int main(int argc, char * argv[])
{
char imgFilePath[100];
char conf[100];
strcpy(conf,"./config.txt");
char tmpDirPath[MAX_PATH+1];
// CT framework
CompressiveTracker ct;
Mat frame;
Mat grayImg;
Rect box; // [x y width height] tracking position
//Check if --challenge was passed as an argument
bool challengeMode = false;
for (int i = 1; i < argc; i++) {
if (strcmp("--challenge", argv[i]) == 0) {
challengeMode = true;
}
}
if (challengeMode) {
//load region, images and prepare for output
VOT vot("region.txt", "images.txt", "output.txt");
Rect box = vot.getInitRectangle();
//output init also bbox
vot.outputBoundingBox(box);
vot.getNextImage(frame);
cvtColor(frame, grayImg, CV_RGB2GRAY);
ct.init(grayImg, box);
while (vot.getNextImage(frame) == 1){
cvtColor(frame, grayImg, CV_RGB2GRAY);
ct.processFrame(grayImg, box);// Process frame
vot.outputBoundingBox(box);
}
return 0;
}
vector <string> imgNames;
readConfig(conf,imgFilePath,box);
readImageSequenceFiles(imgFilePath,imgNames);
sprintf(tmpDirPath, "%s/", imgFilePath);
imgNames[0].insert(0,tmpDirPath);
frame = imread(imgNames[0]);
cvtColor(frame, grayImg, CV_RGB2GRAY);
ct.init(grayImg, box);
char strFrame[20];
FILE* resultStream;
resultStream = fopen("TrackingResults.txt", "w");
fprintf (resultStream,"%i %i %i %i\n",(int)box.x,(int)box.y,(int)box.width,(int)box.height);
for(int i = 1; i < imgNames.size()-1; i ++)
{
sprintf(tmpDirPath, "%s/", imgFilePath);
imgNames[i].insert(0,tmpDirPath);
frame = imread(imgNames[i]);// get frame
cvtColor(frame, grayImg, CV_RGB2GRAY);
ct.processFrame(grayImg, box);// Process frame
rectangle(frame, box, Scalar(200,0,0),2);// Draw rectangle
fprintf (resultStream,"%i %i %i %i\n",(int)box.x,(int)box.y,(int)box.width,(int)box.height);
sprintf(strFrame, "#%d ",i) ;
putText(frame,strFrame,cvPoint(0,20),2,1,CV_RGB(25,200,25));
imshow("CT", frame);// Display
waitKey(1);
}
fclose(resultStream);
return 0;
}
int main(int argc, char * argv[])
{
//init UART
senderInit();
VideoCapture capture;
capture.open(0);
// Init camera
if (!capture.isOpened())
{
cout << "capture device failed to open!" << endl;
return 1;
}
namedWindow("CT", CV_WINDOW_NORMAL);
setWindowProperty("CT", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
// CT framework
CompressiveTracker ct;
capture.set(CV_CAP_PROP_FRAME_WIDTH, 320);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, 240);
//box Init
box = Rect(130, 130, 60, 70);//Rect(x,y,width,height)
int x0=box.x;
int y0=box.y;
int dx=0,dy=0;
// Run-time
if(!open_error_flag)
write(fd,unlock, strlen(unlock));
while(capture.read(frame))
{
if(first_flag){
cvtColor(frame, first_frame, CV_RGB2GRAY);
first_flag=0;
}
skinmask = cvCreateMat(frame.rows, frame.cols, CV_8UC1);
// get frame
cvtColor(frame, current_gray, CV_RGB2GRAY);
absdiff(first_frame,current_gray,fore_frame);
//imshow("foreFrame",fore_frame);
if(!gotHand){
gotHand=getHand();
if(gotHand){
ctInitFlag=1;
}
if ((c = waitKey(15)) == 27){
return 0;
}
continue;
}
// Process Frame
skintracker(frame,skinmask);
fore_frame = fore_frame.mul(skinmask);
// CT initialization
if(ctInitFlag){
ct.init(fore_frame, box);
ctInitFlag=0;
}
//imshow("fore&skinmasked", fore_frame);
ct.processFrame(fore_frame, box);
rectangle(frame, box, Scalar(rgb_b,rgb_g,rgb_r));
// Display
flip(frame, frame, 1);
imshow("CT", frame);
dx=x0-box.x;
dy=y0-box.y;
getGasValue(dy);
getDirValue(dx);
calControlStr(gasValue,dirValue);
sendControlStr();
if ((c = waitKey(15)) == 27){
if(!open_error_flag)
write(fd,lock, strlen(lock));
sleep(1);
break;
}
}
return 0;
}
