vector<ArrayXXb> PyArray_ToArraysXXb(PyObject* array) {
if(PyArray_DESCR(array)->type != PyArray_DescrFromType(NPY_BOOL)->type)
throw Exception("Can only handle arrays of bool values.");
if(PyArray_NDIM(array) == 3) {
vector<ArrayXXb> channels;
if(PyArray_FLAGS(array) & NPY_F_CONTIGUOUS)
for(int m = 0; m < PyArray_DIM(array, 2); ++m)
channels.push_back(Matrix<bool, Dynamic, Dynamic, ColMajor>(
PyArray_DIM(array, 0),
PyArray_DIM(array, 1)));
else if(PyArray_FLAGS(array) & NPY_C_CONTIGUOUS)
for(int m = 0; m < PyArray_DIM(array, 2); ++m)
channels.push_back(Matrix<bool, Dynamic, Dynamic, RowMajor>(
PyArray_DIM(array, 0),
PyArray_DIM(array, 1)));
else
throw Exception("Data must be stored in contiguous memory.");
bool* data = reinterpret_cast<bool*>(PyArray_DATA(array));
for(int m = 0; m < channels.size(); ++m)
for(int i = 0; i < channels[m].size(); ++i)
channels[m].data()[i] = data[m * channels[m].size() + i];
return channels;
} else {
throw Exception("Can only handle three-dimensional arrays.");
}
}
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;
}
bool CallbackInterface::operator()(int iter, const Trainable& cd) {
CDObject* cdObj = reinterpret_cast<CDObject*>(CD_new(mType, 0, 0));
// TODO: fix this hack
cdObj->cd = const_cast<Trainable*>(&cd);
cdObj->owner = false;
// call Python object
PyObject* args = Py_BuildValue("(iO)", iter, cdObj);
PyObject* result = PyObject_CallObject(mCallback, args);
Py_DECREF(args);
// if cont is false, training will be aborted
bool cont = true;
if(result) {
if(PyBool_Check(result))
cont = (result == Py_True);
Py_DECREF(result);
Py_DECREF(cdObj);
} else {
Py_DECREF(cdObj);
throw Exception("Some error occured during call to callback function.");
}
return cont;
}
PyObject* MixtureComponent_train(MixtureComponentObject* self, PyObject* args, PyObject* kwds) {
const char* kwlist[] = {"data", "weights", "parameters", 0};
PyObject* data;
PyObject* weights = 0;
PyObject* parameters = 0;
// read arguments
if(!PyArg_ParseTupleAndKeywords(args, kwds, "O|OO", const_cast<char**>(kwlist),
&data, &weights, ¶meters))
return 0;
if(weights == Py_None)
weights = 0;
// make sure data is stored in NumPy array
data = PyArray_FROM_OTF(data, NPY_DOUBLE, NPY_F_CONTIGUOUS | NPY_ALIGNED);
if(!data) {
PyErr_SetString(PyExc_TypeError, "Data has to be stored in NumPy array.");
return 0;
}
bool converged;
try {
Mixture::Component::Parameters* params = PyObject_ToMixtureComponentParameters(parameters);
if(weights) {
MatrixXd weightsMatrix = PyArray_ToMatrixXd(weights);
MatrixXd dataMatrix = PyArray_ToMatrixXd(data);
if(weightsMatrix.rows() != 1)
weightsMatrix = weightsMatrix.transpose();
if(weightsMatrix.rows() != 1)
throw Exception("Weights should be stored in a row vector.");
converged = self->component->train(dataMatrix, weightsMatrix, *params);
} else {
converged = self->component->train(PyArray_ToMatrixXd(data), *params);
}
delete params;
} catch(Exception exception) {
Py_DECREF(data);
PyErr_SetString(PyExc_RuntimeError, exception.message());
return 0;
}
Py_DECREF(data);
if(converged) {
Py_INCREF(Py_True);
return Py_True;
} else {
Py_INCREF(Py_False);
return Py_False;
}
}
Trainable::Parameters* PyObject_ToMLRParameters(PyObject* parameters) {
MLR::Parameters* params = dynamic_cast<MLR::Parameters*>(
PyObject_ToParameters(parameters, new MLR::Parameters));
// read parameters from dictionary
if(parameters && parameters != Py_None) {
PyObject* callback = PyDict_GetItemString(parameters, "callback");
if(callback)
