int track(string videopath){
cout<<"start track "<<videopath<<endl;
QString outpath=QString::fromStdString(videopath);
int dotpos=outpath.indexOf('.');
int strlen=outpath.length();
outpath=outpath.replace(dotpos,strlen-dotpos,".infrared.track");
cout<<"outpath is "<<outpath.toStdString()<<endl;
ofstream out(outpath.toStdString());
VideoCapture cap(videopath);
if(!cap.isOpened()) // check if we succeeded
return -1;
Mat roi,fg,gray,bin;
namedWindow("video input",CV_WINDOW_NORMAL);
namedWindow("foreground mask",CV_WINDOW_NORMAL);
int frameNum=0;
BackgroundSubtractorSuBSENSE bgs;
vector<vector<Point> > contours;
vector<Vec4i> hierarchy;
RNG rng(12345);
for(;;frameNum++)
{
Mat frame;
cap >> frame; // get a new frame from camera
if(frame.empty()){
break;
}
resize(frame,frame,Size(0,0),1.0/sqrt(speedUp),1.0/sqrt(speedUp));
//init
if(frameNum==0){
fg.create(frame.size(),CV_8UC1);
roi.create(frame.size(),CV_8UC1);
roi.setTo(255);
bgs.initialize(frame,roi);
bin.create(frame.size(),CV_8UC1);
cvtColor(frame,gray,CV_BGR2GRAY);
threshold(gray,bin,thresh,255,THRESH_BINARY);
}//detect
else{
// bgs(frame,fg,double(frameNum<=100));
cvtColor(frame,gray,CV_BGR2GRAY);
threshold(gray,bin,thresh,255,THRESH_BINARY);
cout<<"thresh="<<thresh<<endl;
// fg=fg|bin;
fg=bin;
// vector<vector<Point> > contours0;
Mat img=fg.clone();
Mat kernel=cv::getStructuringElement(cv::MORPH_ELLIPSE,cv::Size(minObjectSize,minObjectSize));
cv::morphologyEx(img,img,MORPH_OPEN,kernel);
contours.clear();
findContours( img, contours, hierarchy, CV_RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
// contours.resize(contours0.size());
// for( size_t k = 0; k < contours0.size(); k++ )
// approxPolyDP(Mat(contours0[k]), contours[k], 3, true);
/// Get the moments
vector<Moments> mu(contours.size() );
for( int i = 0; i < contours.size(); i++ )
{ mu[i] = moments( contours[i], false ); }
/// Get the mass centers:
vector<Point2f> mc( contours.size() );
Measurements m;
for( int i = 0; i < contours.size(); i++ )
{
mc[i] = Point2f( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 );
// mc[i][0]=mc[i][0]/img.rows;
// mc[i][1]=mc[i][1]/img.cols;
m.emplace_back(Measurement(mc[i].x,mc[i].y));
}
/// Draw contours
Mat drawing = frame;
for( int i = 0; i< contours.size(); i++ )
{
Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() );
circle( drawing, mc[i], 4, color, -1, 8, 0 );
}
for ( const auto & x : m )
{
const int r = 5;
// draw measurement
circle(drawing, Point(x(0), x(1)), 2*r, Scalar(0, 0, 0));
line(drawing, Point(x(0) - r, x(1) - r), Point(x(0) + r, x(1) + r), Scalar(0, 0, 0) );
line(drawing, Point(x(0) - r, x(1) + r), Point(x(0) + r, x(1) - r), Scalar(0, 0, 0) );
}
tracker.track(m);
tracklist.update(tracker,out,frameNum);
for ( const auto & filter : tracker.filters() )
{
const GNNTracker::StateSpaceVector s = filter.state();
const GNNTracker::StateSpaceVector p = filter.prediction();
// draw filter position
circle(drawing, Point(s(0), s(1)), 5, Scalar(0, 0, 255));
// draw filter prediction
circle(drawing, Point(p(0), p(1)), 5, Scalar(255, 0, 0));
// draw filter velocity (scaled)
line(drawing, Point(s(0), s(1)), Point(s(0) + 5 * s(2), s(1) + 5 * s(3)), Scalar(0, 255, 0));
stringstream id;
id << filter.id();
putText(drawing, id.str(), cv::Point2i(s(0) + 10, s(1)), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 0, 255));
}
imshow("video input", drawing);
imshow("foreground mask",fg);
imshow("bin",bin);
}
if(frameNum<=100){
cout<<"init "<<videopath<<" frameNum="<<frameNum<<endl;
