKltTracking, points[1][i], 6, DEFAULT_DRAWING_COLOR, 2, 8);
}
points[1].resize(k);
}
// handle the processed points
handleProcessedPoints();
// save that initialization was done and not needed anymore, also add new
points
if (resetFeatures) {
resetFeatures = false;
for (std::vector<Point2f>::size_type l = 0; l != newPoints.size(); l++)
points[1].push_back(newPoints[l]);
}
// save the current values as the previous ones
if (!resetFeatures)
std::swap(points[1], points[0]);
cv::swap(frameGrayPrev, frameGrayPrev);
}
void trackObjects(vector<vector<Point>> contours, size_t currentPoint) {
/// variable declaration
int containedInContour;
bool foundObject = false;
bool foundContour = false;
bool foundObjectOfContour = false;
vector<Point>::size_type m; // iterator for contours
size_t* correspondingObject = NULL; // pointer for corresponding object
/// get contour of point
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m],
points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >=
CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
if (trackedObjects.size() > 0) {
// check for each point in the tracked object if it already exists
for (std::vector<TrackedObject>::size_type l = 0; l !=
trackedObjects.size(); l++) {
size_t* containedInObject = NULL;
if (trackedObjects[l].containsOldPoint(points[0][currentPoint]) != NULL)
{
// add the point (it will increase weight automatically instead)
trackedObjects[l].addPoint(points[1][currentPoint],
points[0][currentPoint]);
foundObject = true;
// update contour of object, if contour was not modified this frame yet
bool foundContour = false;
if (!trackedObjects[l].getContourStatus()) {
std::vector<Point>::size_type m;
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m],
points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >=
CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
// update corresponding contour, if one was found
if (foundContour)
trackedObjects[l].setContour(contours[m]);
}
}
}
}
// create new object with this point
if (!foundObject && foundContour) {
size_t* containedInObject;
containedInObject = getCorrespondingObject(contours[m]);
if (containedInObject != NULL) {
// contour belongs to an existing object, so add the point
size_t containedInObjectVal = *containedInObject;
// add points
if (trackedObjects[containedInObjectVal].getPoints().size() <
MAX_COUNT_PER_CAR)
trackedObjects[containedInObjectVal].addPoint(points[1][currentPoint],
points[0][currentPoint]);
foundObjectOfContour = true;
}
// create new tracked object, since there's no existing one with this
contour
if (!foundObjectOfContour) {
char name[11] = "Object_";
char objectNumber[4];
sprintf(objectNumber, "%d", (int)(objectCounter + 1));
strcat(name, objectNumber);
TrackedObject* trObj = new TrackedObject(name);
trObj->addPoint(points[1][currentPoint], points[0][currentPoint]);
trObj->setContour(contours[m]);
trackedObjects.push_back(*trObj);
objectCounter++;
}
}
}
size_t* getCorrespondingObject(vector<Point> contour) {
// variable declaration
size_t* position = NULL;
// find out if contour is assigned to existing object
if (trackedObjects.size() > 0 && contour.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i !=
trackedObjects.size(); i++) {
if (trackedObjects[i].getContour().size() == contour.size()) {
double comparisonValue;
comparisonValue = matchShapes(trackedObjects[i].getContour(), contour,
CV_CONTOURS_MATCH_I1, NULL);
if (comparisonValue == 0) {
position = &i;
break;
}
}
}
}
return position;
}
void handleProcessedPoints() {
// get original frame, if constant defines, that results should be shown
in original
if (TRACKING_RESULTS_IN_ORIGINAL)
frame.copyTo(frameKltTracking);
if (trackedObjects.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i !=
trackedObjects.size(); i++) {
// process all points according to the status
trackedObjects[i].processStatus();
if (trackedObjects[i].getPoints().size() <= MIN_POINTS_TRACKED_OBJECT) {
trackedObjects.erase(trackedObjects.begin() + i);
i--;
continue;
}
/// draw bounding box
Rect boundingBox = boundingRect(trackedObjects[i].getContour());
Mat overlay;
frameKltTracking.copyTo(overlay);
/// draw rectangle and label
rectangle(overlay, boundingBox, trackedObjects[i].getColor(), 3);
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), trackedObjects[i].getColor(), -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frameKltTracking, 1 - ALPHA, 0,
frameKltTracking);
// afterwards, put text with object name into the label, if constant is
set
putText(frameKltTracking, trackedObjects[i].getName(), Point(boundingBox.x
+ 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(200, 200, 200),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
/// draw all feature points in the color of the corresponding object
for (std::vector<Point2f>::size_type j = 0; j !=
trackedObjects[i].getPoints().size(); j++) {
// handle weight of point
int w = trackedObjects[i].getWeight()[j];
int size = (int)trackedObjects[i].getPoints().size();
if (w != -1) { // point not found
// draw filled circle for new points
if (w == 1)
w = -1;
else if (w >= HEATMAP_RANGE)
w = HEATMAP_RANGE;
if (w != -1)
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6,
getHeatMapColor(1 - (float)w / (float)HEATMAP_RANGE), -1, 8);
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6,
trackedObjects[i].getColor(), 2, 8);
}
}
}
}
}
Scalar getHeatMapColor(float value)
{
float red, green, blue;
const int NUM_COLORS = 4;
static float color[NUM_COLORS][3] = { { 0, 0, 1 }, { 0, 1, 0 }, { 1, 1, 0
}, { 1, 0, 0 } };
// A static array of 4 colors: (blue, green, yellow, red) using {r,g,b}
for each.
int idx1; // |-- Our desired color will be between these two indexes in
"color".
int idx2; // |
float fractBetween = 0; // Fraction between "idx1" and "idx2" where our
value is.
if (value <= 0) { idx1 = idx2 = 0; } // accounts for an input <=0
else if (value >= 1) { idx1 = idx2 = NUM_COLORS - 1; } // accounts for an
input >=0
else
{
value = value * (NUM_COLORS - 1);
idx1 = (int)floor(value); // Our desired color will be after this index.
idx2 = idx1 + 1; // ... and before this index (inclusive).
fractBetween = value - float(idx1); // Distance between the two indexes
(0-1).
}
red = ((color[idx2][0] - color[idx1][0])*fractBetween + color[idx1][0]) *
255;
green = ((color[idx2][1] - color[idx1][1])*fractBetween + color[idx1][1])
* 255;
blue = ((color[idx2][2] - color[idx1][2])*fractBetween + color[idx1][2]) *
255;
return Scalar(red, green, blue);
}
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from multitarget-tracker.
Nuzhny007
commented on August 16, 2024
Hi!
Do you work with Windows and MS VC? In any case you need a CMake and configure project with it.
from multitarget-tracker.
dulithaaaa
commented on August 16, 2024
Dear Sir,I worked with visual studio 2010 and opencv 2.4.9.
Sir,other problem is,all the header files and source files should be added or not,i want to tracking moving people video
from multitarget-tracker.
dulithaaaa
commented on August 16, 2024
Sir,After install Cmake then waht to do
from multitarget-tracker.
dulithaaaa
commented on August 16, 2024
can you step by step how to compile project.
I installed the CMake and also set the path.
from multitarget-tracker.
dulithaaaa
commented on August 16, 2024
Dear Sir,I installd visual studio 2015 and opencv 3.1.Then what shall i do sir,explain me sir,I am a beginner for this subject.Your kindly support i will hope
On Tuesday, August 22, 2017 1:28 PM, Sergey Nuzhny <[email protected]> wrote:
I have bad news for you. This project requires OpenCV 3.x and compiler with C++11 standart support. Visual studio 2010 and opencv 2.4.9 are not supported - too old versions.—
You are receiving this because you authored the thread.
Reply to this email directly, view it on GitHub, or mute the thread.
from multitarget-tracker.
dulithaaaa
commented on August 16, 2024
Sir,I have a code of tracking i attached that file.it worked only to MOG2,could you please look at that code and tell me what modification needs to be required.
On Wednesday, August 23, 2017 6:54 AM, Dulitha Sadhanuwan <[email protected]> wrote:
Dear Sir,I installd visual studio 2015 and opencv 3.1.Then what shall i do sir,explain me sir,I am a beginner for this subject.Your kindly support i will hope
On Tuesday, August 22, 2017 1:28 PM, Sergey Nuzhny <[email protected]> wrote:
I have bad news for you. This project requires OpenCV 3.x and compiler with C++11 standart support. Visual studio 2010 and opencv 2.4.9 are not supported - too old versions.—
You are receiving this because you authored the thread.
Reply to this email directly, view it on GitHub, or mute the thread.
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include <opencv2/highgui.hpp>
#include <opencv2/video.hpp>
#include <stdio.h>
#include <ctime>
#include <iostream>
#include <sstream>
#include "TrackedObject.h"
using namespace cv;
using namespace std;
// Global constant
const bool SHOW_ALL_OPERATION_RESULTS = true; // defines if different operation results should be shown
const bool WINDOW_NAMES_READABLE = false; // if set, creates y-offset to make window names readable
const int ELEMENTS_PER_ROW = 3; // defines how much windows are shown within a row
const bool TRACKING_RESULTS_IN_ORIGINAL = false; // shows tracking results in original frame
// video related constants
const int VIDEO_NUMBER = 1; // 1:10, choose different number for different video
const bool LOOP_VIDEO = true; // defines if video should be looped infinitely
const char* VIDEO_DIRECTORY_PATH = ".\\detect.avi\\"; // define path to video directory
const bool SOURCE2GRAY = false; // defines, if source frame should be converted to gray
// foreground segmentation postprocessing related constants
const int HISTORY = 1000; // MOG2 parameter: amount of considered frames
const double VAR_THRESHOLD = 20; // MOG2 parameter: threshold for degree of minimum variance
const bool DETECT_SHADOWS = false; // MOG2 parameter: defines if shadows should be detected
int thresholdMask = 100; // defines start value of threshold for
// binarization of foreground frame
const int THRESHOLD_MASK_MAX = 255; // defines maximum value for threshold
// morphing related constants
const int KERNEL_TYPE = MORPH_ELLIPSE; // choose: MORPH_RECT, MORPH_CROSS, MORPH_ELLIPSE
int kernelSizeClose = 5; // defines start value for kernel size of close op.
int kernelSizeErode = 5; // defines start value for kernel size of erode op.
int kernelSizeDilate = 5; // defines start value for kernel size of dilate op.
const int KERNEL_SIZE_MAX = 20; // defines maximum value for threshold
// drawing related constants
const Scalar DEFAULT_DRAWING_COLOR = Scalar(0, 255, 0); // defines default color of bounding boxes and labels
const int CONTOUR_MIN_AREA = 500; // defines minimum area of contours
const int BBOX_MIN_AREA = 3000; // defines minimum area of bounding boxes
const bool SHOW_LABELS = false; // shows labels of object adjusted to the bounding box
const int HEATMAP_RANGE = 25; // defines size of different colors in heat map
// and threshold (color of highest weight)
// bounding box and label related constants
const float ALPHA = 0.5; // defines opacity of rectangle and label
const int LABEL_HEIGHT = 20; // defines height of label
const char* TEST_NAME = "Car"; // defines name for test labels
const int TEXT_FONT_FACE = 2; // defines font of label text
const int TEXT_THICKNESS = 2; // defines thickness of label text
const int TEXT_LINE_TYPE = 0; // defines line type of label text
const double TEXT_FONT_SCALE = 0.7; // defines scale of label text
// tracking related constants
const bool TRACKING = true; // defines if tracking is active
const bool STATEFUL_TRACKING = true; // defines if stateful tracking with TrackedObjects is active
const int MAX_COUNT_TOTAL = 150; // defines max no. of tracked points in total
const int MAX_COUNT_PER_CAR = 25; // defines max no. of tracked points per car
const int MIN_POINTS_TRACKED_OBJECT = 3; // defines min no. of points for tracked objects
const int INIT_INTERVAL = 15; // defines, after how many frames the tracker should initialize new points
const TermCriteria termcrit(TermCriteria::COUNT | TermCriteria::EPS, 20, 0.03); // defines criteria for klt tracker
const Size subPixWinSize(10, 10);
const Size winSize(31, 31);
/// Global variables
// window related variables
int scale = 10; // scales windows (and mats) after processing before displaying
// (10 is equal to standard size, 20 to doubled size)
// video related variables
int frameStart = 1; // defines frame to start (set in video chooser)
int frameEnd = 0; // defines frame to end (set in video chooser)
// frame related variables
Mat frame; //current frame
Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
Mat frameGray; // current frame in grayscale
Mat frameGrayPrev; // previous frame in grayscale
Mat frameThreshold; // frame with applied threshold (to elimante shadows etc.)