if(PyCallable_Check(callback))
params->callback = new CallbackInterface(&MLR_type, callback);
else if(callback != Py_None)
throw Exception("callback should be a function or callable object.");
PyObject* train_weights = PyDict_GetItemString(parameters, "train_weights");
if(train_weights)
if(PyBool_Check(train_weights))
params->trainWeights = (train_weights == Py_True);
else
throw Exception("train_weights should be of type `bool`.");
PyObject* train_biases = PyDict_GetItemString(parameters, "train_biases");
if(train_biases)
if(PyBool_Check(train_biases))
params->trainBiases = (train_biases == Py_True);
else
throw Exception("train_biases should be of type `bool`.");
PyObject* regularize_weights = PyDict_GetItemString(parameters, "regularize_weights");
if(regularize_weights)
params->regularizeWeights = PyObject_ToRegularizer(regularize_weights);
PyObject* regularize_biases = PyDict_GetItemString(parameters, "regularize_biases");
if(regularize_biases)
params->regularizeBiases = PyObject_ToRegularizer(regularize_biases);
}
return params;
}
MatrixXd PyArray_ToMatrixXd(PyObject* array) {
if(PyArray_DESCR(array)->type != PyArray_DescrFromType(NPY_DOUBLE)->type)
throw Exception("Can only handle arrays of double values.");
if(PyArray_NDIM(array) == 1) {
if(PyArray_FLAGS(array) & NPY_F_CONTIGUOUS)
return Map<Matrix<double, Dynamic, Dynamic, ColMajor> >(
reinterpret_cast<double*>(PyArray_DATA(array)),
PyArray_DIM(array, 0), 1);
else if(PyArray_FLAGS(array) & NPY_C_CONTIGUOUS)
return Map<Matrix<double, Dynamic, Dynamic, RowMajor> >(
reinterpret_cast<double*>(PyArray_DATA(array)),
PyArray_DIM(array, 0), 1);
else
throw Exception("Data must be stored in contiguous memory.");
} else if(PyArray_NDIM(array) == 2) {
if(PyArray_FLAGS(array) & NPY_F_CONTIGUOUS)
return Map<Matrix<double, Dynamic, Dynamic, ColMajor> >(
reinterpret_cast<double*>(PyArray_DATA(array)),
PyArray_DIM(array, 0),
PyArray_DIM(array, 1));
else if(PyArray_FLAGS(array) & NPY_C_CONTIGUOUS)
return Map<Matrix<double, Dynamic, Dynamic, RowMajor> >(
reinterpret_cast<double*>(PyArray_DATA(array)),
PyArray_DIM(array, 0),
PyArray_DIM(array, 1));
else
throw Exception("Data must be stored in contiguous memory.");
} else {
throw Exception("Can only handle one- and two-dimensional arrays.");
}
}
Tuples PyList_AsTuples(PyObject* list) {
if(!PyList_Check(list))
throw Exception("Indices should be given in a list.");
Tuples tuples;
// convert list of tuples
for(int i = 0; i < PyList_Size(list); ++i) {
PyObject* tuple = PyList_GetItem(list, i);
if(!PyTuple_Check(tuple) || PyTuple_Size(tuple) != 2)
throw Exception("Indices should be stored in a list of 2-tuples.");
int m, n;
if(!PyArg_ParseTuple(tuple, "ii", &m, &n))
throw Exception("Indices should be integers.");
tuples.push_back(make_pair(m, n));
}
return tuples;
}
Regularizer PyObject_ToRegularizer(PyObject* regularizer) {
if(PyFloat_Check(regularizer))
return Regularizer(PyFloat_AsDouble(regularizer));
if(PyInt_Check(regularizer))
return Regularizer(static_cast<double>(PyInt_AsLong(regularizer)));
if(PyDict_Check(regularizer)) {
PyObject* r_strength = PyDict_GetItemString(regularizer, "strength");
PyObject* r_transform = PyDict_GetItemString(regularizer, "transform");
PyObject* r_norm = PyDict_GetItemString(regularizer, "norm");
if(r_transform == Py_None)
r_transform = 0;
Regularizer::Norm norm = Regularizer::L2;
if(r_norm) {
if(PyString_Size(r_norm) != 2)
throw Exception("Regularizer norm should be 'L1' or 'L2'.");
switch(PyString_AsString(r_norm)[1]) {