}
else{
cout<<"track "<<outpath.toStdString()<<" frameNum="<<frameNum<<endl;
}
if(waitKey(30) >= 0) break;
}
out.close();
return 0;
}
int main(int argc, const char** argv) {
if(argc<2)
return 1;
const char* file = argv[1];
//char file[] = "F:\\video\\CDnet2014\\badWeather\\badWeather\\skating\\input\\*.jpg";
vector<string> vec = FindAllFile(file,true);
vector<string>::iterator iter = vec.begin();
string strPicNameOutput = file;
vector<string> strPicNameInputSplit;
split(strPicNameOutput,string("\\"),&strPicNameInputSplit);
strPicNameInputSplit.erase(strPicNameInputSplit.end() - 1);
strPicNameInputSplit.erase(strPicNameInputSplit.end() - 1);
strPicNameInputSplit[strPicNameInputSplit.size() - 2] = "results";
strPicNameOutput="";
for (vector<string>::const_iterator iter = strPicNameInputSplit.begin();
iter != strPicNameInputSplit.end(); iter++){
strPicNameOutput += *iter;
strPicNameOutput += "\\";
}
cout<<strPicNameOutput<<endl;
int num = 1;
char picName[64] = {0};
strPicNameOutput = strPicNameOutput.append("bin%06d.png");
IplImage* frame = cvLoadImage((*iter).c_str(),0);
if(frame == NULL)
return 1;
//********************************************************************
help();
cv::Mat oCurrSegmMask, oCurrReconstrBGImg,oCurrResizeInputFrame;
oCurrSegmMask.create(cvGetSize(frame),CV_8UC1);
oCurrReconstrBGImg.create(cvGetSize(frame),CV_8UC1);
cv::Mat oSequenceROI(cvGetSize(frame),CV_8UC1,cv::Scalar_<uchar>(255)); // for optimal results, pass a constrained ROI to the algorithm (ex: for CDnet, use ROI.bmp)
BackgroundSubtractorSuBSENSE oBGSAlg;
cv::Mat oCurrInputFrame(frame);
oBGSAlg.initialize(oCurrInputFrame,oSequenceROI);
IplImage* writeImageFg,*writeImageBg;
//********************************************************************
while(iter != vec.end()){
sprintf(picName,strPicNameOutput.c_str(),num);
cout<<num<<" "<<*iter<<endl;
num++;
frame = cvLoadImage((*iter++).c_str(),0);
if(frame == NULL)
break;
//********************************************************************
oCurrInputFrame = cv::Mat(frame);
oBGSAlg(oCurrInputFrame,oCurrSegmMask,100.0/*,double(k<=100)*/); // lower rate in the early frames helps bootstrap the model when foreground is present
oBGSAlg.getBackgroundImage(oCurrReconstrBGImg);
/*imshow("input",oCurrInputFrame);
imshow("segmentation mask",oCurrSegmMask);
imshow("reconstructed background",oCurrReconstrBGImg);*/
writeImageFg = &oCurrSegmMask.operator IplImage();
//********************************************************************
cvSaveImage(picName,writeImageFg);
if(frame)
cvReleaseImage(&frame);
cvWaitKey(1);
}
if(frame)
cvReleaseImage(&frame);
return 0;
}
int main(int argc, char *argv[])
{
if (argc < 5)
{
cout << currentDateTime() << "Usage: GTTagging.exe video_path flag_roi(1=true, 0=false) flag_load(1=true, 0=false) flag_saveROI(1=true, 0=false)\n";
return 1;
}
/*serialize_video();*/
string outFilename = "output_video.xml";
serializeVideo(outFilename);
removeTrailingSpace(outFilename);
path video_path (argv[1]);
string video_name = video_path.filename().replace_extension("").string();
cout << "video_path filename: " << video_name << endl;
string base_name = video_path.filename().replace_extension("").string();
cout << "base_name: " << base_name << endl;
string base_path = video_path.remove_filename().string();
cout << "base_path: " << base_path << endl;
ostringstream codebook_paramters_path;
codebook_paramters_path << base_path << "\\" << base_name << "_cparameters.dat";