Mat frameMorphed; // morphed frame (to elimante noise)
Mat frameMasked; // morphed frame applied as a mask to the original frame
Mat frameContours; // drawn contours
Mat frameKltTracking; // klt tracking lanes
Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
// tracking related variables
bool resetFeatures = false;
Point2f point;
vector<Point2f> points[2];
int amountHandledContoursPrev = 0;
vector<TrackedObject> trackedObjects;
int objectCounter;
int keyboard; //input from keyboard
/// Function Headers
char* videoChooser();
void processVideo(char* videoFilename);
//void threshold_demo(int,void*);
void showFrame(char* windowName, Mat frame, int width,int height, int position);
void resizeFrames();
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame);
void showControlPanel();
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat frameKltTracking, vector<vector<Point>> contours);
void trackObjects(vector<vector<Point>> contours, size_t currentPoint);
size_t* getCorrespondingObject(vector<Point> contour);
void handleProcessedPoints();
Scalar getHeatMapColor(float value);
void processVideo(char* videoFilename);
void processImages(char* firstFrameFilename);
char* VIDEO_FILE = "visiontraffic.avi";
int main(int argc, char* argv[])
{
char* videoPath = new char[100];
/// initialize variables
// define path of video file
strcpy(videoPath, VIDEO_DIRECTORY_PATH);
strcat(videoPath, videoChooser());
//create GUI windows
namedWindow("Original");
namedWindow("Foreground (MOG2)");
namedWindow("Threshold");
namedWindow("Morphed");
namedWindow("Contours");
namedWindow("Masked Original Frame");
namedWindow("KLT Tracking");
//create Background Subtractor objects
pMOG2 = createBackgroundSubtractorMOG2(HISTORY, VAR_THRESHOLD, DETECT_SHADOWS); //MOG2 approach
//input data coming from a video
processVideo(VIDEO_FILE);
//destroy GUI windows
destroyAllWindows();
return EXIT_SUCCESS;
}
void processVideo(char* videoFilename) {
/// variable declaration and initialization
// morphing related variables (initialized during each loop, since parameters are changable)
Mat kernelClose;
Mat kernelErode;
Mat kernelDilate;
// frame related variables
stringstream frameNumberTotal;
stringstream frameNumberCurrent;
stringstream frameInfo;
int frameWidth = 0,
frameHeight = 0;
// contour related variables
vector<vector<Point>> contours;
vector<Vec4i> hierarchy;
// displaying related variables
int r = 1; // counter for row
//// video processing
//create the capture object
VideoCapture capture(videoFilename);
if (!capture.isOpened()) {
//error in opening the video input
cerr << "Unable to open video file: " << videoFilename << endl;
exit(EXIT_FAILURE);
}
frameNumberTotal << capture.get(CAP_PROP_FRAME_COUNT);
frameWidth = (int)capture.get(CV_CAP_PROP_FRAME_WIDTH);
frameHeight = (int)capture.get(CV_CAP_PROP_FRAME_HEIGHT);
if (frameEnd == 0)
frameEnd = (int)capture.get(CAP_PROP_FRAME_COUNT);
// set video to defined start frame
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// show control panel (enables modification of some variables in realtime)
showControlPanel();
while ((char)keyboard != 27) {
// read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
// convert original frame to grayscale if specified by constant
if (SOURCE2GRAY)
frameGray.copyTo(frame);
// re-initialize objects with changable parameters
if (kernelSizeClose > 0)
kernelClose = getStructuringElement(KERNEL_TYPE, Size(kernelSizeClose, kernelSizeClose));
if (kernelSizeErode > 0)
kernelErode = getStructuringElement(KERNEL_TYPE, Size(kernelSizeErode, kernelSizeErode));
if (kernelSizeDilate > 0)
kernelDilate = getStructuringElement(KERNEL_TYPE, Size(kernelSizeDilate, kernelSizeDilate));
pMOG2->apply(frame, fgMaskMOG2);
///read input data. ESC or 'q' for quitting
while ((char)keyboard != 'q' && (char)keyboard != 27) {
//read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
//update the background model
pMOG2->apply(frame, fgMaskMOG2);
stringstream ss;
rectangle(frame, cv::Point(10, 2), cv::Point(100, 20),
cv::Scalar(255, 255, 255), -1);
ss << capture.get(CAP_PROP_POS_FRAMES);
string frameNumberString = ss.str();
putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
imshow("Frame", frame);
imshow("FG Mask MOG 2", fgMaskMOG2);
//get the input from the keyboard
keyboard = waitKey(30);
//get the frame number and write it on the current frame
rectangle(frame, Point(10, 2), Point(100, 20), Scalar(255, 255, 255), -1);
frameNumberCurrent << capture.get(CAP_PROP_POS_FRAMES);
frameInfo << frameNumberCurrent.str() << "/" << frameNumberTotal.str();
putText(frame, frameInfo.str(), Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
}
// apply threshold to MOG2 frame to get rid of shadows etc
threshold(fgMaskMOG2, frameThreshold, thresholdMask, 255, THRESH_BINARY);
// apply morphology operations to thresholded frame
if (kernelSizeClose > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_CLOSE, kernelClose);
if (kernelSizeErode > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_ERODE, kernelErode);
if (kernelSizeDilate > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_DILATE, kernelDilate);
frameThreshold.copyTo(frameMorphed);
// save previous masked frame as grayscale frame for later tracking
if (!frameMasked.empty())
cvtColor(frameMasked, frameGrayPrev, CV_RGB2GRAY);
// apply morphed mask, but save before the morphed frame before
frameMorphed.copyTo(frameContours);
frameMorphed.copyTo(frameMasked);
frame.copyTo(frameMasked, frameMasked);
// save new masked frame as grayscale frame for later tracking, also save mask to KltTracking frame
cvtColor(frameMasked, frameGray, CV_RGB2GRAY);
frameMasked.copyTo(frameKltTracking);
// draw and fill contours
findContours(frameContours, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
setIdentity(frameContours, Scalar(0, 0, 0));
drawContours(frameContours, contours, -1, Scalar(255, 255, 255), -1);
// draws rectangle around identified contours
drawBoundingBoxes(contours, frameMasked);
// prepare for and apply tracking algorithm (use grayscale copies of masked frame)
if (!frameGrayPrev.empty() && TRACKING)
applyKltTracking(frameGray, frameGrayPrev, frameKltTracking, contours);
/// show the different frames (from last to first row, to overlay windows bar)
resizeFrames(); // resize all frames
if (SHOW_ALL_OPERATION_RESULTS) {
// row 3
r = 3;
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
// row 2
r = 2;
showFrame("Morphed", frameMorphed, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Contours", frameContours, frameWidth, frameHeight, 2 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 3 + (r - 1)*ELEMENTS_PER_ROW);
// row 1
r = 1;
showFrame("Original", frame, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Foreground (MOG2)", fgMaskMOG2, frameWidth, frameHeight, 2 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Threshold", frameThreshold, frameWidth, frameHeight, 3 + (r - 1)*ELEMENTS_PER_ROW);
}
else {
// row 1
r = 1;
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 2 + (r - 1)*ELEMENTS_PER_ROW);
}
// shows image for the specified amount of milliseconds
keyboard = waitKey(30);
switch (keyboard) {
case 'r':
resetFeatures = true; // reset on pressed 'r'
break;
}
// loop through the video if end is reached and loop is set
if (LOOP_VIDEO && (frameNumberCurrent.str().compare(std::to_string(frameEnd)) == 0))
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// ensure that new feature points are initialized every INIT_INTERVAL frames for the tracker
if (std::stoi(frameNumberCurrent.str()) % INIT_INTERVAL == 0 && trackedObjects.size() > 0)
resetFeatures = true;
// cleaning operation: clean string streams
frameNumberCurrent.str("");
frameInfo.str("");
}
// cleaning operation: release capture object
capture.release();
//imshow("FG Mask MOG 2", fgMaskMOG2);
//get the input from the keyboard
//keyboard = waitKey(30);
//}
//delete capture object
////capture.release();
}
char* videoChooser() {
// variable declaration
char* videoFile = "dog.avi"; // saves name of selected video file
// chooses video file depending on chosen video number
switch (VIDEO_NUMBER) {
case 1:
videoFile = "visiontraffic.avi";
frameStart = 90;
frameEnd = 440;
break;
case 2:
videoFile = "viptraffic.avi";
break;
case 3:
videoFile = "highwayII_raw.avi";
break;
case 4:
videoFile = "dispersed.ogv";
break;
case 5:
videoFile = "highspeed.ogv";
break;
case 6:
videoFile = "hightraffic-dark.ogv";
break;
case 7:
videoFile = "hightraffic-occlude.ogv";
break;
case 8:
videoFile = "threecars.ogv";
break;
case 9:
videoFile = "turntraffic-dark.ogv";
break;
case 10:
videoFile = "visor_1261565143617_cesta1.wmv";
break;
default:
break;
}
return videoFile;
}
void showFrame(char* windowName, Mat frame, int width, int height, int position) {
// variable declaration and initialization
int x = 0, // x-coordinates for position
y = 0, // y-coordinates for position
yOffset = 30; // offset for y-coordinates, since windows bar does not count into frame height
// strategy for y-offset: create windows from last row to first to overlay the bar
// create y-Offset if defince to make titles of windows readable
if (!WINDOW_NAMES_READABLE) {
yOffset += -32;
}
else if (position > ELEMENTS_PER_ROW) {
yOffset += 32;
}
// create window and display defined frame
cv::namedWindow(windowName);
cv::imshow(windowName, frame);
// resize stats for position calculation, if defined
if (scale != 10) {
// filter for the case, that it's zero, since range is not adjustable in opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// calculate new width and height
width = (int)(width * scaleFactor);
height = (int)(height * scaleFactor);
}
//// get positioning
// get x coordinates with width
if (((position - 1) % ELEMENTS_PER_ROW) != 0)
x = ((position - 1) % ELEMENTS_PER_ROW) * width;
// get y coordinates with height
if (position > ELEMENTS_PER_ROW)
y = (position - (position - 1) % ELEMENTS_PER_ROW) / ELEMENTS_PER_ROW * height;
// place window at calculated position
moveWindow(windowName, x, y + yOffset);
}
void resizeFrames() {
//resize all frames, if defined
if (scale != 10 && scale > 0) {
// filter for the case, that it's zero, since range is not adjustable in opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// resize all frames
resize(frame, frame, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(fgMaskMOG2, fgMaskMOG2, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameThreshold, frameThreshold, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameMorphed, frameMorphed, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameMasked, frameMasked, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameContours, frameContours, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameKltTracking, frameKltTracking, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
}
}
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame) {
// variable declaration
int amountHandledContours = 0;
Scalar drawingColor = DEFAULT_DRAWING_COLOR;
// create bounding rect of object and draw on defined frame
for (vector<vector<Point>>::iterator itc = contours.begin(); itc != contours.end(); itc++) {
// variable declaration and initialization
Rect boundingBox = boundingRect(Mat(*itc));
Mat overlay;
// only handle rectangles with a minimum area