default:
throw Exception("Regularizer norm should be 'L1' or 'L2'.");
case '1':
norm = Regularizer::L1;
break;
case '2':
norm = Regularizer::L2;
break;
}
}
double strength = r_transform ? 1. : 0.;
if(r_strength) {
if(PyInt_Check(r_strength)) {
strength = static_cast<double>(PyInt_AsLong(r_strength));
} else {
if(!PyFloat_Check(r_strength))
throw Exception("Regularizer strength should be of type `float`.");
strength = PyFloat_AsDouble(r_strength);
}
}
if(r_transform) {
PyObject* matrix = PyArray_FROM_OTF(r_transform, NPY_DOUBLE, NPY_IN_ARRAY);
if(!matrix)
throw Exception("Regularizer transform should be of type `ndarray`.");
return Regularizer(PyArray_ToMatrixXd(matrix), norm, strength);
} else {
return Regularizer(strength, norm);
}
}
PyObject* matrix = PyArray_FROM_OTF(regularizer, NPY_DOUBLE, NPY_IN_ARRAY);
if(matrix)
return Regularizer(PyArray_ToMatrixXd(matrix));
throw Exception("Regularizer should be of type `dict`, `float` or `ndarray`.");
}
bool updateModule()
{
ImageOf<PixelBgr> *img=imgInPort.read();
if (img==NULL)
return true;
mutex.lock();
ImageOf<PixelMono> imgMono;
imgMono.resize(img->width(),img->height());
cv::Mat imgMat=cv::cvarrToMat((IplImage*)img->getIplImage());
cv::Mat imgMonoMat=cv::cvarrToMat((IplImage*)imgMono.getIplImage());
cv::cvtColor(imgMat,imgMonoMat,CV_BGR2GRAY);
if (initBoundingBox)
{
tracker->initialise(imgMonoMat,tl,br);
initBoundingBox=false;
}
if (doCMT)
{
if (tracker->processFrame(imgMonoMat))
{
if (dataOutPort.getOutputCount()>0)
{
Bottle &data=dataOutPort.prepare();
data.clear();
data.addInt((int)tracker->topLeft.x);
data.addInt((int)tracker->topLeft.y);
data.addInt((int)tracker->topRight.x);
data.addInt((int)tracker->topRight.y);
data.addInt((int)tracker->bottomRight.x);
data.addInt((int)tracker->bottomRight.y);
data.addInt((int)tracker->bottomLeft.x);
data.addInt((int)tracker->bottomLeft.y);
dataOutPort.write();
}
if (imgOutPort.getOutputCount()>0)
{
cv::line(imgMat,tracker->topLeft,tracker->topRight,cv::Scalar(255,0,0),2);
cv::line(imgMat,tracker->topRight,tracker->bottomRight,cv::Scalar(255,0,0),2);
cv::line(imgMat,tracker->bottomRight,tracker->bottomLeft,cv::Scalar(255,0,0),2);
cv::line(imgMat,tracker->bottomLeft,tracker->topLeft,cv::Scalar(255,0,0),2);
for (size_t i=0; i<tracker->trackedKeypoints.size(); i++)
cv::circle(imgMat,tracker->trackedKeypoints[i].first.pt,3,cv::Scalar(0,255,0));
}
}
}
if (imgOutPort.getOutputCount()>0)
{
imgOutPort.prepare()=*img;
imgOutPort.write();
}
mutex.unlock();
return true;
}
int main(int argc, char **argv)
{
CMT cmt;
Rect rect;
FILELog::ReportingLevel() = logINFO; // = logDEBUG;
Output2FILE::Stream() = stdout; //Log to stdout
// openCV window
namedWindow(WIN_NAME);
// libuvc variables
uvc_context *ctx = NULL;
uvc_device_t *dev = NULL;
uvc_device_handle_t *handle = NULL;
uvc_stream_ctrl_t ctrl;
uvc_error_t res;
// create a UVC context
res = uvc_init(&ctx, NULL);
uvc_error(res, "init");
// search for the Intel camera specifically
res = uvc_find_device(ctx, &dev, 0x8086, 0x0a66, NULL);
uvc_error(res, "find_device");
// open the camera device
res = uvc_open(dev, &handle);
uvc_error(res, "open2");
//uvc_print_diag(handle, stderr);
// configure the stream format to use
res = uvc_get_stream_ctrl_format_size(handle, &ctrl, UVC_FRAME_FORMAT_YUYV, W, H, FPS);
uvc_perror(res, "get_stream");
//uvc_print_stream_ctrl(&ctrl, stderr);
// OpenCV matrix for storing the captured image data, CV_8UC3
// means 8-bit Unsigned Char, 3 channels per pixel.
