//private methods
int ParticleTrackingAlg::generateParticleList()
{
	RNG rng;
	for(int i=0; i<particleNum; i++)
	{
		Particle p(trackObject.x + rng.gaussian(Utility::xNoise), trackObject.y + rng.gaussian(Utility::yNoise), trackObject.width, trackObject.height);
		particleList.push_back(p);
	}
	return 0;
}
Beispiel #2
0
static double avgNormalRealsN(double mean, double stddev, const int N)
{
    RNG r;
    double sum = 0.0;
    for (int i = 0 ; i < N ; ++i)
        sum += r.gaussian(mean, stddev);
    return sum / (double)N;
}
int ParticleTrackingAlg::resampleParticleList()
{
	double *cumPdf = new double[particleNum];
	std::vector<Particle> newParticleList;

	std::vector<Particle>::iterator particleIter;
	double sumWeight = 0.0;
	int index = 0;
	for(particleIter=particleList.begin(); particleIter!=particleList.end(); ++particleIter)
	{
		sumWeight += particleIter->GetParticleWeight();
		cumPdf[index] = sumWeight;
		index++;
	}

	double randNum = 0.0;
	particleIter = particleList.begin();
	RNG rng;
	for(int i=0; i<particleNum; i++)
	{
		randNum = rng.uniform(0.0, sumWeight);
		int j;
		for(j=0; j<particleNum; j++)
		{
			if(cumPdf[j] < randNum)
			{
				continue;
			}
			else
			{
				break;
			}
		}
		Particle p((particleIter+j)->GetParticleRegion(), rng.gaussian(Utility::xNoise), rng.gaussian(Utility::yNoise));
		p.SetParticleWeight((particleIter+j)->GetParticleWeight());
		newParticleList.push_back(p);
	}
	particleList = newParticleList;
	return 0;
}
Beispiel #4
0
int ParticleGroup::generateParticleList(const Particle &originParticle, int num)
{
	RNG rng;
	for(int i=0; i<num; i++)
	{
		Particle p(originParticle.xPos, originParticle.yPos, originParticle.width, originParticle.height);
		p.weight = originParticle.weight;
		p.xPos = p.xPos + rng.gaussian(xNoise);
		p.yPos = p.yPos + rng.gaussian(yNoise);
		ParticleList.push_back(p);
	}

	return 0;
}
Beispiel #5
0
void AddGaussianNoise ( const Mat& src, Mat& dest, int amp ) {
	Mat temp = src.clone();
	int rows = temp.rows;
	int cols = temp.cols;
	RNG rng;
	for ( int i = 0 ; i<rows ; i++ ) {
		uchar* row_pointer = temp.ptr(i);
		for ( int j=0 ; j<cols ; j++ ) {
			double rnd = rng.gaussian(1);
			int v = (int)row_pointer[j]+amp*rnd;
			row_pointer[j] = v;
		}
	}
	dest = temp;
}
Beispiel #6
0
int ParticleGroup::resampleParticle()
{
	int particleNum = ParticleList.size();
	double *cumPdf = new double[particleNum];
	int *newParticleIndex = new int [particleNum];
	std::vector<Particle>::iterator particleIter;
	std::vector<Particle> newParticleList;
	double sum = 0.0;
	int index = 0;
	for(particleIter = ParticleList.begin(); particleIter != ParticleList.end(); ++particleIter)
	{
		sum += particleIter->weight;
		cumPdf[index] = sum;
		index++;
	}

	double randNum = 0.0;
	particleIter = ParticleList.begin();
	RNG rng;
	for(int i=0; i<particleNum; i++)
	{
		randNum = rng.uniform(0.0, sum);
		int j;
		for(j=0; j<particleNum; j++)
		{
			if(cumPdf[j] < randNum)
			{
				continue;
			}
			else
			{
				break;
			}
		}
		newParticleIndex[i] = j;
		Particle p((particleIter+j)->xPos, (particleIter+j)->yPos, (particleIter+j)->width, (particleIter+j)->height);
		p.weight = (particleIter+j)->weight;
		p.xPos = p.xPos + rng.gaussian(xNoise);
		p.yPos = p.yPos + rng.gaussian(yNoise);
		newParticleList.push_back(p);
	}

