228 lines
7.3 KiB
C++
228 lines
7.3 KiB
C++
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#include "opencv2/core/utility.hpp"
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#include "opencv2/core/ocl.hpp"
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#include "opencv2/video/tracking.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/videoio.hpp"
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#include "opencv2/highgui.hpp"
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#include <iostream>
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#include <cctype>
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static cv::UMat image;
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static bool backprojMode = false;
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static bool selectObject = false;
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static int trackObject = 0;
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static bool showHist = true;
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static cv::Rect selection;
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static int vmin = 10, vmax = 256, smin = 30;
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static void onMouse(int event, int x, int y, int, void*)
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{
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static cv::Point origin;
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if (selectObject)
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{
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selection.x = std::min(x, origin.x);
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selection.y = std::min(y, origin.y);
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selection.width = std::abs(x - origin.x);
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selection.height = std::abs(y - origin.y);
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selection &= cv::Rect(0, 0, image.cols, image.rows);
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}
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switch (event)
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{
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case cv::EVENT_LBUTTONDOWN:
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origin = cv::Point(x, y);
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selection = cv::Rect(x, y, 0, 0);
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selectObject = true;
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break;
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case cv::EVENT_LBUTTONUP:
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selectObject = false;
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if (selection.width > 0 && selection.height > 0)
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trackObject = -1;
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break;
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default:
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break;
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}
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}
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static void help()
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{
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std::cout << "\nThis is a demo that shows mean-shift based tracking using Transparent API\n"
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"You select a color objects such as your face and it tracks it.\n"
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"This reads from video camera (0 by default, or the camera number the user enters\n"
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"Usage: \n"
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" ./camshiftdemo [camera number]\n";
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std::cout << "\n\nHot keys: \n"
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"\tESC - quit the program\n"
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"\ts - stop the tracking\n"
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"\tb - switch to/from backprojection view\n"
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"\th - show/hide object histogram\n"
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"\tp - pause video\n"
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"\tc - use OpenCL or not\n"
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"To initialize tracking, select the object with mouse\n";
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}
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int main(int argc, const char ** argv)
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{
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help();
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cv::VideoCapture cap;
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cv::Rect trackWindow;
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int hsize = 16;
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float hranges[2] = { 0, 180 };
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const char * const keys = { "{@camera_number| 0 | camera number}" };
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cv::CommandLineParser parser(argc, argv, keys);
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int camNum = parser.get<int>(0);
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cap.open(camNum);
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if (!cap.isOpened())
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{
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help();
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std::cout << "***Could not initialize capturing...***\n";
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std::cout << "Current parameter's value: \n";
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parser.printMessage();
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return EXIT_FAILURE;
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}
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cv::namedWindow("Histogram", cv::WINDOW_NORMAL);
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cv::namedWindow("CamShift Demo", cv::WINDOW_NORMAL);
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cv::setMouseCallback("CamShift Demo", onMouse);
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cv::createTrackbar("Vmin", "CamShift Demo", &vmin, 256);
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cv::createTrackbar("Vmax", "CamShift Demo", &vmax, 256);
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cv::createTrackbar("Smin", "CamShift Demo", &smin, 256);
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cv::Mat frame, histimg(200, 320, CV_8UC3, cv::Scalar::all(0));
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cv::UMat hsv, hist, hue, mask, backproj;
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bool paused = false;
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for ( ; ; )
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{
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if (!paused)
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{
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cap >> frame;
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if (frame.empty())
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break;
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}
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frame.copyTo(image);
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if (!paused)
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{
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cv::cvtColor(image, hsv, cv::COLOR_BGR2HSV);
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if (trackObject)
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{
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int _vmin = vmin, _vmax = vmax;
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cv::inRange(hsv, cv::Scalar(0, smin, std::min(_vmin, _vmax)),
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cv::Scalar(180, 256, std::max(_vmin, _vmax)), mask);
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int fromTo[2] = { 0,0 };
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hue.create(hsv.size(), hsv.depth());
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cv::mixChannels(std::vector<cv::UMat>(1, hsv), std::vector<cv::UMat>(1, hue), fromTo, 1);
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if (trackObject < 0)
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{
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cv::UMat roi(hue, selection), maskroi(mask, selection);
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cv::calcHist(std::vector<cv::Mat>(1, roi.getMat(cv::ACCESS_READ)), std::vector<int>(1, 0),
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maskroi, hist, std::vector<int>(1, hsize), std::vector<float>(hranges, hranges + 2));
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cv::normalize(hist, hist, 0, 255, cv::NORM_MINMAX);
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trackWindow = selection;
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trackObject = 1;
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histimg = cv::Scalar::all(0);
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int binW = histimg.cols / hsize;
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cv::Mat buf (1, hsize, CV_8UC3);
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for (int i = 0; i < hsize; i++)
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buf.at<cv::Vec3b>(i) = cv::Vec3b(cv::saturate_cast<uchar>(i*180./hsize), 255, 255);
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cv::cvtColor(buf, buf, cv::COLOR_HSV2BGR);
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{
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cv::Mat _hist = hist.getMat(cv::ACCESS_READ);
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for (int i = 0; i < hsize; i++)
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{
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int val = cv::saturate_cast<int>(_hist.at<float>(i)*histimg.rows/255);
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cv::rectangle(histimg, cv::Point(i*binW, histimg.rows),
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cv::Point((i+1)*binW, histimg.rows - val),
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cv::Scalar(buf.at<cv::Vec3b>(i)), -1, 8);
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}
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}
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}
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cv::calcBackProject(std::vector<cv::UMat>(1, hue), std::vector<int>(1, 0), hist, backproj,
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std::vector<float>(hranges, hranges + 2), 1.0);
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cv::bitwise_and(backproj, mask, backproj);
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cv::RotatedRect trackBox = cv::CamShift(backproj, trackWindow,
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cv::TermCriteria(cv::TermCriteria::EPS | cv::TermCriteria::COUNT, 10, 1));
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if (trackWindow.area() <= 1)
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{
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int cols = backproj.cols, rows = backproj.rows, r = (std::min(cols, rows) + 5)/6;
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trackWindow = cv::Rect(trackWindow.x - r, trackWindow.y - r,
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trackWindow.x + r, trackWindow.y + r) &
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cv::Rect(0, 0, cols, rows);
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}
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if (backprojMode)
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cv::cvtColor(backproj, image, cv::COLOR_GRAY2BGR);
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{
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cv::Mat _image = image.getMat(cv::ACCESS_RW);
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cv::ellipse(_image, trackBox, cv::Scalar(0, 0, 255), 3, cv::LINE_AA);
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}
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}
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}
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else if (trackObject < 0)
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paused = false;
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if (selectObject && selection.width > 0 && selection.height > 0)
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{
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cv::UMat roi(image, selection);
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cv::bitwise_not(roi, roi);
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}
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cv::imshow("CamShift Demo", image);
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if (showHist)
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cv::imshow("Histogram", histimg);
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char c = (char)cv::waitKey(10);
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if (c == 27)
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break;
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switch(c)
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{
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case 'b':
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backprojMode = !backprojMode;
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break;
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case 't':
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trackObject = 0;
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histimg = cv::Scalar::all(0);
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break;
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case 'h':
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showHist = !showHist;
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if (!showHist)
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cv::destroyWindow("Histogram");
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else
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cv::namedWindow("Histogram", cv::WINDOW_AUTOSIZE);
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break;
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case 'p':
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paused = !paused;
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break;
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case 'c':
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cv::ocl::setUseOpenCL(!cv::ocl::useOpenCL());
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default:
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break;
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}
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}
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return EXIT_SUCCESS;
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}
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