Mat im;
im.create( H, W, CV_8UC3);
image_data = malloc(W*H*3);
// start streaming data from the camera
printf("Start streaming...\n");
res = uvc_start_streaming(handle, &ctrl, uvc_callback, (void*)&cmt, 0);
uvc_error(res, "start_streaming");
// wait until the first frame has arrived so it can be used for previewing
printf("Waiting for first frame...\n");
while(!got_first_frame)
usleep(10000);
// grab the data for the captured frame
memcpy(im.data, image_data, W*H*3);
// display it in OpenCV and select a region to track
rect = getRect(im, WIN_NAME);
printf("Bounding box: %d,%d+%dx%d\n", rect.x, rect.y, rect.width, rect.height);
// convert to suitable format for CMT if needed
Mat im0_gray;
if (im.channels() > 1)
cvtColor(im, im0_gray, CV_BGR2GRAY);
else
im0_gray = im;
cmt.initialize(im0_gray, rect);
printf("Main loop starting\n");
int frame = 0;
while (true)
{
frame++;
// grab the data for the captured frame
memcpy(im.data, image_data, W*H*3);
Mat im_gray;
if (im.channels() > 1)
cvtColor(im, im_gray, CV_BGR2GRAY);
else
im_gray = im;
cmt.processFrame(im_gray);
printf("#%d, active: %lu\n", frame, cmt.points_active.size());
char key = display(im, cmt);
if(key == 'q')
break;
}
uvc_stop_streaming(handle);
free(image_data);
uvc_close(handle);
uvc_unref_device(dev);
uvc_exit(ctx);
return 0;
}
Mixture::Component::Parameters* PyObject_ToMixtureComponentParameters(PyObject* parameters) {
Mixture::Component::Parameters* params = new Mixture::Component::Parameters;
if(parameters && parameters != Py_None) {
PyObject* verbosity = PyDict_GetItemString(parameters, "verbosity");
if(verbosity)
if(PyInt_Check(verbosity))
params->verbosity = PyInt_AsLong(verbosity);
else if(PyFloat_Check(verbosity))
params->verbosity = static_cast<int>(PyFloat_AsDouble(verbosity));
else
throw Exception("verbosity should be of type `int`.");
PyObject* max_iter = PyDict_GetItemString(parameters, "max_iter");
if(max_iter)
if(PyInt_Check(max_iter))
params->maxIter = PyInt_AsLong(max_iter);
else if(PyFloat_Check(max_iter))
params->maxIter = static_cast<int>(PyFloat_AsDouble(max_iter));
else
throw Exception("max_iter should be of type `int`.");
PyObject* threshold = PyDict_GetItemString(parameters, "threshold");
if(threshold)
if(PyFloat_Check(threshold))
params->threshold = PyFloat_AsDouble(threshold);
else if(PyInt_Check(threshold))
params->threshold = static_cast<double>(PyFloat_AsDouble(threshold));
else
throw Exception("threshold should be of type `float`.");
PyObject* train_priors = PyDict_GetItemString(parameters, "train_priors");
if(train_priors)
if(PyBool_Check(train_priors))
params->trainPriors = (train_priors == Py_True);
else
throw Exception("train_priors should be of type `bool`.");
PyObject* train_covariance = PyDict_GetItemString(parameters, "train_covariance");
if(train_covariance)
if(PyBool_Check(train_covariance))
params->trainCovariance = (train_covariance == Py_True);
else
throw Exception("train_covariance should be of type `bool`.");
PyObject* train_scales = PyDict_GetItemString(parameters, "train_scales");
if(train_scales)
if(PyBool_Check(train_scales))
params->trainScales = (train_scales == Py_True);
else
throw Exception("train_scales should be of type `bool`.");
PyObject* train_mean = PyDict_GetItemString(parameters, "train_mean");
if(train_mean)
if(PyBool_Check(train_mean))
params->trainMean = (train_mean == Py_True);
else
throw Exception("train_mean should be of type `bool`.");
PyObject* regularize_priors = PyDict_GetItemString(parameters, "regularize_priors");
if(regularize_priors)
if(PyFloat_Check(regularize_priors))
params->regularizePriors = PyFloat_AsDouble(regularize_priors);
else if(PyInt_Check(regularize_priors))
params->regularizePriors = static_cast<double>(PyFloat_AsDouble(regularize_priors));
else
throw Exception("regularize_priors should be of type `float`.");
PyObject* regularize_covariance = PyDict_GetItemString(parameters, "regularize_covariance");
if(regularize_covariance)
if(PyFloat_Check(regularize_covariance))
params->regularizeCovariance = PyFloat_AsDouble(regularize_covariance);
else if(PyInt_Check(regularize_covariance))
params->regularizeCovariance = static_cast<double>(PyFloat_AsDouble(regularize_covariance));
else
throw Exception("regularize_covariance should be of type `float`.");
PyObject* regularize_scales = PyDict_GetItemString(parameters, "regularize_scales");