cout << "cparameters filename: " << codebook_paramters_path.str() << endl;
ostringstream xml_path;
xml_path << base_path << "\\" << base_name << ".xml";
cout << "xml filename: " << xml_path.str() << endl;
path gt_xml_path (xml_path.str());
try {
XMLPlatformUtils::Initialize();
XQillaPlatformUtils::initialize();
} catch (const XMLException& eXerces) {
cerr << "Error during Xerces-C initialisation.\n"
<< "Xerces exception message: "
<< UTF8(eXerces.getMessage()) << endl;
return 1;
}
try
{
if (!exists(gt_xml_path))
{
cout << currentDateTime() << "File: " << gt_xml_path << " doesn't exist!" << endl;
return 1;
}
if (!exists(video_path))
{
cout << currentDateTime() << "File: " << video_path << " doesn't exist!" << endl;
return 1;
}
cout << currentDateTime() << "Processing " << video_path << " ..." << endl;
DOMImplementation* xqillaImplementation = DOMImplementationRegistry::getDOMImplementation(X("XPath2 3.0"));
DOMLSParser* xmlParser = xqillaImplementation->createLSParser(DOMImplementationLS::MODE_SYNCHRONOUS, 0);
DOMConfiguration* dc_parser = xmlParser->getDomConfig();
dc_parser->setParameter(XMLUni::fgDOMNamespaces, true);
dc_parser->setParameter(XMLUni::fgXercesSchema, true);
dc_parser->setParameter(XMLUni::fgDOMValidate, true);
DOMDocument* document = xmlParser->parseURI(xml_path.str().c_str());
if(document == 0) {
cerr << "Document not found: " << xml_path.str().c_str() << endl;
return 1;
}
const DOMXPathNSResolver* resolver = document->createNSResolver(document->getDocumentElement());
XQillaNSResolver* xqillaResolver = (XQillaNSResolver*)resolver;
xqillaResolver->addNamespaceBinding(X("xs"), X("http://www.w3.org/2001/XMLSchema"));
xqillaResolver->addNamespaceBinding(X("fn"), X("http://www.w3.org/2005/xpath-functions"));
// Initialize Subsense
cv::VideoCapture oVideoInput;
cv::Mat oCurrInputFrame, oCurrSegmMask, oCurrReconstrBGImg;
oVideoInput.open(argv[1]);
oVideoInput >> oCurrInputFrame;
oVideoInput.set(CV_CAP_PROP_POS_FRAMES,0);
// create BGS Subsense object
BackgroundSubtractorSuBSENSE oBGSAlg;
// copy loadvars flag
if (strcmp(argv[3], "1") == 0) {
oBGSAlg.loadvars = true;
cout << currentDateTime() << "Pre-loading codebook ..." << endl;
} else {
oBGSAlg.loadvars = false;
cout << currentDateTime() << "Building codebook ..." << endl;
}
// check if open
if(!oVideoInput.isOpened() || oCurrInputFrame.empty()) {
printf("Could not open video file at '%s'.\n", argv[1]);
cv::waitKey();
return -1;
}
// Initialize Subsense variables
oCurrSegmMask.create(oCurrInputFrame.size(),CV_8UC1);
oCurrReconstrBGImg.create(oCurrInputFrame.size(),oCurrInputFrame.type());
// Depending on flag_roi load ROI or not
cv::Mat R;
if (strcmp(argv[2], "1") == 0) {
R = cv::imread("ROI.png",CV_8UC1);
} else {
R = cv::Mat(oCurrInputFrame.size(),CV_8UC1,cv::Scalar_<uchar>(255));
}
oBGSAlg.saveCodebookParametersPath(codebook_paramters_path.str());
oBGSAlg.initialize(oCurrInputFrame, R);
// create visualization windows
/*cv::namedWindow("input",cv::WINDOW_AUTOSIZE);
cv::namedWindow("segmentation mask",cv::WINDOW_AUTOSIZE);*/
int xml_roi_counter = 0;
int bgs_roi_counter = 0;
int frame_counter = 0;
//loop through video frames
while(1) {
try {
std::cout << "frame counter = " << frame_counter << std::endl;
oVideoInput >> oCurrInputFrame;
if(oCurrInputFrame.empty())
break;
//Process
oBGSAlg(oCurrInputFrame,oCurrSegmMask);
//oBGSAlg.getBackgroundImage(oCurrReconstrBGImg);
std::vector<F_state_struct> F_states;
// TODO Add function to static lib.