if (boundingBox.area() >= CONTOUR_MIN_AREA) {
if (contourArea(*itc) >= CONTOUR_MIN_AREA) {
// get corresponding object, if there's one, to define the drawing color
size_t* indexCorrespondingObject = getCorrespondingObject(*itc);
if (indexCorrespondingObject != NULL)
drawingColor = trackedObjects[*indexCorrespondingObject].getColor();
// draw contours regardless of area
drawContours(frame, contours, -1, drawingColor, 1);
// handle bounding boxes (but only if they're bigger than defined minimum area)
if (boundingBox.area() >= BBOX_MIN_AREA) {
// copy frame to
frame.copyTo(overlay);
// draw rectangle
rectangle(overlay, boundingBox, drawingColor, 3);
// draw test label if constant is set
if (SHOW_LABELS)
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), drawingColor, -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frame, 1 - ALPHA, 0, frame);
// afterwards, put text with object name into the label, if constant is set
if (SHOW_LABELS)
putText(frame, TEST_NAME, Point(boundingBox.x + 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(0, 0, 0),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
// count handled contours
amountHandledContours++;
}
}
}
}
// re-initialize feature tracker if new objects appeared in this frame
if (amountHandledContours > amountHandledContoursPrev) {
resetFeatures = true;
cout << amountHandledContours << "/" << amountHandledContoursPrev << endl;
}
amountHandledContoursPrev = amountHandledContours;
}
void showControlPanel() {
// constant declaration
const int WIDTH = 400,
HEIGHT = 240;
const char* nameWindow = "Control Panel";
const char* nameTrackbarWindowScale = "Scale";
const char* nameTrackbarThreshold = "Threshold";
const char* nameTrackbarKernelSizeClose = "SizeClose";
const char* nameTrackbarKernelSizeErode = "SizeErode";
const char* nameTrackbarKernelSizeDilate = "SizeDilate";
// create window
namedWindow(nameWindow, CV_WINDOW_AUTOSIZE | CV_GUI_NORMAL);
resizeWindow(nameWindow, WIDTH, HEIGHT);
// window relating parameters
createTrackbar(nameTrackbarWindowScale, nameWindow, &scale, 20, NULL);
createTrackbar(nameTrackbarThreshold, nameWindow, &thresholdMask, THRESHOLD_MASK_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeClose, nameWindow, &kernelSizeClose, KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeErode, nameWindow, &kernelSizeErode, KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeDilate, nameWindow, &kernelSizeDilate, KERNEL_SIZE_MAX, NULL);
}
/**
* @function for klt tracking
*/
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat frameKltTracking, vector<vector<Point>> contours) {
/// variable declaration
vector<Point2f> newPoints;
/// calculate features and then the optical flow
if (resetFeatures) {
// automatic initialization
goodFeaturesToTrack(frameGray, newPoints, MAX_COUNT_TOTAL, 0.01, 10, Mat(), 3, 0, 0.04);
cornerSubPix(frameGray, newPoints, subPixWinSize, Size(-1, -1), termcrit);
//points[0].clear(); // could solve performance issue, but creates strange behaviour:
// trackedObjects also reset every reset
//points[1].clear();
// initialize with all available points from tracked objects
for (std::vector<TrackedObject>::size_type l = 0; l != trackedObjects.size(); l++)
for (std::vector<TrackedObject>::size_type j = 0; j != trackedObjects[l].getPoints().size(); j++) {
points[0].push_back(trackedObjects[l].getPoints()[j]);
}
}
if (!points[0].empty() || trackedObjects.size() > 0) {
// variable declaration
vector<uchar> status;
vector<float> err;
size_t i, k;
// check if previous frame is existing, otherwise copy the current one
if (frameGrayPrev.empty())
frameGray.copyTo(frameGrayPrev);
// calculate the optical flow with KLT
calcOpticalFlowPyrLK(frameGrayPrev, frameGray, points[0], points[1], status, err, winSize,
3, termcrit, 0, 0.001);
/// iterate through all found points
for (i = k = 0; i < points[1].size(); i++) {
// don't handle point, if there's no corresponding point from the last frame
if (!status[i])
continue;
// otherwise save and draw point (shrink's point vector, resizes after the for loop)
points[1][k++] = points[1][i];
/// get corresponding contour and object, otherwise create new tracked object
if (STATEFUL_TRACKING)
trackObjects(contours, i);
else
circle(frameKltTracking, points[1][i], 6, DEFAULT_DRAWING_COLOR, 2, 8);
}
points[1].resize(k);
}
// handle the processed points
handleProcessedPoints();
// save that initialization was done and not needed anymore, also add new points
if (resetFeatures) {
resetFeatures = false;
for (std::vector<Point2f>::size_type l = 0; l != newPoints.size(); l++)
points[1].push_back(newPoints[l]);
}
// save the current values as the previous ones
if (!resetFeatures)
std::swap(points[1], points[0]);
cv::swap(frameGrayPrev, frameGrayPrev);
}
void trackObjects(vector<vector<Point>> contours, size_t currentPoint) {
/// variable declaration
int containedInContour;
bool foundObject = false;
bool foundContour = false;
bool foundObjectOfContour = false;
vector<Point>::size_type m; // iterator for contours
size_t* correspondingObject = NULL; // pointer for corresponding object
/// get contour of point
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m], points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >= CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
if (trackedObjects.size() > 0) {
// check for each point in the tracked object if it already exists
for (std::vector<TrackedObject>::size_type l = 0; l != trackedObjects.size(); l++) {
size_t* containedInObject = NULL;
if (trackedObjects[l].containsOldPoint(points[0][currentPoint]) != NULL) {
// add the point (it will increase weight automatically instead)
trackedObjects[l].addPoint(points[1][currentPoint], points[0][currentPoint]);
foundObject = true;
// update contour of object, if contour was not modified this frame yet
bool foundContour = false;
if (!trackedObjects[l].getContourStatus()) {
std::vector<Point>::size_type m;
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m], points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >= CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
// update corresponding contour, if one was found
if (foundContour)
trackedObjects[l].setContour(contours[m]);
}
}
}
}
// create new object with this point
if (!foundObject && foundContour) {
size_t* containedInObject;
containedInObject = getCorrespondingObject(contours[m]);
if (containedInObject != NULL) {
// contour belongs to an existing object, so add the point
size_t containedInObjectVal = *containedInObject;
// add points
if (trackedObjects[containedInObjectVal].getPoints().size() < MAX_COUNT_PER_CAR)
trackedObjects[containedInObjectVal].addPoint(points[1][currentPoint], points[0][currentPoint]);
foundObjectOfContour = true;
}
// create new tracked object, since there's no existing one with this contour
if (!foundObjectOfContour) {
char name[11] = "Object_";
char objectNumber[4];
sprintf(objectNumber, "%d", (int)(objectCounter + 1));
strcat(name, objectNumber);
TrackedObject* trObj = new TrackedObject(name);
trObj->addPoint(points[1][currentPoint], points[0][currentPoint]);
trObj->setContour(contours[m]);
trackedObjects.push_back(*trObj);
objectCounter++;
}
}
}
size_t* getCorrespondingObject(vector<Point> contour) {
// variable declaration
size_t* position = NULL;
// find out if contour is assigned to existing object
if (trackedObjects.size() > 0 && contour.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i != trackedObjects.size(); i++) {
if (trackedObjects[i].getContour().size() == contour.size()) {
double comparisonValue;
comparisonValue = matchShapes(trackedObjects[i].getContour(), contour, CV_CONTOURS_MATCH_I1, NULL);
if (comparisonValue == 0) {
position = &i;
break;
}
}
}
}
return position;
}
void handleProcessedPoints() {
// get original frame, if constant defines, that results should be shown in original
if (TRACKING_RESULTS_IN_ORIGINAL)
frame.copyTo(frameKltTracking);
if (trackedObjects.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i != trackedObjects.size(); i++) {
// process all points according to the status
trackedObjects[i].processStatus();
if (trackedObjects[i].getPoints().size() <= MIN_POINTS_TRACKED_OBJECT) {
trackedObjects.erase(trackedObjects.begin() + i);
i--;
continue;
}
/// draw bounding box
Rect boundingBox = boundingRect(trackedObjects[i].getContour());
Mat overlay;
frameKltTracking.copyTo(overlay);
/// draw rectangle and label
rectangle(overlay, boundingBox, trackedObjects[i].getColor(), 3);
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), trackedObjects[i].getColor(), -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frameKltTracking, 1 - ALPHA, 0, frameKltTracking);
// afterwards, put text with object name into the label, if constant is set
putText(frameKltTracking, trackedObjects[i].getName(), Point(boundingBox.x + 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(200, 200, 200),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
/// draw all feature points in the color of the corresponding object
for (std::vector<Point2f>::size_type j = 0; j != trackedObjects[i].getPoints().size(); j++) {
// handle weight of point
int w = trackedObjects[i].getWeight()[j];
int size = (int)trackedObjects[i].getPoints().size();
if (w != -1) { // point not found
// draw filled circle for new points
if (w == 1)
w = -1;
else if (w >= HEATMAP_RANGE)
w = HEATMAP_RANGE;
if (w != -1)
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6, getHeatMapColor(1 - (float)w / (float)HEATMAP_RANGE), -1, 8);
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6, trackedObjects[i].getColor(), 2, 8);
}
}
}
}
}
Scalar getHeatMapColor(float value)
{
float red, green, blue;
const int NUM_COLORS = 4;
static float color[NUM_COLORS][3] = { { 0, 0, 1 }, { 0, 1, 0 }, { 1, 1, 0 }, { 1, 0, 0 } };
// A static array of 4 colors: (blue, green, yellow, red) using {r,g,b} for each.
int idx1; // |-- Our desired color will be between these two indexes in "color".
int idx2; // |
float fractBetween = 0; // Fraction between "idx1" and "idx2" where our value is.
if (value <= 0) { idx1 = idx2 = 0; } // accounts for an input <=0
else if (value >= 1) { idx1 = idx2 = NUM_COLORS - 1; } // accounts for an input >=0
else
{
value = value * (NUM_COLORS - 1);
idx1 = (int)floor(value); // Our desired color will be after this index.
idx2 = idx1 + 1; // ... and before this index (inclusive).
fractBetween = value - float(idx1); // Distance between the two indexes (0-1).
}
red = ((color[idx2][0] - color[idx1][0])*fractBetween + color[idx1][0]) * 255;
green = ((color[idx2][1] - color[idx1][1])*fractBetween + color[idx1][1]) * 255;
blue = ((color[idx2][2] - color[idx1][2])*fractBetween + color[idx1][2]) * 255;
return Scalar(red, green, blue);
}
from multitarget-tracker.
Nuzhny007
commented on August 16, 2024
Sir,I have a code of tracking i attached that file.it worked only to MOG2,could you please look at that code and tell me what modification needs to be required.
Hi!
I don't know what do you want. How can I advise you?
This project - Multitarget-tracker contains full stack of algorithms for motion detection. I can tell you how it works.
- You need CMake gui application, start it.
- Select folder Mulitarget-tracker (with CMakeLists.txt file) as source code directory.
- Select subfolder build as.. build directory.