if(regularize_scales)
if(PyFloat_Check(regularize_scales))
params->regularizeScales = PyFloat_AsDouble(regularize_scales);
else if(PyInt_Check(regularize_scales))
params->regularizeScales = static_cast<double>(PyFloat_AsDouble(regularize_scales));
else
throw Exception("regularize_scales should be of type `float`.");
PyObject* regularize_mean = PyDict_GetItemString(parameters, "regularize_mean");
if(regularize_mean)
if(PyFloat_Check(regularize_mean))
params->regularizeMean = PyFloat_AsDouble(regularize_mean);
else if(PyInt_Check(regularize_mean))
params->regularizeMean = static_cast<double>(PyFloat_AsDouble(regularize_mean));
else
throw Exception("regularize_mean should be of type `float`.");
}
return params;
}
Mixture::Parameters* PyObject_ToMixtureParameters(PyObject* parameters) {
Mixture::Parameters* params = new Mixture::Parameters;
if(parameters && parameters != Py_None) {
PyObject* verbosity = PyDict_GetItemString(parameters, "verbosity");
if(verbosity)
if(PyInt_Check(verbosity))
params->verbosity = PyInt_AsLong(verbosity);
else if(PyFloat_Check(verbosity))
params->verbosity = static_cast<int>(PyFloat_AsDouble(verbosity));
else
throw Exception("verbosity should be of type `int`.");
PyObject* max_iter = PyDict_GetItemString(parameters, "max_iter");
if(max_iter)
if(PyInt_Check(max_iter))
params->maxIter = PyInt_AsLong(max_iter);
else if(PyFloat_Check(max_iter))
params->maxIter = static_cast<int>(PyFloat_AsDouble(max_iter));
else
throw Exception("max_iter should be of type `int`.");
PyObject* threshold = PyDict_GetItemString(parameters, "threshold");
if(threshold)
if(PyFloat_Check(threshold))
params->threshold = PyFloat_AsDouble(threshold);
else if(PyInt_Check(threshold))
params->threshold = static_cast<double>(PyFloat_AsDouble(threshold));
else
throw Exception("threshold should be of type `float`.");
PyObject* val_iter = PyDict_GetItemString(parameters, "val_iter");
if(val_iter)
if(PyInt_Check(val_iter))
params->valIter = PyInt_AsLong(val_iter);
else if(PyFloat_Check(val_iter))
params->valIter = static_cast<int>(PyFloat_AsDouble(val_iter));
else
throw Exception("val_iter should be of type `int`.");
PyObject* val_look_ahead = PyDict_GetItemString(parameters, "val_look_ahead");
if(val_look_ahead)
if(PyInt_Check(val_look_ahead))
params->valLookAhead = PyInt_AsLong(val_look_ahead);
else if(PyFloat_Check(val_look_ahead))
params->valLookAhead = static_cast<int>(PyFloat_AsDouble(val_look_ahead));
else
throw Exception("val_look_ahead should be of type `int`.");
PyObject* initialize = PyDict_GetItemString(parameters, "initialize");
if(initialize)
if(PyBool_Check(initialize))
params->initialize = (initialize == Py_True);
else
throw Exception("initialize should be of type `bool`.");
PyObject* train_priors = PyDict_GetItemString(parameters, "train_priors");
if(train_priors)
if(PyBool_Check(train_priors))
params->trainPriors = (train_priors == Py_True);
else
throw Exception("train_priors should be of type `bool`.");
PyObject* train_components = PyDict_GetItemString(parameters, "train_components");
if(train_components)
if(PyBool_Check(train_components))
params->trainComponents = (train_components == Py_True);
else
throw Exception("train_components should be of type `bool`.");
PyObject* regularize_priors = PyDict_GetItemString(parameters, "regularize_priors");
if(regularize_priors)
if(PyFloat_Check(regularize_priors))
params->regularizePriors = PyFloat_AsDouble(regularize_priors);
else if(PyInt_Check(regularize_priors))
params->regularizePriors = static_cast<double>(PyFloat_AsDouble(regularize_priors));
else
throw Exception("regularize_priors should be of type `float`.");
}
return params;
}
int main(int argc, char **argv){
/**
* int : lifetime of tracker (number of frames)
* Point : initial position of the CMT
**/
vector< tuple<CMT*,int, Point> > cmt_list;
CMT* cmt;
CascadeClassifier logo_cascade;
String logo_cascade_name;
VideoCapture capture;
Mat frame;
const int nb_frame_threshold = 10;
if(argc < 2) {
usage(argv[0]);
return 0;
}
namedWindow(window_name);
FILELog::ReportingLevel() = logINFO;
DetectAndDisplay d(window_name);
logo_cascade_name = argv[1];
//-- 1. Load the cascades
if( !logo_cascade.load( logo_cascade_name ) ){ printf("--(!)Error loading face cascade\n"); return -1; };
//-- Get video
capture.open( -1 );