getRegions(oCurrSegmMask, F_states, pminArea);
std::ostringstream object_xpath_expression;
object_xpath_expression << "//object[../@id=\""<< frame_counter++ << "\"]";
cout << currentDateTime() << "object_xpath_expression: " << object_xpath_expression.str() << endl;
const DOMXPathExpression* parsedExpression = document->createExpression(X(object_xpath_expression.str().c_str()), resolver);
DOMXPathResult* iteratorResult = (DOMXPathResult*)parsedExpression->evaluate(document->getDocumentElement(), DOMXPathResult::ITERATOR_RESULT_TYPE, 0);
/*ostringstream xml_rois_path;
xml_rois_path << base_path << "\\" << base_name << "_xml_rois";
cout << "xml_rois_path filename: " << xml_rois_path.str() << endl;
path xml_rois_dir (xml_rois_path.str());
if(!exists(xml_rois_dir)) {
if (create_directories(xml_rois_dir)) {
cout << currentDateTime() << "xml_rois_dir created!" << endl;
} else {
cout << currentDateTime() << "Cannot create xml_rois_dir!" << endl;
return 1;
}
}*/
ostringstream bgs_rois_path;
bgs_rois_path << base_path << "\\" << base_name << "_bgs_rois";
cout << "bgs_rois_path filename: " << bgs_rois_path.str() << endl;
path bgs_rois_dir (bgs_rois_path.str());
if(!exists(bgs_rois_dir)) {
if (create_directories(bgs_rois_dir)) {
cout << currentDateTime() << "bgs_rois_dir created!" << endl;
} else {
cout << currentDateTime() << "Cannot create bgs_rois_dir!" << endl;
return 1;
}
}
int i = 0;
while(iteratorResult->iterateNext()) {
if(iteratorResult->isNode()) {
DOMNode* n (iteratorResult->getNodeValue ());
char * localName = XMLString::transcode(n->getLocalName());
//cout << currentDateTime() << "Localname: " << localName << endl;
DOMElement* resultElement = dynamic_cast<DOMElement*>(n);
if(strcmp( localName, "object") == 0) {
object* o = new object (*resultElement);
int w = o->w().get();
int h = o->h().get();
int x = o->x().get();
int y = o->y().get();
cout << currentDateTime() << "fish_species: " << o->fish_species().get() << endl;
cout << currentDateTime() << "h: " << h << endl;
cout << currentDateTime() << "w: " << w << endl;
cout << currentDateTime() << "x: " << x << endl;
cout << currentDateTime() << "y: " << y << endl;
try
{
ostringstream fish_specie_path;
fish_specie_path << base_path << "\\" << o->fish_species().get();
cout << "fish_specie_path filename: " << fish_specie_path.str() << endl;
path fish_specie_dir (fish_specie_path.str());
if(!exists(fish_specie_dir)) {
if (create_directories(fish_specie_dir)) {
cout << currentDateTime() << "bgs_rois_dir created!" << endl;
} else {
cout << currentDateTime() << "Cannot create fish_specie_dir!" << endl;
return 1;
}
}
std::cout << "XML ROI: " << x << " , " << y << " , " << x+w << " , " << y+h << std::endl;
Rect xml_roi_rectangle = Rect(Point(x, y), Point(x+w, y+h));
