#include <opencv2/features2d.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/opencv.hpp>
+#include <opencv2/tracking.hpp> //for ROI
+#include <opencv2/highgui.hpp> //for imshow
#include <vector>
#include <iostream>
#include <iomanip>
const int bb_min_inliers = 100; // Minimal number of inliers to draw bounding box
const int stats_update_period = 10; // On-screen statistics are updated every 10 frames
+namespace example {
class Tracker
{
public:
void Tracker::setFirstFrame(const Mat frame, vector<Point2f> bb, string title, Stats& stats)
{
+ cv::Point *ptMask = new cv::Point[bb.size()];
+ const Point* ptContain = { &ptMask[0] };
+ int iSize = static_cast<int>(bb.size());
+ for (size_t i=0; i<bb.size(); i++) {
+ ptMask[i].x = bb[i].x;
+ ptMask[i].y = bb[i].y;
+ }
first_frame = frame.clone();
- detector->detectAndCompute(first_frame, noArray(), first_kp, first_desc);
+ cv::Mat matMask = cv::Mat::zeros(frame.size(), CV_8UC1);
+ cv::fillPoly(matMask, &ptContain, &iSize, 1, cv::Scalar::all(255));
+ detector->detectAndCompute(first_frame, matMask, first_kp, first_desc);
stats.keypoints = (int)first_kp.size();
drawBoundingBox(first_frame, bb);
putText(first_frame, title, Point(0, 60), FONT_HERSHEY_PLAIN, 5, Scalar::all(0), 4);
object_bb = bb;
+ delete ptMask;
}
Mat Tracker::process(const Mat frame, Stats& stats)
Scalar(255, 0, 0), Scalar(255, 0, 0));
return res;
}
+}
int main(int argc, char **argv)
{
- if(argc < 4) {
+ if(argc < 3) {
cerr << "Usage: " << endl <<
- "akaze_track input_path output_path bounding_box" << endl;
+ "akaze_track input_path output_path [bounding_box_path]" << endl
+ " (for camera input_path=N for camera N)" << endl;
return 1;
}
- VideoCapture video_in(argv[1]);
- VideoWriter video_out(argv[2],
- (int)video_in.get(CAP_PROP_FOURCC),
+
+ std::string video_name = argv[1];
+ std::stringstream ssFormat;
+ ssFormat << atoi(argv[1]);
+ VideoCapture video_in;
+ int iFourCC = 0, frame_count = 0;
+ if (video_name.compare(ssFormat.str())==0) { //test str==str(num)
+ video_in.open(atoi(argv[1]));
+ cerr << "Capturing for 10 seconds from camera..." << endl;
+ iFourCC = CV_FOURCC('D', 'I', 'V', 'X'); //default to mp4 (sample)
+ frame_count = 10*static_cast<int>(video_in.get(CAP_PROP_FPS));
+ }
+ else {
+ video_in.open(video_name);
+ iFourCC = static_cast<int>(video_in.get(CAP_PROP_FOURCC));
+ frame_count = static_cast<int>(video_in.get(CAP_PROP_FRAME_COUNT));
+ }
+
+ VideoWriter video_out(argv[2], iFourCC,
(int)video_in.get(CAP_PROP_FPS),
Size(2 * (int)video_in.get(CAP_PROP_FRAME_WIDTH),
2 * (int)video_in.get(CAP_PROP_FRAME_HEIGHT)));
return 1;
}
- vector<Point2f> bb;
- FileStorage fs(argv[3], FileStorage::READ);
- if(fs["bounding_box"].empty()) {
- cerr << "Couldn't read bounding_box from " << argv[3] << endl;
- return 1;
- }
- fs["bounding_box"] >> bb;
-
Stats stats, akaze_stats, orb_stats;
Ptr<AKAZE> akaze = AKAZE::create();
akaze->setThreshold(akaze_thresh);
Ptr<ORB> orb = ORB::create();
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");
- Tracker akaze_tracker(akaze, matcher);
- Tracker orb_tracker(orb, matcher);
+ example::Tracker akaze_tracker(akaze, matcher);
+ example::Tracker orb_tracker(orb, matcher);
Mat frame;
video_in >> frame;
+ vector<Point2f> bb;
+ if (argc < 4) { //attempt to alow GUI selection
+ cv::Rect2d uBox = selectROI(video_name, frame);
+ bb.push_back(cv::Point2f(uBox.x, uBox.y));
+ bb.push_back(cv::Point2f(uBox.x+uBox.width, uBox.y));
+ bb.push_back(cv::Point2f(uBox.x+uBox.width, uBox.y+uBox.height));
+ bb.push_back(cv::Point2f(uBox.x, uBox.y+uBox.height));
+ }
+ else {
+ FileStorage fs(argv[3], FileStorage::READ);
+ if(fs["bounding_box"].empty()) {
+ cerr << "Couldn't read bounding_box from " << argv[3] << endl;
+ return 1;
+ }
+ fs["bounding_box"] >> bb;
+ }
akaze_tracker.setFirstFrame(frame, bb, "AKAZE", stats);
orb_tracker.setFirstFrame(frame, bb, "ORB", stats);
Stats akaze_draw_stats, orb_draw_stats;
- int frame_count = (int)video_in.get(CAP_PROP_FRAME_COUNT);
Mat akaze_res, orb_res, res_frame;
- for(int i = 1; i < frame_count; i++) {
+ int i = 1;
+ for(i = 1; i < frame_count; i++) {
bool update_stats = (i % stats_update_period == 0);
video_in >> frame;
+ // stop the program if no more images
+ if(frame.rows==0 || frame.cols==0) break;
akaze_res = akaze_tracker.process(frame, stats);
akaze_stats += stats;
drawStatistics(orb_res, orb_draw_stats);
vconcat(akaze_res, orb_res, res_frame);
video_out << res_frame;
+ cv::imshow(video_name, res_frame);
+ if (i==1) //resize for easier display
+ cv::resizeWindow(video_name, frame.cols, frame.rows);
+ if(cv::waitKey(1)==27)break; //quit on ESC button
cout << i << "/" << frame_count - 1 << endl;
}
- akaze_stats /= frame_count - 1;
- orb_stats /= frame_count - 1;
+ akaze_stats /= i - 1;
+ orb_stats /= i - 1;
printStatistics("AKAZE", akaze_stats);
printStatistics("ORB", orb_stats);
return 0;