89 lines
2.6 KiB
Python
Executable File
89 lines
2.6 KiB
Python
Executable File
'''
|
|
Feature homography
|
|
==================
|
|
|
|
Example of using features2d framework for interactive video homography matching.
|
|
ORB features and FLANN matcher are used. The actual tracking is implemented by
|
|
PlaneTracker class in plane_tracker.py
|
|
|
|
Inspired by http://www.youtube.com/watch?v=-ZNYoL8rzPY
|
|
|
|
video: http://www.youtube.com/watch?v=FirtmYcC0Vc
|
|
|
|
Usage
|
|
-----
|
|
feature_homography.py [<video source>]
|
|
|
|
Keys:
|
|
SPACE - pause video
|
|
|
|
Select a textured planar object to track by drawing a box with a mouse.
|
|
'''
|
|
|
|
import numpy as np
|
|
import cv2
|
|
import video
|
|
import common
|
|
from common import getsize, draw_keypoints
|
|
from plane_tracker import PlaneTracker
|
|
|
|
|
|
class App:
|
|
def __init__(self, src):
|
|
self.cap = video.create_capture(src)
|
|
self.frame = None
|
|
self.paused = False
|
|
self.tracker = PlaneTracker()
|
|
|
|
cv2.namedWindow('plane')
|
|
self.rect_sel = common.RectSelector('plane', self.on_rect)
|
|
|
|
def on_rect(self, rect):
|
|
self.tracker.clear()
|
|
self.tracker.add_target(self.frame, rect)
|
|
|
|
def run(self):
|
|
while True:
|
|
playing = not self.paused and not self.rect_sel.dragging
|
|
if playing or self.frame is None:
|
|
ret, frame = self.cap.read()
|
|
if not ret:
|
|
break
|
|
self.frame = frame.copy()
|
|
|
|
w, h = getsize(self.frame)
|
|
vis = np.zeros((h, w*2, 3), np.uint8)
|
|
vis[:h,:w] = self.frame
|
|
if len(self.tracker.targets) > 0:
|
|
target = self.tracker.targets[0]
|
|
vis[:,w:] = target.image
|
|
draw_keypoints(vis[:,w:], target.keypoints)
|
|
x0, y0, x1, y1 = target.rect
|
|
cv2.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
|
|
|
|
if playing:
|
|
tracked = self.tracker.track(self.frame)
|
|
if len(tracked) > 0:
|
|
tracked = tracked[0]
|
|
cv2.polylines(vis, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
|
|
for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
|
|
cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
|
|
draw_keypoints(vis, self.tracker.frame_points)
|
|
|
|
self.rect_sel.draw(vis)
|
|
cv2.imshow('plane', vis)
|
|
ch = cv2.waitKey(1)
|
|
if ch == ord(' '):
|
|
self.paused = not self.paused
|
|
if ch == 27:
|
|
break
|
|
|
|
|
|
if __name__ == '__main__':
|
|
print __doc__
|
|
|
|
import sys
|
|
try: video_src = sys.argv[1]
|
|
except: video_src = 0
|
|
App(video_src).run()
|