Mat xmlROI, xmlROI_bg;
Mat xmlROIMask = oCurrSegmMask(xml_roi_rectangle);
xml_roi_counter++;
oCurrInputFrame(xml_roi_rectangle).copyTo(xmlROI_bg);
sprintf(printf_buffer, "%s\\%s_roi%04d_bg.png", fish_specie_path.str().c_str(), base_name, xml_roi_counter);
cout << currentDateTime() << "Saving to: " << printf_buffer << endl;
imwrite(printf_buffer, xmlROI_bg);
cout << currentDateTime() << "Saved..." << endl;
oCurrInputFrame(xml_roi_rectangle).copyTo(xmlROI, xmlROIMask);
sprintf(printf_buffer, "%s\\%s_roi%04d.png\0", fish_specie_path.str().c_str(), base_name, xml_roi_counter);
cout << currentDateTime() << "Saving to: " << printf_buffer << endl;
imwrite(printf_buffer, xmlROI);
cout << currentDateTime() << "Saved..." << endl;
//rectangle( oCurrInputFrame, Point(x, y), Point(x+w, y+h), Scalar( 255, 9, 0 ), +3, 4 );
}
catch (exception& e)
{
cout << "Error: " << e.what() << '\n';
}
}
}
}
for(int i=0; i<F_states.size(); i++) {
std::cout << "BGS ROI: " << F_states.at(i).min_x << " , " << F_states.at(i).min_y << " , " << F_states.at(i).max_x << " , " << F_states.at(i).max_y << std::endl;
Rect bgs_roi_rectangle = Rect(Point(F_states.at(i).min_x, F_states.at(i).min_y), Point(F_states.at(i).max_x, F_states.at(i).max_y));
Mat bgsROI, bgsROI_bg;
Mat bgsROIMask = oCurrSegmMask(bgs_roi_rectangle);
bgs_roi_counter++;
oCurrInputFrame(bgs_roi_rectangle).copyTo(bgsROI_bg);
sprintf(printf_buffer, "%s\\roi%04d_bg.png", bgs_rois_path.str().c_str(), bgs_roi_counter);
cout << currentDateTime() << "Saving to: " << printf_buffer << endl;
imwrite(printf_buffer, bgsROI_bg);
cout << currentDateTime() << "Saved..." << endl;
oCurrInputFrame(bgs_roi_rectangle).copyTo(bgsROI, bgsROIMask);
sprintf(printf_buffer, "%s\\roi%04d.png\0", bgs_rois_path.str().c_str(), bgs_roi_counter);
cout << currentDateTime() << "Saving to: " << printf_buffer << endl;
imwrite(printf_buffer, bgsROI);
cout << currentDateTime() << "Saved..." << endl;
//rectangle( oCurrInputFrame, Point(F_states.at(i).min_x, F_states.at(i).min_y), Point(F_states.at(i).max_x, F_states.at(i).max_y), Scalar( 0, 55, 255 ), +3, 4 );
}
//Background Subtraction Visualization
/*imshow("input",oCurrInputFrame);
imshow("segmentation mask",oCurrSegmMask);*/
//imshow("reconstructed background",oCurrReconstrBGImg);
/*if(cv::waitKey(1)==27)
break;*/
//Save subsense codebooks and parameters
if (strcmp(argv[4], "1") == 0) {
oBGSAlg.saveVariables();
}
} catch(DOMXPathException &e) {
cerr << "DOMXPathException: " << UTF8(e.msg) << endl;
return 1;
} catch(DOMException &e) {
cerr << "DOMException: " << UTF8(e.getMessage()) << endl;
return 1;
}
}
} catch (const filesystem_error& ex) {
cout << currentDateTime() << ex.what() << '\n';
}
XQillaPlatformUtils::terminate();
XMLPlatformUtils::Terminate();
return 0;
}