- Push a button Configure, select your MSVC compiler. Wait.
- If OpenCV wasn't founded automatic then select OpenCV_DIR manually. Push a button Configure again.
- Push a button Generate.
- Now the folder build contains a solution file (.sln). Lets open it in Visual studio!
The end.
from multitarget-tracker.
dulithaaaa
commented on August 16, 2024
Thank you very much sir,sir i have code can you find what is bug in the code please,it works only to MOG2
On Wednesday, August 23, 2017 9:16 AM, Sergey Nuzhny <[email protected]> wrote:
Sir,I have a code of tracking i attached that file.it worked only to MOG2,could you please look at that code and tell me what modification needs to be required.
Hi!
I don't know what do you want. How can I advise you?
This project - Multitarget-tracker contains full stack of algorithms for motion detection. I can tell you how it works.
- You need CMake gui application, start it.
- Select folder Mulitarget-tracker (with CMakeLists.txt file).
- Select subfolder folder build.
- Push a button Configure, select your MSVC compler. Wait.
- If OpenCV wasn't founded automatic then select OpenCV_DIR manually. Push a button Configure again.
- Push a button Generate.
- Now the folder build contains a solution file (.sln). Lets open it in Visual studio!
The end.
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#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include <opencv2/highgui.hpp>
#include <opencv2/video.hpp>
#include <stdio.h>
#include <ctime>
#include <iostream>
#include <sstream>
#include "TrackedObject.h"
using namespace cv;
using namespace std;
// Global constant
const bool SHOW_ALL_OPERATION_RESULTS = true; // defines if different operation results should be shown
const bool WINDOW_NAMES_READABLE = false; // if set, creates y-offset to make window names readable
const int ELEMENTS_PER_ROW = 3; // defines how much windows are shown within a row
const bool TRACKING_RESULTS_IN_ORIGINAL = false; // shows tracking results in original frame
// video related constants
const int VIDEO_NUMBER = 1; // 1:10, choose different number for different video
const bool LOOP_VIDEO = true; // defines if video should be looped infinitely
const char* VIDEO_DIRECTORY_PATH = ".\\detect.avi\\"; // define path to video directory
const bool SOURCE2GRAY = false; // defines, if source frame should be converted to gray
// foreground segmentation postprocessing related constants
const int HISTORY = 1000; // MOG2 parameter: amount of considered frames
const double VAR_THRESHOLD = 20; // MOG2 parameter: threshold for degree of minimum variance
const bool DETECT_SHADOWS = false; // MOG2 parameter: defines if shadows should be detected
int thresholdMask = 100; // defines start value of threshold for
// binarization of foreground frame
const int THRESHOLD_MASK_MAX = 255; // defines maximum value for threshold
// morphing related constants
const int KERNEL_TYPE = MORPH_ELLIPSE; // choose: MORPH_RECT, MORPH_CROSS, MORPH_ELLIPSE
int kernelSizeClose = 5; // defines start value for kernel size of close op.
int kernelSizeErode = 5; // defines start value for kernel size of erode op.
int kernelSizeDilate = 5; // defines start value for kernel size of dilate op.
const int KERNEL_SIZE_MAX = 20; // defines maximum value for threshold
// drawing related constants
const Scalar DEFAULT_DRAWING_COLOR = Scalar(0, 255, 0); // defines default color of bounding boxes and labels
const int CONTOUR_MIN_AREA = 500; // defines minimum area of contours
const int BBOX_MIN_AREA = 3000; // defines minimum area of bounding boxes
const bool SHOW_LABELS = false; // shows labels of object adjusted to the bounding box
const int HEATMAP_RANGE = 25; // defines size of different colors in heat map
// and threshold (color of highest weight)
// bounding box and label related constants
const float ALPHA = 0.5; // defines opacity of rectangle and label
const int LABEL_HEIGHT = 20; // defines height of label
const char* TEST_NAME = "Car"; // defines name for test labels
const int TEXT_FONT_FACE = 2; // defines font of label text
const int TEXT_THICKNESS = 2; // defines thickness of label text
const int TEXT_LINE_TYPE = 0; // defines line type of label text
const double TEXT_FONT_SCALE = 0.7; // defines scale of label text
// tracking related constants
const bool TRACKING = true; // defines if tracking is active
const bool STATEFUL_TRACKING = true; // defines if stateful tracking with TrackedObjects is active
const int MAX_COUNT_TOTAL = 150; // defines max no. of tracked points in total
const int MAX_COUNT_PER_CAR = 25; // defines max no. of tracked points per car
const int MIN_POINTS_TRACKED_OBJECT = 3; // defines min no. of points for tracked objects
const int INIT_INTERVAL = 15; // defines, after how many frames the tracker should initialize new points
const TermCriteria termcrit(TermCriteria::COUNT | TermCriteria::EPS, 20, 0.03); // defines criteria for klt tracker
const Size subPixWinSize(10, 10);
const Size winSize(31, 31);
/// Global variables
// window related variables
int scale = 10; // scales windows (and mats) after processing before displaying
// (10 is equal to standard size, 20 to doubled size)
// video related variables
int frameStart = 1; // defines frame to start (set in video chooser)
int frameEnd = 0; // defines frame to end (set in video chooser)
// frame related variables
Mat frame; //current frame
Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
Mat frameGray; // current frame in grayscale
Mat frameGrayPrev; // previous frame in grayscale
Mat frameThreshold; // frame with applied threshold (to elimante shadows etc.)
Mat frameMorphed; // morphed frame (to elimante noise)
Mat frameMasked; // morphed frame applied as a mask to the original frame
Mat frameContours; // drawn contours
Mat frameKltTracking; // klt tracking lanes
Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
// tracking related variables
bool resetFeatures = false;
Point2f point;
vector<Point2f> points[2];
int amountHandledContoursPrev = 0;
vector<TrackedObject> trackedObjects;
int objectCounter;
int keyboard; //input from keyboard
/// Function Headers
char* videoChooser();
void processVideo(char* videoFilename);
void showFrame(char* windowName, Mat frame, int width,int height, int position);
void resizeFrames();
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame);
void showControlPanel();
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat frameKltTracking, vector<vector<Point>> contours);
void trackObjects(vector<vector<Point>> contours, size_t currentPoint);
size_t* getCorrespondingObject(vector<Point> contour);
void handleProcessedPoints();
Scalar getHeatMapColor(float value);
void processVideo(char* videoFilename);
void processImages(char* firstFrameFilename);
char* VIDEO_FILE = "visiontraffic.avi";
int main(int argc, char* argv[])
{
char* videoPath = new char[100];
/// initialize variables
// define path of video file
strcpy(videoPath, VIDEO_DIRECTORY_PATH);
strcat(videoPath, videoChooser());
//create GUI windows
namedWindow("Original");
namedWindow("Foreground (MOG2)");
namedWindow("Threshold");
namedWindow("Morphed");
namedWindow("Contours");
namedWindow("Masked Original Frame");
namedWindow("KLT Tracking");
//create Background Subtractor objects
pMOG2 = createBackgroundSubtractorMOG2(HISTORY, VAR_THRESHOLD, DETECT_SHADOWS); //MOG2 approach
//input data coming from a video
processVideo(VIDEO_FILE);
//destroy GUI windows
destroyAllWindows();
return EXIT_SUCCESS;
}
void processVideo(char* videoFilename) {
//create the capture object
VideoCapture capture(videoFilename);
if (!capture.isOpened()) {
//error in opening the video input
cerr << "Unable to open video file: " << videoFilename << endl;
exit(EXIT_FAILURE);
}
///read input data. ESC or 'q' for quitting
while ((char)keyboard != 'q' && (char)keyboard != 27) {
//read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
//update the background model
pMOG2->apply(frame, fgMaskMOG2);
stringstream ss;
rectangle(frame, cv::Point(10, 2), cv::Point(100, 20),
cv::Scalar(255, 255, 255), -1);
ss << capture.get(CAP_PROP_POS_FRAMES);
string frameNumberString = ss.str();
putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
imshow("Frame", frame);
imshow("FG Mask MOG 2", fgMaskMOG2);
pMOG2->apply(frame, fgMaskMOG2);
imshow("Frame", frame);
imshow("FG Mask MOG 2", fgMaskMOG2);
//get the frame number and write it on the current frame
rectangle(frame, Point(10, 2), Point(100, 20), Scalar(255, 255, 255), -1);
frameNumberCurrent << capture.get(CAP_PROP_POS_FRAMES);
frameInfo << frameNumberCurrent.str() << "/" << frameNumberTotal.str();
putText(frame, frameInfo.str(), Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
//get the input from the keyboard
keyboard = waitKey(30);
/// variable declaration and initialization
// morphing related variables (initialized during each loop, since parameters are changable)
Mat kernelClose;
Mat kernelErode;
Mat kernelDilate;
// frame related variables
stringstream frameNumberTotal;
stringstream frameNumberCurrent;
stringstream frameInfo;
int frameWidth = 0,
frameHeight = 0;
// contour related variables
vector<vector<Point>> contours;
vector<Vec4i> hierarchy;
// displaying related variables
int r = 1; // counter for row
//// video processing
frameNumberTotal << capture.get(CAP_PROP_FRAME_COUNT);
frameWidth = (int)capture.get(CV_CAP_PROP_FRAME_WIDTH);
frameHeight = (int)capture.get(CV_CAP_PROP_FRAME_HEIGHT);
if (frameEnd == 0)
frameEnd = (int)capture.get(CAP_PROP_FRAME_COUNT);
// set video to defined start frame
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// show control panel (enables modification of some variables in realtime)
showControlPanel();
while ((char)keyboard != 27) {
// read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
// convert original frame to grayscale if specified by constant
if (SOURCE2GRAY)
frameGray.copyTo(frame);
// re-initialize objects with changable parameters
if (kernelSizeClose > 0)
kernelClose = getStructuringElement(KERNEL_TYPE, Size(kernelSizeClose, kernelSizeClose));
if (kernelSizeErode > 0)
kernelErode = getStructuringElement(KERNEL_TYPE, Size(kernelSizeErode, kernelSizeErode));
if (kernelSizeDilate > 0)
kernelDilate = getStructuringElement(KERNEL_TYPE, Size(kernelSizeDilate, kernelSizeDilate));
}
// apply threshold to MOG2 frame to get rid of shadows etc
threshold(fgMaskMOG2, frameThreshold, thresholdMask, 255, THRESH_BINARY);
// apply morphology operations to thresholded frame
if (kernelSizeClose > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_CLOSE, kernelClose);
if (kernelSizeErode > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_ERODE, kernelErode);
if (kernelSizeDilate > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_DILATE, kernelDilate);
frameThreshold.copyTo(frameMorphed);
// save previous masked frame as grayscale frame for later tracking
if (!frameMasked.empty())
cvtColor(frameMasked, frameGrayPrev, CV_RGB2GRAY);
// apply morphed mask, but save before the morphed frame before
frameMorphed.copyTo(frameContours);
frameMorphed.copyTo(frameMasked);
frame.copyTo(frameMasked, frameMasked);
// save new masked frame as grayscale frame for later tracking, also save mask to KltTracking frame
cvtColor(frameMasked, frameGray, CV_RGB2GRAY);
frameMasked.copyTo(frameKltTracking);
// draw and fill contours
findContours(frameContours, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
setIdentity(frameContours, Scalar(0, 0, 0));
drawContours(frameContours, contours, -1, Scalar(255, 255, 255), -1);
// draws rectangle around identified contours
drawBoundingBoxes(contours, frameMasked);
// prepare for and apply tracking algorithm (use grayscale copies of masked frame)
if (!frameGrayPrev.empty() && TRACKING)
applyKltTracking(frameGray, frameGrayPrev, frameKltTracking, contours);
/// show the different frames (from last to first row, to overlay windows bar)
resizeFrames(); // resize all frames
if (SHOW_ALL_OPERATION_RESULTS) {
// row 3
r = 3;
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
// row 2
r = 2;
showFrame("Morphed", frameMorphed, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Contours", frameContours, frameWidth, frameHeight, 2 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 3 + (r - 1)*ELEMENTS_PER_ROW);
// row 1
r = 1;
showFrame("Original", frame, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Foreground (MOG2)", fgMaskMOG2, frameWidth, frameHeight, 2 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("Threshold", frameThreshold, frameWidth, frameHeight, 3 + (r - 1)*ELEMENTS_PER_ROW);
}
else {
// row 1
r = 1;
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 1 + (r - 1)*ELEMENTS_PER_ROW);
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 2 + (r - 1)*ELEMENTS_PER_ROW);
}
// shows image for the specified amount of milliseconds
keyboard = waitKey(30);
switch (keyboard) {
case 'r':
resetFeatures = true; // reset on pressed 'r'
break;
}
// loop through the video if end is reached and loop is set
if (LOOP_VIDEO && (frameNumberCurrent.str().compare(std::to_string(frameEnd)) == 0))
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// ensure that new feature points are initialized every INIT_INTERVAL frames for the tracker
if (std::stoi(frameNumberCurrent.str()) % INIT_INTERVAL == 0 && trackedObjects.size() > 0)
resetFeatures = true;
// cleaning operation: clean string streams
frameNumberCurrent.str("");
frameInfo.str("");
}