	ParticleList = newParticleList;
	return 0;
}
int main(int ac, char** av)
{
#if ExampleNum==1
	Scalar Colors[]={Scalar(255,0,0),Scalar(0,255,0),Scalar(0,0,255),Scalar(255,255,0),Scalar(0,255,255),Scalar(255,0,255),Scalar(255,127,255),Scalar(127,0,255),Scalar(127,0,127)};
	VideoCapture capture("..\\data\\TrackingBugs.mp4");
	//VideoCapture capture("..\\..\\data\\atrium.avi");
	if(!capture.isOpened())
	{
	return 0;
	}
	namedWindow("Video");
	Mat frame;
	Mat gray;

	CTracker tracker(0.2,0.5,60.0,10,10);
	
	capture >> frame;
	cv::cvtColor(frame,gray,cv::COLOR_BGR2GRAY);
	CDetector* detector=new CDetector(gray);
	int k=0;
	vector<Point2d> centers;
	while(k!=27)
	{
		capture >> frame;
		if(frame.empty())
		{
			capture.set(CV_CAP_PROP_POS_FRAMES,0);
			continue;
		}
		cv::cvtColor(frame,gray,cv::COLOR_BGR2GRAY);

		centers=detector->Detect(gray);

		for(int i=0; i<centers.size(); i++)
		{
			circle(frame,centers[i],3,Scalar(0,255,0),1,CV_AA);
		}


		if(centers.size()>0)
		{
			tracker.Update(centers);
		
			cout << tracker.tracks.size()  << endl;

			for(int i=0;i<tracker.tracks.size();i++)
			{
				if(tracker.tracks[i]->trace.size()>1)
				{
					for(int j=0;j<tracker.tracks[i]->trace.size()-1;j++)
					{
						line(frame,tracker.tracks[i]->trace[j],tracker.tracks[i]->trace[j+1],Colors[tracker.tracks[i]->track_id%9],2,CV_AA);
					}
				}
			}
		}

		imshow("Video",frame);

		k=waitKey(20);
	}
	delete detector;
	destroyAllWindows();
	return 0;
#else

	int k=0;
	Scalar Colors[]={Scalar(255,0,0),Scalar(0,255,0),Scalar(0,0,255),Scalar(255,255,0),Scalar(0,255,255),Scalar(255,255,255)};
	cv::namedWindow("Video");
	Mat frame=Mat(800,800,CV_8UC3);

	VideoWriter vw=VideoWriter::VideoWriter("output.mpeg", CV_FOURCC('P','I','M','1'), 20, frame.size());

	// Set mouse callback
	cv::setMouseCallback("Video",mv_MouseCallback,0);

	CTracker tracker(0.2,0.5,60.0,25,25);
	float alpha=0;
	while(k!=27)
	{
		frame=Scalar::all(0);
		
		// Noise addition (measurements/detections simulation )
		Xmeasured=X+rng.gaussian(2.0);
		Ymeasured=Y+rng.gaussian(2.0);

		// Append circulating around mouse points (frequently intersecting)
		vector<Point2d> pts;
		pts.push_back(Point2d(Xmeasured+100.0*sin(-alpha),Ymeasured+100.0*cos(-alpha)));
		pts.push_back(Point2d(Xmeasured+100.0*sin(alpha),Ymeasured+100.0*cos(alpha)));
		pts.push_back(Point2d(Xmeasured+100.0*sin(alpha/2.0),Ymeasured+100.0*cos(alpha/2.0)));
		pts.push_back(Point2d(Xmeasured+100.0*sin(alpha/3.0),Ymeasured+100.0*cos(alpha/1.0)));
		alpha+=0.05;


	for(int i=0; i<pts.size(); i++)
	{
	circle(frame,pts[i],3,Scalar(0,255,0),1,CV_AA);
	}

		tracker.Update(pts);
		
		std::cout << tracker.tracks.size()  << endl;

		for(int i=0;i<tracker.tracks.size();i++)
		{
			if(tracker.tracks[i]->trace.size()>1)
			{
				for(int j=0;j<tracker.tracks[i]->trace.size()-1;j++)
				{
					line(frame,tracker.tracks[i]->trace[j],tracker.tracks[i]->trace[j+1],Colors[i%6],2,CV_AA);
				}
			}
		}

		imshow("Video",frame);
		vw << frame;

		k=waitKey(10);
	}

	vw.release();
	cv::destroyAllWindows();
	return 0;

#endif
}