added hybrid (feature-based & meanshift-based) tracker (by Pushkar)

2011-08-26 12:22:19 +00:00
parent f69aa40310
commit ae83fe7645
7 changed files with 1008 additions and 0 deletions
--- a/samples/cpp/hybridtrackingsample.cpp
+++ b/samples/cpp/hybridtrackingsample.cpp
@@ -0,0 +1,178 @@
+/*
+ *
+ * Hybrid Tracking in OpenCV
+ * Usage: ./hybridtrackingsample live
+ *
+ * For Benchmarking against the Bonn benchmark dataset
+ * wget http://www.iai.uni-bonn.de/~kleind/tracking/datasets/seqG.zip
+ * unzip seqG.zip -d ./seqG
+ * ffmpeg -i seqG/Vid_G_rubikscube.avi seqG/%04d.png
+ * ./hytrack seqG/Vid_G_rubikscube.txt
+ *
+ */
+
+#include <cv.h>
+#include <ml.h>
+#include <cvaux.h>
+#include <highgui.h>
+#include <stdio.h>
+#include <time.h>
+#include <iostream>
+
+#include "opencv2/contrib/hybridtracker.hpp"
+
+using namespace cv;
+using namespace std;
+
+Mat frame, image;
+Rect selection;
+Point origin;
+bool selectObject = false;
+int trackObject = 0;
+int live = 1;
+
+void drawRectangle(Mat* image, Rect win) {
+	rectangle(*image, Point(win.x, win.y), Point(win.x + win.width, win.y
+			+ win.height), Scalar(0, 255, 0), 2, CV_AA);
+}
+
+void onMouse(int event, int x, int y, int, void*) {
+	if (selectObject) {
+		selection.x = MIN(x, origin.x);
+		selection.y = MIN(y, origin.y);
+		selection.width = std::abs(x - origin.x);
+		selection.height = std::abs(y - origin.y);
+		selection &= Rect(0, 0, image.cols, image.rows);
+	}
+
+	switch (event) {
+	case CV_EVENT_LBUTTONDOWN:
+		origin = Point(x, y);
+		selection = Rect(x, y, 0, 0);
+		selectObject = true;
+		break;
+	case CV_EVENT_LBUTTONUP:
+		selectObject = false;
+		trackObject = -1;
+		break;
+	}
+}
+
+void help()
+{
+	printf("Usage: ./hytrack live or ./hytrack <test_file> \n\
+For Live View or Benchmarking. Read documentation is source code.\n\n");
+}
+
+
+int main(int argc, char** argv)
+{
+	if(argc != 2) {
+		help();
+		return 1;
+	}
+
+	FILE* f;
+	VideoCapture cap;
+	char test_file[20] = "";
+	char dir[20] = "";
+
+	if (strcmp(argv[1], "live") != 0)
+	{
+		sprintf(test_file, "%s", argv[1]);
+		f = fopen(test_file, "r");
+		char vid[20];
+		fscanf(f, "%s\n", vid);
+		cout << "Benchmarking against " << vid << endl;
+		live = 0;
+	}
+	else
+	{
+		cap.open(0);
+		if (!cap.isOpened())
+		{
+			cout << "Failed to open camera" << endl;
+			return 0;
+		}
+		cout << "Opened camera" << endl;
+        cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);
+        cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
+		cap >> frame;
+	}
+    
+	HybridTrackerParams params;
+	// motion model params
+	params.motion_model = CvMotionModel::LOW_PASS_FILTER;
+	params.low_pass_gain = 0.1;
+	// mean shift params
+	params.ms_tracker_weight = 0.8;
+	params.ms_params.tracking_type = CvMeanShiftTrackerParams::HS;
+	// feature tracking params
+	params.ft_tracker_weight = 0.2;
+	params.ft_params.feature_type = CvFeatureTrackerParams::OPTICAL_FLOW;
+	params.ft_params.window_size = 0;
+
+	HybridTracker tracker(params);
+	char img_file[20] = "seqG/0001.png";
+	char img_file_num[10];
+	namedWindow("Win", 1);
+
+	setMouseCallback("Win", onMouse, 0);
+
+	int i = 0;
+	float w[4];
+	while(1)
+	{
+		i++;
+		if (live)
+		{
+			cap >> frame;
+			frame.copyTo(image);
+		}
+		else
+		{
+			fscanf(f, "%d %f %f %f %f\n", &i, &w[0], &w[1], &w[2], &w[3]);
+			sprintf(img_file, "seqG/%04d.png", i);
+			image = imread(img_file, CV_LOAD_IMAGE_COLOR);
+			selection = Rect(w[0]*image.cols, w[1]*image.rows, w[2]*image.cols, w[3]*image.rows);
+		}
+
+		if (image.data == NULL)
+			continue;
+
+		sprintf(img_file_num, "Frame: %d", i);
+		putText(image, img_file_num, Point(10, image.rows-20), FONT_HERSHEY_PLAIN, 0.75, Scalar(255, 255, 255));
+		if (!image.empty())
+		{
+
+			if (trackObject < 0)
+			{
+				tracker.newTracker(image, selection);
+				trackObject = 1;
+			}
+
+			if (trackObject)
+			{
+				tracker.updateTracker(image);
+				drawRectangle(&image, tracker.getTrackingWindow());
+			}
+
+			if (selectObject && selection.width > 0 && selection.height > 0)
+			{
+				Mat roi(image, selection);
+				bitwise_not(roi, roi);
+			}
+
+			drawRectangle(&image, Rect(w[0]*image.cols, w[1]*image.rows, w[2]*image.cols, w[3]*image.rows));
+			imshow("Win", image);
+
+			waitKey(100);
+		}
+		else
+			i = 0;
+	}
+
+	fclose(f);
+	return 0;
+
+}