// cleaning operation: release capture object
capture.release();
//imshow("FG Mask MOG 2", fgMaskMOG2);
//get the input from the keyboard
//keyboard = waitKey(30);
//}
//delete capture object
////capture.release();
}
char* videoChooser() {
// variable declaration
char* videoFile = "dog.avi"; // saves name of selected video file
// chooses video file depending on chosen video number
switch (VIDEO_NUMBER) {
case 1:
videoFile = "visiontraffic.avi";
frameStart = 90;
frameEnd = 440;
break;
case 2:
videoFile = "viptraffic.avi";
break;
case 3:
videoFile = "highwayII_raw.avi";
break;
case 4:
videoFile = "dispersed.ogv";
break;
case 5:
videoFile = "highspeed.ogv";
break;
case 6:
videoFile = "hightraffic-dark.ogv";
break;
case 7:
videoFile = "hightraffic-occlude.ogv";
break;
case 8:
videoFile = "threecars.ogv";
break;
case 9:
videoFile = "turntraffic-dark.ogv";
break;
case 10:
videoFile = "visor_1261565143617_cesta1.wmv";
break;
default:
break;
}
return videoFile;
}
void showFrame(char* windowName, Mat frame, int width, int height, int position) {
// variable declaration and initialization
int x = 0, // x-coordinates for position
y = 0, // y-coordinates for position
yOffset = 30; // offset for y-coordinates, since windows bar does not count into frame height
// strategy for y-offset: create windows from last row to first to overlay the bar
// create y-Offset if defince to make titles of windows readable
if (!WINDOW_NAMES_READABLE) {
yOffset += -32;
}
else if (position > ELEMENTS_PER_ROW) {
yOffset += 32;
}
// create window and display defined frame
cv::namedWindow(windowName);
cv::imshow(windowName, frame);
// resize stats for position calculation, if defined
if (scale != 10) {
// filter for the case, that it's zero, since range is not adjustable in opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// calculate new width and height
width = (int)(width * scaleFactor);
height = (int)(height * scaleFactor);
}
//// get positioning
// get x coordinates with width
if (((position - 1) % ELEMENTS_PER_ROW) != 0)
x = ((position - 1) % ELEMENTS_PER_ROW) * width;
// get y coordinates with height
if (position > ELEMENTS_PER_ROW)
y = (position - (position - 1) % ELEMENTS_PER_ROW) / ELEMENTS_PER_ROW * height;
// place window at calculated position
moveWindow(windowName, x, y + yOffset);
}
void resizeFrames() {
//resize all frames, if defined
if (scale != 10 && scale > 0) {
// filter for the case, that it's zero, since range is not adjustable in opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// resize all frames
resize(frame, frame, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(fgMaskMOG2, fgMaskMOG2, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameThreshold, frameThreshold, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameMorphed, frameMorphed, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameMasked, frameMasked, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameContours, frameContours, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
resize(frameKltTracking, frameKltTracking, Size(100,100), scaleFactor, scaleFactor, CV_INTER_LINEAR);
}
}
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame) {
// variable declaration
int amountHandledContours = 0;
Scalar drawingColor = DEFAULT_DRAWING_COLOR;
// create bounding rect of object and draw on defined frame
for (vector<vector<Point>>::iterator itc = contours.begin(); itc != contours.end(); itc++) {
// variable declaration and initialization
Rect boundingBox = boundingRect(Mat(*itc));
Mat overlay;
// only handle rectangles with a minimum area
if (boundingBox.area() >= CONTOUR_MIN_AREA) {
if (contourArea(*itc) >= CONTOUR_MIN_AREA) {
// get corresponding object, if there's one, to define the drawing color
size_t* indexCorrespondingObject = getCorrespondingObject(*itc);
if (indexCorrespondingObject != NULL)
drawingColor = trackedObjects[*indexCorrespondingObject].getColor();
// draw contours regardless of area
drawContours(frame, contours, -1, drawingColor, 1);
// handle bounding boxes (but only if they're bigger than defined minimum area)
if (boundingBox.area() >= BBOX_MIN_AREA) {
// copy frame to
frame.copyTo(overlay);
// draw rectangle
rectangle(overlay, boundingBox, drawingColor, 3);
// draw test label if constant is set
if (SHOW_LABELS)
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), drawingColor, -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frame, 1 - ALPHA, 0, frame);
// afterwards, put text with object name into the label, if constant is set
if (SHOW_LABELS)
putText(frame, TEST_NAME, Point(boundingBox.x + 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(0, 0, 0),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
// count handled contours
amountHandledContours++;
}
}
}
}
// re-initialize feature tracker if new objects appeared in this frame
if (amountHandledContours > amountHandledContoursPrev) {
resetFeatures = true;
cout << amountHandledContours << "/" << amountHandledContoursPrev << endl;
}
amountHandledContoursPrev = amountHandledContours;
}
void showControlPanel() {
// constant declaration
const int WIDTH = 400,
HEIGHT = 240;
const char* nameWindow = "Control Panel";
const char* nameTrackbarWindowScale = "Scale";
const char* nameTrackbarThreshold = "Threshold";
const char* nameTrackbarKernelSizeClose = "SizeClose";
const char* nameTrackbarKernelSizeErode = "SizeErode";
const char* nameTrackbarKernelSizeDilate = "SizeDilate";
// create window
namedWindow(nameWindow, CV_WINDOW_AUTOSIZE | CV_GUI_NORMAL);
resizeWindow(nameWindow, WIDTH, HEIGHT);
// window relating parameters
createTrackbar(nameTrackbarWindowScale, nameWindow, &scale, 20, NULL);
createTrackbar(nameTrackbarThreshold, nameWindow, &thresholdMask, THRESHOLD_MASK_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeClose, nameWindow, &kernelSizeClose, KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeErode, nameWindow, &kernelSizeErode, KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeDilate, nameWindow, &kernelSizeDilate, KERNEL_SIZE_MAX, NULL);
}
/**
* @function for klt tracking
*/
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat frameKltTracking, vector<vector<Point>> contours) {
/// variable declaration
vector<Point2f> newPoints;
/// calculate features and then the optical flow
if (resetFeatures) {
// automatic initialization
goodFeaturesToTrack(frameGray, newPoints, MAX_COUNT_TOTAL, 0.01, 10, Mat(), 3, 0, 0.04);
cornerSubPix(frameGray, newPoints, subPixWinSize, Size(-1, -1), termcrit);
//points[0].clear(); // could solve performance issue, but creates strange behaviour:
// trackedObjects also reset every reset
//points[1].clear();
// initialize with all available points from tracked objects
for (std::vector<TrackedObject>::size_type l = 0; l != trackedObjects.size(); l++)
for (std::vector<TrackedObject>::size_type j = 0; j != trackedObjects[l].getPoints().size(); j++) {
points[0].push_back(trackedObjects[l].getPoints()[j]);
}
}
if (!points[0].empty() || trackedObjects.size() > 0) {
// variable declaration
vector<uchar> status;
vector<float> err;
size_t i, k;
// check if previous frame is existing, otherwise copy the current one
if (frameGrayPrev.empty())
frameGray.copyTo(frameGrayPrev);
// calculate the optical flow with KLT
calcOpticalFlowPyrLK(frameGrayPrev, frameGray, points[0], points[1], status, err, winSize,
3, termcrit, 0, 0.001);
/// iterate through all found points
for (i = k = 0; i < points[1].size(); i++) {
// don't handle point, if there's no corresponding point from the last frame
if (!status[i])
continue;
// otherwise save and draw point (shrink's point vector, resizes after the for loop)
points[1][k++] = points[1][i];
/// get corresponding contour and object, otherwise create new tracked object
if (STATEFUL_TRACKING)
trackObjects(contours, i);
else
circle(frameKltTracking, points[1][i], 6, DEFAULT_DRAWING_COLOR, 2, 8);
}
points[1].resize(k);
}
// handle the processed points
handleProcessedPoints();
// save that initialization was done and not needed anymore, also add new points
if (resetFeatures) {
resetFeatures = false;
for (std::vector<Point2f>::size_type l = 0; l != newPoints.size(); l++)
points[1].push_back(newPoints[l]);
}
// save the current values as the previous ones
if (!resetFeatures)
std::swap(points[1], points[0]);
cv::swap(frameGrayPrev, frameGrayPrev);
}
void trackObjects(vector<vector<Point>> contours, size_t currentPoint) {
/// variable declaration
int containedInContour;
bool foundObject = false;
bool foundContour = false;
bool foundObjectOfContour = false;
vector<Point>::size_type m; // iterator for contours
size_t* correspondingObject = NULL; // pointer for corresponding object
/// get contour of point
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m], points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >= CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
if (trackedObjects.size() > 0) {
// check for each point in the tracked object if it already exists
for (std::vector<TrackedObject>::size_type l = 0; l != trackedObjects.size(); l++) {
size_t* containedInObject = NULL;
if (trackedObjects[l].containsOldPoint(points[0][currentPoint]) != NULL) {
// add the point (it will increase weight automatically instead)
trackedObjects[l].addPoint(points[1][currentPoint], points[0][currentPoint]);
foundObject = true;
// update contour of object, if contour was not modified this frame yet
bool foundContour = false;
if (!trackedObjects[l].getContourStatus()) {
std::vector<Point>::size_type m;
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m], points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >= CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
// update corresponding contour, if one was found
if (foundContour)
trackedObjects[l].setContour(contours[m]);
}
}
}
}
// create new object with this point
if (!foundObject && foundContour) {
size_t* containedInObject;
containedInObject = getCorrespondingObject(contours[m]);
if (containedInObject != NULL) {
// contour belongs to an existing object, so add the point
size_t containedInObjectVal = *containedInObject;
// add points
if (trackedObjects[containedInObjectVal].getPoints().size() < MAX_COUNT_PER_CAR)
trackedObjects[containedInObjectVal].addPoint(points[1][currentPoint], points[0][currentPoint]);
foundObjectOfContour = true;
}
// create new tracked object, since there's no existing one with this contour
if (!foundObjectOfContour) {
char name[11] = "Object_";
char objectNumber[4];
sprintf(objectNumber, "%d", (int)(objectCounter + 1));
strcat(name, objectNumber);
TrackedObject* trObj = new TrackedObject(name);
trObj->addPoint(points[1][currentPoint], points[0][currentPoint]);
trObj->setContour(contours[m]);
trackedObjects.push_back(*trObj);
objectCounter++;
}
}
}
size_t* getCorrespondingObject(vector<Point> contour) {
// variable declaration
size_t* position = NULL;
// find out if contour is assigned to existing object
if (trackedObjects.size() > 0 && contour.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i != trackedObjects.size(); i++) {
if (trackedObjects[i].getContour().size() == contour.size()) {
double comparisonValue;
comparisonValue = matchShapes(trackedObjects[i].getContour(), contour, CV_CONTOURS_MATCH_I1, NULL);
if (comparisonValue == 0) {
position = &i;
break;
}
}
}
}
return position;
}
void handleProcessedPoints() {
// get original frame, if constant defines, that results should be shown in original
if (TRACKING_RESULTS_IN_ORIGINAL)
frame.copyTo(frameKltTracking);
if (trackedObjects.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i != trackedObjects.size(); i++) {
// process all points according to the status
trackedObjects[i].processStatus();
if (trackedObjects[i].getPoints().size() <= MIN_POINTS_TRACKED_OBJECT) {
trackedObjects.erase(trackedObjects.begin() + i);
i--;
continue;
}
/// draw bounding box
Rect boundingBox = boundingRect(trackedObjects[i].getContour());
Mat overlay;
frameKltTracking.copyTo(overlay);
/// draw rectangle and label
rectangle(overlay, boundingBox, trackedObjects[i].getColor(), 3);
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), trackedObjects[i].getColor(), -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frameKltTracking, 1 - ALPHA, 0, frameKltTracking);
// afterwards, put text with object name into the label, if constant is set
putText(frameKltTracking, trackedObjects[i].getName(), Point(boundingBox.x + 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(200, 200, 200),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
/// draw all feature points in the color of the corresponding object
for (std::vector<Point2f>::size_type j = 0; j != trackedObjects[i].getPoints().size(); j++) {
// handle weight of point
int w = trackedObjects[i].getWeight()[j];
int size = (int)trackedObjects[i].getPoints().size();
if (w != -1) { // point not found
// draw filled circle for new points
if (w == 1)
w = -1;
else if (w >= HEATMAP_RANGE)
w = HEATMAP_RANGE;
if (w != -1)
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6, getHeatMapColor(1 - (float)w / (float)HEATMAP_RANGE), -1, 8);
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6, trackedObjects[i].getColor(), 2, 8);
}
}
}
}
}
Scalar getHeatMapColor(float value)
{
float red, green, blue;
const int NUM_COLORS = 4;
static float color[NUM_COLORS][3] = { { 0, 0, 1 }, { 0, 1, 0 }, { 1, 1, 0 }, { 1, 0, 0 } };
// A static array of 4 colors: (blue, green, yellow, red) using {r,g,b} for each.
