int main(int argc, char *argv[])
{
char *path = "sequences/cokecan/img";
char *ext = "png";
int numLength = 5;
char numString[numLength+1];
char filename[255];
int start = 0;
int end = 291;
cv::Point2f initTopLeft(150,82);
cv::Point2f initBottomDown(170,118);
CMT cmt;
//cmt.estimateRotation = false;
for(int i = start; i <= end; i++)
{
num2str(numString, numLength+1, i);
sprintf(filename, "%s%s.%s", path, numString, ext);
#ifdef DEBUG_MODE
qDebug() << filename;
#endif
cv::Mat img = cv::imread(filename);
cv::Mat im_gray;
cv::cvtColor(img, im_gray, CV_RGB2GRAY);
if(i == start)
cmt.initialise(im_gray, initTopLeft, initBottomDown);
cmt.processFrame(im_gray);
for(int i = 0; i<cmt.trackedKeypoints.size(); i++)
cv::circle(img, cmt.trackedKeypoints[i].first.pt, 3, cv::Scalar(255,255,255));
cv::line(img, cmt.topLeft, cmt.topRight, cv::Scalar(255,255,255));
cv::line(img, cmt.topRight, cmt.bottomRight, cv::Scalar(255,255,255));
cv::line(img, cmt.bottomRight, cmt.bottomLeft, cv::Scalar(255,255,255));
cv::line(img, cmt.bottomLeft, cmt.topLeft, cv::Scalar(255,255,255));
#ifdef DEBUG_MODE
qDebug() << "trackedKeypoints";
for(int i = 0; i<cmt.trackedKeypoints.size(); i++)
qDebug() << cmt.trackedKeypoints[i].first.pt.x << cmt.trackedKeypoints[i].first.pt.x << cmt.trackedKeypoints[i].second;
qDebug() << "box";
qDebug() << cmt.topLeft.x << cmt.topLeft.y;
qDebug() << cmt.topRight.x << cmt.topRight.y;
qDebug() << cmt.bottomRight.x << cmt.bottomRight.y;
qDebug() << cmt.bottomLeft.x << cmt.bottomLeft.y;
#endif
imshow("frame", img);
cv::waitKey(1);
}
return 0;
}
int main(int argc, char *argv[])
{
try
{
// command-line parameters
const char* keys =
"{h |help |false |Print this help message.}"
"{v |video | |Specify the video file.}"
"{p |image_path | |Specify the path of the image files.}"
"{nl |image_num_length |8 |Specify the length of the numeric part of the image filename.}"
"{ext |image_extension |png |The image file extension.}"
"{s |image_start |1 |Image start number.}"
"{e |image_end |10000 |Image end number.}"
"{tlx |box_top_left_x |-1 |x-coord of top left corner of the bounding box.}"
"{tly |box_top_left_y |-1 |y-coord of top left corner of the bounding box.}"
"{brx |box_bottom_right_x |-1 |x-coord of bottom right corner of the bounding box.}"
"{bry |box_bottom_right_y |-1 |y-coord of bottom right corner of the bounding box.}"
"{dt |detector_type |Feature2D.BRISK |The detector type.}"
"{dst |descriptor_type |Feature2D.BRISK |The descriptor type.}"
"{mt |matcher_type |BruteForce-Hamming |The matcher type.}"
"{to |threshold_outlier |20 |Outlier threshold.}"
"{tc |threshold_confidence |0.75 |threshold confidence.}"
"{tr |threshold_ratio |0.8 |Threhsold Ratio.}"
"{dl |descriptor_length |512 |Descriptor Length.}"
"{er |estimate_rotation |true |Estimate Rotation?}"
"{es |estimate_scale |true |Estimate Scale?}"
;
cv::CommandLineParser cmd(argc, argv, keys);
if (argc <= 1 || cmd.get<bool>("help") == true)
{
std::cout << "Usage: " << argv[0] << " [options]" << std::endl << "Available options:" << std::endl;
cmd.printParams();
return 1;
}
// prepare the input source: video or image list
std::string video_path = cmd.get<std::string>("video");
std::string image_ext, image_path = cmd.get<std::string>("image_path");
int image_num_length = 8, image_start = 1, image_end = 10000;
cv::VideoCapture vf;
if(video_path.empty() && image_path.empty())
{
std::cout << "!! No input source specified. Must be one of: a video or an image list." << std::endl;
return 1;
}
// the video file
if (! video_path.empty())
{
std::cout << "Processing video file [" << video_path << "]" << std::endl << std::endl;
bool ok = vf.open(video_path);
if(! vf.isOpened())
{
std::cout << "!! Error opening video file" << std::endl;
return 1;
}
}
else // image list
{
image_ext = cmd.get<std::string>("image_extension");
image_num_length = cmd.get<int>("image_num_length");
image_start = cmd.get<int>("image_start");
image_end = cmd.get<int>("image_end");
char s1[100], s2[100];
num2str(s1, image_num_length+1, image_start);
num2str(s2, image_num_length+1, image_end);
std::cout << "Processing image list, from: [" << image_path << s1 << "." << image_ext << "]" << std::endl
<< " to: [" << image_path << s2 << "." << image_ext << "]" << std::endl << std::endl;
}
// CMT initialisation
CMT cmt;
cmt.detectorType = cmd.get<std::string>("detector_type");
cmt.descriptorType = cmd.get<std::string>("descriptor_type");
cmt.matcherType = cmd.get<std::string>("matcher_type");
cmt.thrOutlier = cmd.get<int>("threshold_outlier");
cmt.thrConf = cmd.get<float>("threshold_confidence");
cmt.thrRatio = cmd.get<float>("threshold_ratio");
cmt.descriptorLength = cmd.get<int>("descriptor_length");
cmt.estimateRotation = cmd.get<bool>("estimate_rotation");
cmt.estimateScale = cmd.get<bool>("estimate_scale");
cv::namedWindow("frame", cv::WINDOW_NORMAL);
// functionality to allow user selection of bounding box
UserSelections user_selections;
cv::setMouseCallback("frame", mouse_callback_function, &user_selections);
// program state variables
int program_state = 1; // 1 = object-selection stage, 2 = object tracking mode
int prev_program_state = 0;
cv::Mat img, im_gray, im_out;
// bounding box specified on the command line?