if ( ! capture.isOpened() ) { printf("--(!)Error opening video capture\n"); return -1; }
// capture.set(CV_CAP_PROP_FRAME_WIDTH, 640);
// capture.set(CV_CAP_PROP_FRAME_HEIGHT, 320);
//process images
while(capture.read(frame)) {
if( frame.empty() ){
printf(" --(!) No captured frame -- Break!");
break;
}
frame.copyTo(frame);
Mat im_gray;
if (frame.channels() > 1) {
cvtColor(frame, im_gray, CV_BGR2GRAY);
} else {
im_gray = frame;
}
vector<Rect> logos;
//-- 3. Apply the classifier to the frame
d.detectAndMark(frame, logo_cascade, logos);
//detect and track new objects
for(uint i= 0; i<logos.size(); i++){
Point2f a(logos[i].x,logos[i].y);
bool match = true;
for(uint j = 0; j < cmt_list.size(); j++){
Point2f b(std::get<0>(cmt_list[j])->bb_rot.center);
double res = cv::norm(cv::Mat(a),cv::Mat(b));
double sizee = sqrt(logos[i].width*logos[i].width + logos[i].height*logos[i].height);
if(res < sizee){
std::get<1>(cmt_list[j]) = nb_frame_threshold;
match = false;
break;
}
}
if(match || cmt_list.size() == 0) {
cmt = new CMT();
cmt->initialize(im_gray, logos[i]);
cmt_list.push_back(tuple<CMT*,int, Point>(cmt,nb_frame_threshold,cmt->bb_rot.center));
}
}
//dont track an object that has not been detected for a long time
for(uint i = 0; i<cmt_list.size(); i++){
Point2f b(std::get<0>(cmt_list[i])->bb_rot.center);
for(uint j = 0; j<logos.size(); j++) {
Point2f a(logos[j].x,logos[j].y);
RotatedRect r = std::get<0>(cmt_list[i])->bb_rot;
double res = cv::norm(cv::Mat(a),cv::Mat(b));
double sizee = sqrt(r.size.width * r.size.width + r.size.height * r.size.height);
if(res<sizee){
std::get<1>(cmt_list[i])++;
break;
}
}
std::get<1>(cmt_list[i])--;
if(std::get<1>(cmt_list[i]) <= 0) {
cmt_list.erase(cmt_list.begin()+i);
if(i>0)
--i;
}
for(uint j = 0; j < cmt_list.size() && j!=i; j++){
Point2f a(std::get<0>(cmt_list[j])->bb_rot.center);
RotatedRect r = std::get<0>(cmt_list[j])->bb_rot;
double res = cv::norm(cv::Mat(a),cv::Mat(b));
double sizee = sqrt(r.size.width * r.size.width + r.size.height * r.size.height);
if(res<sizee){
cmt_list.erase(cmt_list.begin()+j);
break;
}
}
}
d.displayObject(logos, frame);
for(uint i = 0; i<cmt_list.size(); i++) {
std::get<0>(cmt_list[i])->processFrame(im_gray);
char key = display(frame, *(std::get<0>(cmt_list[i])));
if(key == 'q') break;
}
process(frame);
vector<Point> initials;
vector<Point> currents;
for(uint i = 0; i < cmt_list.size(); i++) {
initials.push_back(std::get<2>(cmt_list[i]));
currents.push_back(std::get<0>(cmt_list[i])->bb_rot.center);
}
for(uint i = 0; i < counters.size(); i++) {
counters[i].setInitials(initials);
counters[i].setCurrents(currents);
}
for(uint i = 0; i < counters.size(); i++) {
tuple<int,int,int, vector<Point> > tmp = counters[i].getSituation();
putText(frame, to_string(std::get<0>(tmp)) + to_string(std::get<1>(tmp)) + to_string(std::get<2>(tmp)), Point(5,15*i+15), CV_FONT_HERSHEY_SIMPLEX, 0.5, Scalar(255,255,0));
imshow(window_name, frame);
}
waitKey(0);
}
return EXIT_SUCCESS;
}
int main(int argc, char **argv)
{
//Create a CMT object
CMT cmt;
//Initialization bounding box
Rect rect;
//Parse args
int challenge_flag = 0;
int loop_flag = 0;
int verbose_flag = 0;
int bbox_flag = 0;
int skip_frames = 0;
int skip_msecs = 0;
int output_flag = 0;
string input_path;
string output_path;
const int detector_cmd = 1000;
const int descriptor_cmd = 1001;
const int bbox_cmd = 1002;
const int no_scale_cmd = 1003;
const int with_rotation_cmd = 1004;
const int skip_cmd = 1005;
const int skip_msecs_cmd = 1006;
const int output_file_cmd = 1007;
struct option longopts[] =
{
//No-argument options
{"challenge", no_argument, &challenge_flag, 1},
{"loop", no_argument, &loop_flag, 1},
{"verbose", no_argument, &verbose_flag, 1},
{"no-scale", no_argument, 0, no_scale_cmd},
{"with-rotation", no_argument, 0, with_rotation_cmd},
//Argument options
{"bbox", required_argument, 0, bbox_cmd},
{"detector", required_argument, 0, detector_cmd},
{"descriptor", required_argument, 0, descriptor_cmd},
{"output-file", required_argument, 0, output_file_cmd},
{"skip", required_argument, 0, skip_cmd},
{"skip-msecs", required_argument, 0, skip_msecs_cmd},
{0, 0, 0, 0}
};
int index = 0;
int c;
while((c = getopt_long(argc, argv, "v", longopts, &index)) != -1)
{
switch (c)
{
case 'v':
verbose_flag = true;
break;
case bbox_cmd:
{
//TODO: The following also accepts strings of the form %f,%f,%f,%fxyz...