int idx1; // |-- Our desired color will be between these two indexes in "color".
int idx2; // |
float fractBetween = 0; // Fraction between "idx1" and "idx2" where our value is.
if (value <= 0) { idx1 = idx2 = 0; } // accounts for an input <=0
else if (value >= 1) { idx1 = idx2 = NUM_COLORS - 1; } // accounts for an input >=0
else
{
value = value * (NUM_COLORS - 1);
idx1 = (int)floor(value); // Our desired color will be after this index.
idx2 = idx1 + 1; // ... and before this index (inclusive).
fractBetween = value - float(idx1); // Distance between the two indexes (0-1).
}
red = ((color[idx2][0] - color[idx1][0])*fractBetween + color[idx1][0]) * 255;
green = ((color[idx2][1] - color[idx1][1])*fractBetween + color[idx1][1]) * 255;
blue = ((color[idx2][2] - color[idx1][2])*fractBetween + color[idx1][2]) * 255;
return Scalar(red, green, blue);
}
from multitarget-tracker.
dulithaaaa
commented on August 16, 2024
Sir,I need to track the moving objects specially animals,Do you have static background animal moving videos which are more supportive for tracking ,could you send me please sir
On Wednesday, August 23, 2017 3:12 PM, Andrey Smorodov <[email protected]> wrote:
Hi, still not clear what do you want, this code is for MOG2, it uses MOG2,
and if it works, than no bugs here.
2017-08-23 7:10 GMT+03:00 dulithaaaa <[email protected]>:
Thank you very much sir,sir i have code can you find what is bug in the
code please,it works only to MOG2
On Wednesday, August 23, 2017 9:16 AM, Sergey Nuzhny <
***@***.***> wrote:
Sir,I have a code of tracking i attached that file.it worked only to
MOG2,could you please look at that code and tell me what modification needs
to be required.
Hi!
I don't know what do you want. How can I advise you?
This project - Multitarget-tracker contains full stack of algorithms for
motion detection. I can tell you how it works.
- You need CMake gui application, start it.
- Select folder Mulitarget-tracker (with CMakeLists.txt file).
- Select subfolder folder build.
- Push a button Configure, select your MSVC compler. Wait.
- If OpenCV wasn't founded automatic then select OpenCV_DIR manually. Push
a button Configure again.
- Push a button Generate.
- Now the folder build contains a solution file (.sln). Lets open it in
Visual studio!
The end.
—
You are receiving this because you authored the thread.
Reply to this email directly, view it on GitHub, or mute the thread.
#include "opencv2/imgcodecs.hpp"
#include "opencv2/imgproc.hpp"
#include "opencv2/videoio.hpp"
#include <opencv2/highgui.hpp>
#include <opencv2/video.hpp>
#include <stdio.h>
#include <ctime>
#include <iostream>
#include <sstream>
#include "TrackedObject.h"
using namespace cv;
using namespace std;
// Global constant
const bool SHOW_ALL_OPERATION_RESULTS = true; // defines if different
operation results should be shown
const bool WINDOW_NAMES_READABLE = false; // if set, creates y-offset to
make window names readable
const int ELEMENTS_PER_ROW = 3; // defines how much windows are shown
within a row
const bool TRACKING_RESULTS_IN_ORIGINAL = false; // shows tracking results
in original frame
// video related constants
const int VIDEO_NUMBER = 1; // 1:10, choose different number for different
video
const bool LOOP_VIDEO = true; // defines if video should be looped
infinitely
const char* VIDEO_DIRECTORY_PATH = ".\\detect.avi\\"; // define path to
video directory
const bool SOURCE2GRAY = false; // defines, if source frame should be
converted to gray
// foreground segmentation postprocessing related constants
const int HISTORY = 1000; // MOG2 parameter: amount of considered frames
const double VAR_THRESHOLD = 20; // MOG2 parameter: threshold for degree
of minimum variance
const bool DETECT_SHADOWS = false; // MOG2 parameter: defines if shadows
should be detected
int thresholdMask = 100; // defines start value of threshold for
// binarization of foreground frame
const int THRESHOLD_MASK_MAX = 255; // defines maximum value for threshold
// morphing related constants
const int KERNEL_TYPE = MORPH_ELLIPSE; // choose: MORPH_RECT, MORPH_CROSS,
MORPH_ELLIPSE
int kernelSizeClose = 5; // defines start value for kernel size of close
op.
int kernelSizeErode = 5; // defines start value for kernel size of erode
op.
int kernelSizeDilate = 5; // defines start value for kernel size of dilate
op.
const int KERNEL_SIZE_MAX = 20; // defines maximum value for threshold
// drawing related constants
const Scalar DEFAULT_DRAWING_COLOR = Scalar(0, 255, 0); // defines default
color of bounding boxes and labels
const int CONTOUR_MIN_AREA = 500; // defines minimum area of contours
const int BBOX_MIN_AREA = 3000; // defines minimum area of bounding boxes
const bool SHOW_LABELS = false; // shows labels of object adjusted to the
bounding box
const int HEATMAP_RANGE = 25; // defines size of different colors in heat
map
// and threshold (color of highest weight)
// bounding box and label related constants
const float ALPHA = 0.5; // defines opacity of rectangle and label
const int LABEL_HEIGHT = 20; // defines height of label
const char* TEST_NAME = "Car"; // defines name for test labels
const int TEXT_FONT_FACE = 2; // defines font of label text
const int TEXT_THICKNESS = 2; // defines thickness of label text
const int TEXT_LINE_TYPE = 0; // defines line type of label text
const double TEXT_FONT_SCALE = 0.7; // defines scale of label text
// tracking related constants
const bool TRACKING = true; // defines if tracking is active
const bool STATEFUL_TRACKING = true; // defines if stateful tracking with
TrackedObjects is active
const int MAX_COUNT_TOTAL = 150; // defines max no. of tracked points in
total
const int MAX_COUNT_PER_CAR = 25; // defines max no. of tracked points per
car
const int MIN_POINTS_TRACKED_OBJECT = 3; // defines min no. of points for
tracked objects
const int INIT_INTERVAL = 15; // defines, after how many frames the
tracker should initialize new points
const TermCriteria termcrit(TermCriteria::COUNT | TermCriteria::EPS, 20,
0.03); // defines criteria for klt tracker
const Size subPixWinSize(10, 10);
const Size winSize(31, 31);
/// Global variables
// window related variables
int scale = 10; // scales windows (and mats) after processing before
displaying
// (10 is equal to standard size, 20 to doubled size)
// video related variables
int frameStart = 1; // defines frame to start (set in video chooser)
int frameEnd = 0; // defines frame to end (set in video chooser)
// frame related variables
Mat frame; //current frame
Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
Mat frameGray; // current frame in grayscale
Mat frameGrayPrev; // previous frame in grayscale
Mat frameThreshold; // frame with applied threshold (to elimante shadows
etc.)