cv::Point2f initTopLeft(cmd.get<int>("box_top_left_x"), cmd.get<int>("box_top_left_y"));
cv::Point2f initBottomDown(cmd.get<int>("box_bottom_right_x"), cmd.get<int>("box_bottom_right_y"));
if (initTopLeft != cv::Point2f(-1,-1) && initBottomDown != cv::Point2f(-1,-1))
{
user_selections.rects.push_back(cv::Rect(initTopLeft, initBottomDown));
program_state = 2;
prev_program_state = 1;
}
std::cout << "** Press <Q> or <q> or <ESC> to quit the program." << std::endl;
std::cout << "** Press <S> or <s> to select the object to be tracked." << std::endl;
std::cout << "** Press <T> or <t> to track the object." << std::endl;
std::cout << "** Press <R> or <r> to restart the video/image sequence." << std::endl << std::endl;
long frame_num = (video_path.empty() ? image_start : 1);
while(frame_num <= image_end || vf.isOpened())
{
// load an image
if (program_state == 2 || (program_state == 1 && img.empty()))
{
if (vf.isOpened())
{
vf >> img; // video capture
}
else
{
char filename[2048];
char numString[100];
num2str(numString, image_num_length+1, frame_num);
sprintf(filename, "%s%s.%s", image_path.c_str(), numString, image_ext.c_str());
#ifdef DEBUG_MODE
qDebug() << filename;
#endif
img = cv::imread(filename);
if (img.empty())
std::cout << "Cannot open image file: [" << filename << "]" << std::endl;
}
if (img.empty())
{
std::cout << "!! Probable EOS reached" << std::endl;
break;
}
cv::cvtColor(img, im_gray, CV_RGB2GRAY);
++frame_num;
}
im_out = img.clone();
if (program_state == 1 && prev_program_state != 1) // // transitioning to state 1
{
user_selections.rects.clear();
std::cout << "Use the mouse left button to select the top-left corner of the object's bounding box and then drag to the bottom-right corner and release. Press <T> or <t> to enter the object tracking mode." << std::endl << std::endl;
}
if (program_state == 1)
{
user_selections.draw(im_out);
}
// model initialisation
if (prev_program_state == 1 && program_state == 2) // transitioning to state 2
{
if (user_selections.rects.empty())
throw std::exception("No object has been selected!!");
cv::Rect r = user_selections.rects.back();
initTopLeft = r.tl();
initBottomDown = r.br();
std::cout << "learning model for bbox: " << initTopLeft << " .. " << initBottomDown << std::endl;
cmt.initialise(im_gray, initTopLeft, initBottomDown);
std::cout << "tracking... (press Q to quit)..." << std::endl;
}
if (program_state == 2)
{
// tracking
cmt.processFrame(im_gray);
// draw the keypoints
for(int i = 0; i<cmt.trackedKeypoints.size(); i++)
cv::circle(im_out, cmt.trackedKeypoints[i].first.pt, 3, cv::Scalar(255,255,255));
// bounding box
cv::line(im_out, cmt.topLeft, cmt.topRight, cv::Scalar(255,255,255));
cv::line(im_out, cmt.topRight, cmt.bottomRight, cv::Scalar(255,255,255));
cv::line(im_out, cmt.bottomRight, cmt.bottomLeft, cv::Scalar(255,255,255));
cv::line(im_out, cmt.bottomLeft, cmt.topLeft, cv::Scalar(255,255,255));
#ifdef DEBUG_MODE
qDebug() << "trackedKeypoints";
for(int i = 0; i<cmt.trackedKeypoints.size(); i++)
qDebug() << cmt.trackedKeypoints[i].first.pt.x << cmt.trackedKeypoints[i].first.pt.x << cmt.trackedKeypoints[i].second;
qDebug() << "box";
qDebug() << cmt.topLeft.x << cmt.topLeft.y;
qDebug() << cmt.topRight.x << cmt.topRight.y;
qDebug() << cmt.bottomRight.x << cmt.bottomRight.y;
qDebug() << cmt.bottomLeft.x << cmt.bottomLeft.y;
#endif
}
imshow("frame", im_out);
int ky = cv::waitKey(1);
prev_program_state = program_state;
if (ky == 'Q' || ky == 'q' || ky == 27)
{
std::cout << "!! User aborted the video acquisition" << std::endl;
break;
}
else if (ky == 'T' || ky == 't')
{
program_state = 2;
}
else if (ky == 'S' || ky == 's')
{
program_state = 1;
}
else if (ky == 'R' || ky == 'r')
{
frame_num = (video_path.empty() ? image_start : 1);
if (vf.isOpened())
vf.set(CV_CAP_PROP_POS_FRAMES, 0);
}
}