string bbox_format = "%f,%f,%f,%f";
float x,y,w,h;
int ret = sscanf(optarg, bbox_format.c_str(), &x, &y, &w, &h);
if (ret != 4)
{
cerr << "bounding box must be given in format " << bbox_format << endl;
return 1;
}
bbox_flag = 1;
rect = Rect(x,y,w,h);
}
break;
case detector_cmd:
cmt.str_detector = optarg;
break;
case descriptor_cmd:
cmt.str_descriptor = optarg;
break;
case output_file_cmd:
output_path = optarg;
output_flag = 1;
break;
case skip_cmd:
{
int ret = sscanf(optarg, "%d", &skip_frames);
if (ret != 1)
{
skip_frames = 0;
}
}
break;
case skip_msecs_cmd:
{
int ret = sscanf(optarg, "%d", &skip_msecs);
if (ret != 1)
{
skip_msecs = 0;
}
}
break;
case no_scale_cmd:
cmt.consensus.estimate_scale = false;
break;
case with_rotation_cmd:
cmt.consensus.estimate_rotation = true;
break;
case '?':
return 1;
}
}
// Can only skip frames or milliseconds, not both.
if (skip_frames > 0 && skip_msecs > 0)
{
cerr << "You can only skip frames, or milliseconds, not both." << endl;
return 1;
}
//One argument remains
if (optind == argc - 1)
{
input_path = argv[optind];
}
else if (optind < argc - 1)
{
cerr << "Only one argument is allowed." << endl;
return 1;
}
//Set up logging
FILELog::ReportingLevel() = verbose_flag ? logDEBUG : logINFO;
Output2FILE::Stream() = stdout; //Log to stdout
//Challenge mode
if (challenge_flag)
{
//Read list of images
ifstream im_file("images.txt");
vector<string> files;
string line;
while(getline(im_file, line ))
{
files.push_back(line);
}
//Read region
ifstream region_file("region.txt");
vector<float> coords = getNextLineAndSplitIntoFloats(region_file);
if (coords.size() == 4) {
rect = Rect(coords[0], coords[1], coords[2], coords[3]);
}
else if (coords.size() == 8)
{
//Split into x and y coordinates
vector<float> xcoords;
vector<float> ycoords;
for (size_t i = 0; i < coords.size(); i++)
{
if (i % 2 == 0) xcoords.push_back(coords[i]);
else ycoords.push_back(coords[i]);
}
float xmin = *min_element(xcoords.begin(), xcoords.end());
float xmax = *max_element(xcoords.begin(), xcoords.end());
float ymin = *min_element(ycoords.begin(), ycoords.end());
float ymax = *max_element(ycoords.begin(), ycoords.end());
rect = Rect(xmin, ymin, xmax-xmin, ymax-ymin);
cout << "Found bounding box" << xmin << " " << ymin << " " << xmax-xmin << " " << ymax-ymin << endl;
}
else {
cerr << "Invalid Bounding box format" << endl;
return 0;
}
//Read first image
Mat im0 = imread(files[0]);
Mat im0_gray;
cvtColor(im0, im0_gray, CV_BGR2GRAY);
//Initialize cmt
cmt.initialize(im0_gray, rect);
//Write init region to output file
ofstream output_file("output.txt");
output_file << rect.x << ',' << rect.y << ',' << rect.width << ',' << rect.height << std::endl;
//Process images, write output to file
for (size_t i = 1; i < files.size(); i++)
{
FILE_LOG(logINFO) << "Processing frame " << i << "/" << files.size();
Mat im = imread(files[i]);
Mat im_gray;
cvtColor(im, im_gray, CV_BGR2GRAY);
cmt.processFrame(im_gray);
if (verbose_flag)
{
display(im, cmt);
}
rect = cmt.bb_rot.boundingRect();
output_file << rect.x << ',' << rect.y << ',' << rect.width << ',' << rect.height << std::endl;
}
output_file.close();
return 0;
}
//Normal mode
//Create window
namedWindow(WIN_NAME);
VideoCapture cap;
bool show_preview = true;
//If no input was specified
if (input_path.length() == 0)
{
cap.open(0); //Open default camera device
}
//Else open the video specified by input_path
else
{
cap.open(input_path);
if (skip_frames > 0)
{
cap.set(CV_CAP_PROP_POS_FRAMES, skip_frames);
}
if (skip_msecs > 0)
{
cap.set(CV_CAP_PROP_POS_MSEC, skip_msecs);
// Now which frame are we on?