Mat frameMorphed; // morphed frame (to elimante noise)
Mat frameMasked; // morphed frame applied as a mask to the original frame
Mat frameContours; // drawn contours
Mat frameKltTracking; // klt tracking lanes
Ptr<BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
// tracking related variables
bool resetFeatures = false;
Point2f point;
vector<Point2f> points[2];
int amountHandledContoursPrev = 0;
vector<TrackedObject> trackedObjects;
int objectCounter;
int keyboard; //input from keyboard
/// Function Headers
char* videoChooser();
void processVideo(char* videoFilename);
void showFrame(char* windowName, Mat frame, int width,int height, int
position);
void resizeFrames();
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame);
void showControlPanel();
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat
frameKltTracking, vector<vector<Point>> contours);
void trackObjects(vector<vector<Point>> contours, size_t currentPoint);
size_t* getCorrespondingObject(vector<Point> contour);
void handleProcessedPoints();
Scalar getHeatMapColor(float value);
void processVideo(char* videoFilename);
void processImages(char* firstFrameFilename);
char* VIDEO_FILE = "visiontraffic.avi";
int main(int argc, char* argv[])
{
char* videoPath = new char[100];
/// initialize variables
// define path of video file
strcpy(videoPath, VIDEO_DIRECTORY_PATH);
strcat(videoPath, videoChooser());
//create GUI windows
namedWindow("Original");
namedWindow("Foreground (MOG2)");
namedWindow("Threshold");
namedWindow("Morphed");
namedWindow("Contours");
namedWindow("Masked Original Frame");
namedWindow("KLT Tracking");
//create Background Subtractor objects
pMOG2 = createBackgroundSubtractorMOG2(HISTORY, VAR_THRESHOLD,
DETECT_SHADOWS); //MOG2 approach
//input data coming from a video
processVideo(VIDEO_FILE);
//destroy GUI windows
destroyAllWindows();
return EXIT_SUCCESS;
}
void processVideo(char* videoFilename) {
//create the capture object
VideoCapture capture(videoFilename);
if (!capture.isOpened()) {
//error in opening the video input
cerr << "Unable to open video file: " << videoFilename << endl;
exit(EXIT_FAILURE);
}
///read input data. ESC or 'q' for quitting
while ((char)keyboard != 'q' && (char)keyboard != 27) {
//read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
//update the background model
pMOG2->apply(frame, fgMaskMOG2);
stringstream ss;
rectangle(frame, cv::Point(10, 2), cv::Point(100, 20),
cv::Scalar(255, 255, 255), -1);
ss << capture.get(CAP_PROP_POS_FRAMES);
string frameNumberString = ss.str();
putText(frame, frameNumberString.c_str(), cv::Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
imshow("Frame", frame);
imshow("FG Mask MOG 2", fgMaskMOG2);
pMOG2->apply(frame, fgMaskMOG2);
imshow("Frame", frame);
imshow("FG Mask MOG 2", fgMaskMOG2);
//get the frame number and write it on the current frame
rectangle(frame, Point(10, 2), Point(100, 20), Scalar(255, 255, 255), -1);
frameNumberCurrent << capture.get(CAP_PROP_POS_FRAMES);
frameInfo << frameNumberCurrent.str() << "/" << frameNumberTotal.str();
putText(frame, frameInfo.str(), Point(15, 15),
FONT_HERSHEY_SIMPLEX, 0.5, Scalar(0, 0, 0));
//get the input from the keyboard
keyboard = waitKey(30);
/// variable declaration and initialization
// morphing related variables (initialized during each loop, since
parameters are changable)
Mat kernelClose;
Mat kernelErode;
Mat kernelDilate;
// frame related variables
stringstream frameNumberTotal;
stringstream frameNumberCurrent;
stringstream frameInfo;
int frameWidth = 0,
frameHeight = 0;
// contour related variables
vector<vector<Point>> contours;
vector<Vec4i> hierarchy;
// displaying related variables
int r = 1; // counter for row
//// video processing
frameNumberTotal << capture.get(CAP_PROP_FRAME_COUNT);
frameWidth = (int)capture.get(CV_CAP_PROP_FRAME_WIDTH);
frameHeight = (int)capture.get(CV_CAP_PROP_FRAME_HEIGHT);
if (frameEnd == 0)
frameEnd = (int)capture.get(CAP_PROP_FRAME_COUNT);
// set video to defined start frame
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// show control panel (enables modification of some variables in realtime)
showControlPanel();
while ((char)keyboard != 27) {
// read the current frame
if (!capture.read(frame)) {
cerr << "Unable to read next frame." << endl;
cerr << "Exiting..." << endl;
exit(EXIT_FAILURE);
}
// convert original frame to grayscale if specified by constant
if (SOURCE2GRAY)
frameGray.copyTo(frame);
// re-initialize objects with changable parameters
if (kernelSizeClose > 0)
kernelClose = getStructuringElement(KERNEL_TYPE, Size(kernelSizeClose,
kernelSizeClose));
if (kernelSizeErode > 0)
kernelErode = getStructuringElement(KERNEL_TYPE, Size(kernelSizeErode,
kernelSizeErode));
if (kernelSizeDilate > 0)
kernelDilate = getStructuringElement(KERNEL_TYPE, Size(kernelSizeDilate,
kernelSizeDilate));
}
// apply threshold to MOG2 frame to get rid of shadows etc
threshold(fgMaskMOG2, frameThreshold, thresholdMask, 255, THRESH_BINARY);
// apply morphology operations to thresholded frame
if (kernelSizeClose > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_CLOSE, kernelClose);
if (kernelSizeErode > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_ERODE, kernelErode);
if (kernelSizeDilate > 0)
morphologyEx(frameMorphed, frameMorphed, MORPH_DILATE, kernelDilate);
frameThreshold.copyTo(frameMorphed);
// save previous masked frame as grayscale frame for later tracking
if (!frameMasked.empty())
cvtColor(frameMasked, frameGrayPrev, CV_RGB2GRAY);
// apply morphed mask, but save before the morphed frame before
frameMorphed.copyTo(frameContours);
frameMorphed.copyTo(frameMasked);
frame.copyTo(frameMasked, frameMasked);
// save new masked frame as grayscale frame for later tracking, also save
mask to KltTracking frame
cvtColor(frameMasked, frameGray, CV_RGB2GRAY);
frameMasked.copyTo(frameKltTracking);
// draw and fill contours
findContours(frameContours, contours, hierarchy, CV_RETR_EXTERNAL,
CV_CHAIN_APPROX_SIMPLE);
setIdentity(frameContours, Scalar(0, 0, 0));
drawContours(frameContours, contours, -1, Scalar(255, 255, 255), -1);
// draws rectangle around identified contours
drawBoundingBoxes(contours, frameMasked);
// prepare for and apply tracking algorithm (use grayscale copies of
masked frame)
if (!frameGrayPrev.empty() && TRACKING)
applyKltTracking(frameGray, frameGrayPrev, frameKltTracking, contours);
/// show the different frames (from last to first row, to overlay windows
bar)
resizeFrames(); // resize all frames
if (SHOW_ALL_OPERATION_RESULTS) {
// row 3
r = 3;
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 1 +
(r - 1)*ELEMENTS_PER_ROW);
// row 2
r = 2;
showFrame("Morphed", frameMorphed, frameWidth, frameHeight, 1 + (r -
1)*ELEMENTS_PER_ROW);
showFrame("Contours", frameContours, frameWidth, frameHeight, 2 + (r -
1)*ELEMENTS_PER_ROW);
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 3
+ (r - 1)*ELEMENTS_PER_ROW);
// row 1
r = 1;
showFrame("Original", frame, frameWidth, frameHeight, 1 + (r -
1)*ELEMENTS_PER_ROW);
showFrame("Foreground (MOG2)", fgMaskMOG2, frameWidth, frameHeight, 2 + (r
- 1)*ELEMENTS_PER_ROW);
showFrame("Threshold", frameThreshold, frameWidth, frameHeight, 3 + (r -
1)*ELEMENTS_PER_ROW);
}
else {
// row 1
r = 1;
showFrame("Masked Original Frame", frameMasked, frameWidth, frameHeight, 1
+ (r - 1)*ELEMENTS_PER_ROW);
showFrame("KLT Tracking", frameKltTracking, frameWidth, frameHeight, 2 +
(r - 1)*ELEMENTS_PER_ROW);
}
// shows image for the specified amount of milliseconds
keyboard = waitKey(30);
switch (keyboard) {
case 'r':
resetFeatures = true; // reset on pressed 'r'
break;
}
// loop through the video if end is reached and loop is set
if (LOOP_VIDEO && (frameNumberCurrent.str().compare(std::to_string(frameEnd))
== 0))
capture.set(CAP_PROP_POS_FRAMES, frameStart);
// ensure that new feature points are initialized every INIT_INTERVAL
frames for the tracker
if (std::stoi(frameNumberCurrent.str()) % INIT_INTERVAL == 0 &&
trackedObjects.size() > 0)
resetFeatures = true;
// cleaning operation: clean string streams
frameNumberCurrent.str("");
frameInfo.str("");
}
// cleaning operation: release capture object
capture.release();
//imshow("FG Mask MOG 2", fgMaskMOG2);
//get the input from the keyboard
//keyboard = waitKey(30);
//}
//delete capture object
////capture.release();
}
char* videoChooser() {
// variable declaration
char* videoFile = "dog.avi"; // saves name of selected video file
// chooses video file depending on chosen video number
switch (VIDEO_NUMBER) {
case 1:
videoFile = "visiontraffic.avi";
frameStart = 90;
frameEnd = 440;
break;
case 2:
videoFile = "viptraffic.avi";
break;
case 3:
videoFile = "highwayII_raw.avi";
break;
case 4:
videoFile = "dispersed.ogv";
break;
case 5:
videoFile = "highspeed.ogv";
break;
case 6:
videoFile = "hightraffic-dark.ogv";
break;
case 7:
videoFile = "hightraffic-occlude.ogv";
break;
case 8:
videoFile = "threecars.ogv";
break;
case 9:
videoFile = "turntraffic-dark.ogv";
break;
case 10:
videoFile = "visor_1261565143617_cesta1.wmv";
break;
default:
break;
}
return videoFile;
}
void showFrame(char* windowName, Mat frame, int width, int height, int
position) {
// variable declaration and initialization
int x = 0, // x-coordinates for position
y = 0, // y-coordinates for position
yOffset = 30; // offset for y-coordinates, since windows bar does not
count into frame height
// strategy for y-offset: create windows from last row to first to overlay
the bar
// create y-Offset if defince to make titles of windows readable
if (!WINDOW_NAMES_READABLE) {
yOffset += -32;
}
else if (position > ELEMENTS_PER_ROW) {
yOffset += 32;
}
// create window and display defined frame
cv::namedWindow(windowName);
cv::imshow(windowName, frame);
// resize stats for position calculation, if defined
if (scale != 10) {
// filter for the case, that it's zero, since range is not adjustable in
opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// calculate new width and height
width = (int)(width * scaleFactor);
height = (int)(height * scaleFactor);
}
//// get positioning
// get x coordinates with width
if (((position - 1) % ELEMENTS_PER_ROW) != 0)
x = ((position - 1) % ELEMENTS_PER_ROW) * width;
// get y coordinates with height
if (position > ELEMENTS_PER_ROW)
y = (position - (position - 1) % ELEMENTS_PER_ROW) / ELEMENTS_PER_ROW *
height;
// place window at calculated position
moveWindow(windowName, x, y + yOffset);
}
void resizeFrames() {
//resize all frames, if defined
if (scale != 10 && scale > 0) {
// filter for the case, that it's zero, since range is not adjustable in
opencv gui
if (scale == 0)
scale = 1;
// calculate scalefactor from value of scale variable
float scaleFactor = (float)scale / 10;
// resize all frames
resize(frame, frame, Size(100,100), scaleFactor, scaleFactor,
CV_INTER_LINEAR);
resize(fgMaskMOG2, fgMaskMOG2, Size(100,100), scaleFactor, scaleFactor,
CV_INTER_LINEAR);
resize(frameThreshold, frameThreshold, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
resize(frameMorphed, frameMorphed, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
resize(frameMasked, frameMasked, Size(100,100), scaleFactor, scaleFactor,
CV_INTER_LINEAR);
resize(frameContours, frameContours, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
resize(frameKltTracking, frameKltTracking, Size(100,100), scaleFactor,
scaleFactor, CV_INTER_LINEAR);
}
}
void drawBoundingBoxes(vector<vector<Point>> contours, Mat frame) {
// variable declaration
int amountHandledContours = 0;
Scalar drawingColor = DEFAULT_DRAWING_COLOR;
// create bounding rect of object and draw on defined frame
