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/*
*
* 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 <stdio.h>
#include <time.h>
#include <iostream>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/contrib/hybridtracker.hpp"
#ifndef _CRT_SECURE_NO_WARNINGS
# define _CRT_SECURE_NO_WARNINGS
#endif
using namespace cv;
using namespace std;
Mat frame, image;
Rect selection;
Point origin;
bool selectObject = false;
int trackObject = 0;
int live = 1;
static void drawRectangle(Mat* img, Rect win) {
rectangle(*img, Point(win.x, win.y), Point(win.x + win.width, win.y
+ win.height), Scalar(0, 255, 0), 2, CV_AA);
}
static 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;
}
}
static 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 = 0;
VideoCapture cap;
char test_file[20] = "";
if (strcmp(argv[1], "live") != 0)
{
sprintf(test_file, "%s", argv[1]);
f = fopen(test_file, "r");
char vid[20];
int values_read = fscanf(f, "%s\n", vid);
CV_Assert(values_read == 1);
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 = 0.1f;
// mean shift params
params.ms_tracker_weight = 0.8f;
params.ms_params.tracking_type = CvMeanShiftTrackerParams::HS;
// feature tracking params
params.ft_tracker_weight = 0.2f;
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];
for(;;)
{
i++;
if (live)
{
cap >> frame;
if( frame.empty() )
break;
frame.copyTo(image);
}
else
{
int values_read = fscanf(f, "%d %f %f %f %f\n", &i, &w[0], &w[1], &w[2], &w[3]);
CV_Assert(values_read == 5);
sprintf(img_file, "seqG/%04d.png", i);
image = imread(img_file, CV_LOAD_IMAGE_COLOR);
if (image.empty())
break;
selection = Rect(cvRound(w[0]*image.cols), cvRound(w[1]*image.rows),
cvRound(w[2]*image.cols), cvRound(w[3]*image.rows));
}
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(cvRound(w[0]*image.cols), cvRound(w[1]*image.rows),
cvRound(w[2]*image.cols), cvRound(w[3]*image.rows)));
imshow("Win", image);
waitKey(100);
}
else
i = 0;
}
fclose(f);
return 0;
}
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