for (vector<vector<Point>>::iterator itc = contours.begin(); itc !=
contours.end(); itc++) {
// variable declaration and initialization
Rect boundingBox = boundingRect(Mat(*itc));
Mat overlay;
// only handle rectangles with a minimum area
if (boundingBox.area() >= CONTOUR_MIN_AREA) {
if (contourArea(*itc) >= CONTOUR_MIN_AREA) {
// get corresponding object, if there's one, to define the drawing color
size_t* indexCorrespondingObject = getCorrespondingObject(*itc);
if (indexCorrespondingObject != NULL)
drawingColor = trackedObjects[*indexCorrespondingObject].getColor();
// draw contours regardless of area
drawContours(frame, contours, -1, drawingColor, 1);
// handle bounding boxes (but only if they're bigger than defined minimum
area)
if (boundingBox.area() >= BBOX_MIN_AREA) {
// copy frame to
frame.copyTo(overlay);
// draw rectangle
rectangle(overlay, boundingBox, drawingColor, 3);
// draw test label if constant is set
if (SHOW_LABELS)
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), drawingColor, -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frame, 1 - ALPHA, 0, frame);
// afterwards, put text with object name into the label, if constant is
set
if (SHOW_LABELS)
putText(frame, TEST_NAME, Point(boundingBox.x + 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(0, 0, 0),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
// count handled contours
amountHandledContours++;
}
}
}
}
// re-initialize feature tracker if new objects appeared in this frame
if (amountHandledContours > amountHandledContoursPrev) {
resetFeatures = true;
cout << amountHandledContours << "/" << amountHandledContoursPrev << endl;
}
amountHandledContoursPrev = amountHandledContours;
}
void showControlPanel() {
// constant declaration
const int WIDTH = 400,
HEIGHT = 240;
const char* nameWindow = "Control Panel";
const char* nameTrackbarWindowScale = "Scale";
const char* nameTrackbarThreshold = "Threshold";
const char* nameTrackbarKernelSizeClose = "SizeClose";
const char* nameTrackbarKernelSizeErode = "SizeErode";
const char* nameTrackbarKernelSizeDilate = "SizeDilate";
// create window
namedWindow(nameWindow, CV_WINDOW_AUTOSIZE | CV_GUI_NORMAL);
resizeWindow(nameWindow, WIDTH, HEIGHT);
// window relating parameters
createTrackbar(nameTrackbarWindowScale, nameWindow, &scale, 20, NULL);
createTrackbar(nameTrackbarThreshold, nameWindow, &thresholdMask,
THRESHOLD_MASK_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeClose, nameWindow, &kernelSizeClose,
KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeErode, nameWindow, &kernelSizeErode,
KERNEL_SIZE_MAX, NULL);
createTrackbar(nameTrackbarKernelSizeDilate, nameWindow,
&kernelSizeDilate, KERNEL_SIZE_MAX, NULL);
}
/**
* @function for klt tracking
*/
void applyKltTracking(Mat frameGray, Mat frameGrayPrev, Mat
frameKltTracking, vector<vector<Point>> contours) {
/// variable declaration
vector<Point2f> newPoints;
/// calculate features and then the optical flow
if (resetFeatures) {
// automatic initialization
goodFeaturesToTrack(frameGray, newPoints, MAX_COUNT_TOTAL, 0.01, 10,
Mat(), 3, 0, 0.04);
cornerSubPix(frameGray, newPoints, subPixWinSize, Size(-1, -1), termcrit);
//points[0].clear(); // could solve performance issue, but creates strange
behaviour:
// trackedObjects also reset every reset
//points[1].clear();
// initialize with all available points from tracked objects
for (std::vector<TrackedObject>::size_type l = 0; l !=
trackedObjects.size(); l++)
for (std::vector<TrackedObject>::size_type j = 0; j !=
trackedObjects[l].getPoints().size(); j++) {
points[0].push_back(trackedObjects[l].getPoints()[j]);
}
}
if (!points[0].empty() || trackedObjects.size() > 0) {
// variable declaration
vector<uchar> status;
vector<float> err;
size_t i, k;
// check if previous frame is existing, otherwise copy the current one
if (frameGrayPrev.empty())
frameGray.copyTo(frameGrayPrev);
// calculate the optical flow with KLT
calcOpticalFlowPyrLK(frameGrayPrev, frameGray, points[0], points[1],
status, err, winSize,
3, termcrit, 0, 0.001);
/// iterate through all found points
for (i = k = 0; i < points[1].size(); i++) {
// don't handle point, if there's no corresponding point from the last
frame
if (!status[i])
continue;
// otherwise save and draw point (shrink's point vector, resizes after the
for loop)
points[1][k++] = points[1][i];
/// get corresponding contour and object, otherwise create new tracked
object
if (STATEFUL_TRACKING)
trackObjects(contours, i);
else
circle(frameKltTracking, points[1][i], 6, DEFAULT_DRAWING_COLOR, 2, 8);
}
points[1].resize(k);
}
// handle the processed points
handleProcessedPoints();
// save that initialization was done and not needed anymore, also add new
points
if (resetFeatures) {
resetFeatures = false;
for (std::vector<Point2f>::size_type l = 0; l != newPoints.size(); l++)
points[1].push_back(newPoints[l]);
}
// save the current values as the previous ones
if (!resetFeatures)
std::swap(points[1], points[0]);
cv::swap(frameGrayPrev, frameGrayPrev);
}
void trackObjects(vector<vector<Point>> contours, size_t currentPoint) {
/// variable declaration
int containedInContour;
bool foundObject = false;
bool foundContour = false;
bool foundObjectOfContour = false;
vector<Point>::size_type m; // iterator for contours
size_t* correspondingObject = NULL; // pointer for corresponding object
/// get contour of point
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m],
points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >=
CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
if (trackedObjects.size() > 0) {
// check for each point in the tracked object if it already exists
for (std::vector<TrackedObject>::size_type l = 0; l !=
trackedObjects.size(); l++) {
size_t* containedInObject = NULL;
if (trackedObjects[l].containsOldPoint(points[0][currentPoint]) != NULL)
{
// add the point (it will increase weight automatically instead)
trackedObjects[l].addPoint(points[1][currentPoint],
points[0][currentPoint]);
foundObject = true;
// update contour of object, if contour was not modified this frame yet
bool foundContour = false;
if (!trackedObjects[l].getContourStatus()) {
std::vector<Point>::size_type m;
for (m = 0; m != contours.size(); m++) {
// checks if point is inside or on the edge of the contour
containedInContour = (int)pointPolygonTest(contours[m],
points[1][currentPoint], false);
// exit loop if corresponding contour is found
if (containedInContour > 0 && contourArea(contours[m]) >=
CONTOUR_MIN_AREA) {
foundContour = true;
break;
}
}
// update corresponding contour, if one was found
if (foundContour)
trackedObjects[l].setContour(contours[m]);
}
}
}
}
// create new object with this point
if (!foundObject && foundContour) {
size_t* containedInObject;
containedInObject = getCorrespondingObject(contours[m]);
if (containedInObject != NULL) {
// contour belongs to an existing object, so add the point
size_t containedInObjectVal = *containedInObject;
// add points
if (trackedObjects[containedInObjectVal].getPoints().size() <
MAX_COUNT_PER_CAR)
trackedObjects[containedInObjectVal].addPoint(points[1][currentPoint],
points[0][currentPoint]);
foundObjectOfContour = true;
}
// create new tracked object, since there's no existing one with this
contour
if (!foundObjectOfContour) {
char name[11] = "Object_";
char objectNumber[4];
sprintf(objectNumber, "%d", (int)(objectCounter + 1));
strcat(name, objectNumber);
TrackedObject* trObj = new TrackedObject(name);
trObj->addPoint(points[1][currentPoint], points[0][currentPoint]);
trObj->setContour(contours[m]);
trackedObjects.push_back(*trObj);
objectCounter++;
}
}
}
size_t* getCorrespondingObject(vector<Point> contour) {
// variable declaration
size_t* position = NULL;
// find out if contour is assigned to existing object
if (trackedObjects.size() > 0 && contour.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i !=
trackedObjects.size(); i++) {
if (trackedObjects[i].getContour().size() == contour.size()) {
double comparisonValue;
comparisonValue = matchShapes(trackedObjects[i].getContour(), contour,
CV_CONTOURS_MATCH_I1, NULL);
if (comparisonValue == 0) {
position = &i;
break;
}
}
}
}
return position;
}
void handleProcessedPoints() {
// get original frame, if constant defines, that results should be shown
in original
if (TRACKING_RESULTS_IN_ORIGINAL)
frame.copyTo(frameKltTracking);
if (trackedObjects.size() > 0) {
for (std::vector<TrackedObject>::size_type i = 0; i !=
trackedObjects.size(); i++) {
// process all points according to the status
trackedObjects[i].processStatus();
if (trackedObjects[i].getPoints().size() <= MIN_POINTS_TRACKED_OBJECT) {
trackedObjects.erase(trackedObjects.begin() + i);
i--;
continue;
}
/// draw bounding box
Rect boundingBox = boundingRect(trackedObjects[i].getContour());
Mat overlay;
frameKltTracking.copyTo(overlay);
/// draw rectangle and label
rectangle(overlay, boundingBox, trackedObjects[i].getColor(), 3);
rectangle(overlay, Point(boundingBox.x - 2, boundingBox.y),
Point(boundingBox.x + boundingBox.width + 1,
boundingBox.y - LABEL_HEIGHT), trackedObjects[i].getColor(), -1);
// combine transparent overlay of bounding rect with original frame
cv::addWeighted(overlay, ALPHA, frameKltTracking, 1 - ALPHA, 0,
frameKltTracking);
// afterwards, put text with object name into the label, if constant is
set
putText(frameKltTracking, trackedObjects[i].getName(), Point(boundingBox.x
+ 10, boundingBox.y - 2),
TEXT_FONT_FACE, TEXT_FONT_SCALE, Scalar(200, 200, 200),
TEXT_THICKNESS, TEXT_LINE_TYPE, false);
/// draw all feature points in the color of the corresponding object
for (std::vector<Point2f>::size_type j = 0; j !=
trackedObjects[i].getPoints().size(); j++) {
// handle weight of point
int w = trackedObjects[i].getWeight()[j];
int size = (int)trackedObjects[i].getPoints().size();
if (w != -1) { // point not found
// draw filled circle for new points
if (w == 1)
w = -1;
else if (w >= HEATMAP_RANGE)
w = HEATMAP_RANGE;
if (w != -1)
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6,
getHeatMapColor(1 - (float)w / (float)HEATMAP_RANGE), -1, 8);
circle(frameKltTracking, trackedObjects[i].getPoints()[j], 6,
trackedObjects[i].getColor(), 2, 8);
}
}
}
}
}
Scalar getHeatMapColor(float value)
{
float red, green, blue;
const int NUM_COLORS = 4;
static float color[NUM_COLORS][3] = { { 0, 0, 1 }, { 0, 1, 0 }, { 1, 1, 0
}, { 1, 0, 0 } };
// A static array of 4 colors: (blue, green, yellow, red) using {r,g,b}
for each.
int idx1; // |-- Our desired color will be between these two indexes in
"color".
int idx2; // |
float fractBetween = 0; // Fraction between "idx1" and "idx2" where our
value is.
if (value <= 0) { idx1 = idx2 = 0; } // accounts for an input <=0
else if (value >= 1) { idx1 = idx2 = NUM_COLORS - 1; } // accounts for an
input >=0
else
{
value = value * (NUM_COLORS - 1);
idx1 = (int)floor(value); // Our desired color will be after this index.
idx2 = idx1 + 1; // ... and before this index (inclusive).
fractBetween = value - float(idx1); // Distance between the two indexes
(0-1).
}
red = ((color[idx2][0] - color[idx1][0])*fractBetween + color[idx1][0]) *
255;
green = ((color[idx2][1] - color[idx1][1])*fractBetween + color[idx1][1])
* 255;
blue = ((color[idx2][2] - color[idx1][2])*fractBetween + color[idx1][2]) *
255;
return Scalar(red, green, blue);
}
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from multitarget-tracker.
Smorodov
commented on August 16, 2024
No I have no such videos.
from multitarget-tracker.
Related Issues (20)
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