skip_frames = (int) cap.get(CV_CAP_PROP_POS_FRAMES);
}
show_preview = false;
}
//If it doesn't work, stop
if(!cap.isOpened())
{
cerr << "Unable to open video capture." << endl;
return -1;
}
//Show preview until key is pressed
while (show_preview)
{
Mat preview;
cap >> preview;
screenLog(preview, "Press a key to start selecting an object.");
imshow(WIN_NAME, preview);
char k = waitKey(10);
if (k != -1) {
show_preview = false;
}
}
//Get initial image
Mat im0;
cap >> im0;
//If no bounding was specified, get it from user
if (!bbox_flag)
{
rect = getRect(im0, WIN_NAME);
}
FILE_LOG(logINFO) << "Using " << rect.x << "," << rect.y << "," << rect.width << "," << rect.height
<< " as initial bounding box.";
//Convert im0 to grayscale
Mat im0_gray;
if (im0.channels() > 1) {
cvtColor(im0, im0_gray, CV_BGR2GRAY);
} else {
im0_gray = im0;
}
//Initialize CMT
cmt.initialize(im0_gray, rect);
int frame = skip_frames;
//Open output file.
ofstream output_file;
if (output_flag)
{
int msecs = (int) cap.get(CV_CAP_PROP_POS_MSEC);
output_file.open(output_path.c_str());
output_file << OUT_FILE_COL_HEADERS << endl;
output_file << frame << "," << msecs << ",";
output_file << cmt.points_active.size() << ",";
output_file << write_rotated_rect(cmt.bb_rot) << endl;
}
//Main loop
while (true)
{
frame++;
Mat im;
//If loop flag is set, reuse initial image (for debugging purposes)
if (loop_flag) im0.copyTo(im);
else cap >> im; //Else use next image in stream
if (im.empty()) break; //Exit at end of video stream
Mat im_gray;
if (im.channels() > 1) {
cvtColor(im, im_gray, CV_BGR2GRAY);
} else {
im_gray = im;
}
//Let CMT process the frame
cmt.processFrame(im_gray);
//Output.
if (output_flag)
{
int msecs = (int) cap.get(CV_CAP_PROP_POS_MSEC);
output_file << frame << "," << msecs << ",";
output_file << cmt.points_active.size() << ",";
output_file << write_rotated_rect(cmt.bb_rot) << endl;
}
else
{
//TODO: Provide meaningful output
FILE_LOG(logINFO) << "#" << frame << " active: " << cmt.points_active.size();
FILE_LOG(logINFO) << "confidence: " << cmt.confidence;
}
//Display image and then quit if requested.
char key = display(im, cmt);
if(key == 'q') break;
}
//Close output file.
if (output_flag) output_file.close();
return 0;
}
Trainable::Parameters* PyObject_ToMCGSMParameters(PyObject* parameters) {
MCGSM::Parameters* params = dynamic_cast<MCGSM::Parameters*>(
PyObject_ToParameters(parameters, new MCGSM::Parameters));
// read parameters from dictionary
if(parameters && parameters != Py_None) {
PyObject* callback = PyDict_GetItemString(parameters, "callback");
if(callback)
if(PyCallable_Check(callback))
params->callback = new CallbackInterface(&MCGSM_type, callback);
else if(callback != Py_None)
throw Exception("callback should be a function or callable object.");
PyObject* train_priors = PyDict_GetItemString(parameters, "train_priors");
if(train_priors)
if(PyBool_Check(train_priors))
params->trainPriors = (train_priors == Py_True);
else
throw Exception("train_priors should be of type `bool`.");
PyObject* train_scales = PyDict_GetItemString(parameters, "train_scales");
if(train_scales)
if(PyBool_Check(train_scales))
params->trainScales = (train_scales == Py_True);
else
throw Exception("train_scales should be of type `bool`.");
PyObject* train_weights = PyDict_GetItemString(parameters, "train_weights");
if(train_weights)
if(PyBool_Check(train_weights))
params->trainWeights = (train_weights == Py_True);
else
throw Exception("train_weights should be of type `bool`.");
PyObject* train_features = PyDict_GetItemString(parameters, "train_features");
if(train_features)
if(PyBool_Check(train_features))
params->trainFeatures = (train_features == Py_True);
else
throw Exception("train_features should be of type `bool`.");
PyObject* train_cholesky_factors = PyDict_GetItemString(parameters, "train_cholesky_factors");
if(train_cholesky_factors)
if(PyBool_Check(train_cholesky_factors))
params->trainCholeskyFactors = (train_cholesky_factors == Py_True);
else
throw Exception("train_cholesky_factors should be of type `bool`.");
PyObject* train_predictors = PyDict_GetItemString(parameters, "train_predictors");
if(train_predictors)
if(PyBool_Check(train_predictors))
params->trainPredictors = (train_predictors == Py_True);
else
throw Exception("train_predictors should be of type `bool`.");
PyObject* train_linear_features = PyDict_GetItemString(parameters, "train_linear_features");
if(train_linear_features)
if(PyBool_Check(train_linear_features))
params->trainLinearFeatures = (train_linear_features == Py_True);
else
throw Exception("train_linear_features should be of type `bool`.");
PyObject* train_means = PyDict_GetItemString(parameters, "train_means");
if(train_means)
if(PyBool_Check(train_means))
params->trainMeans = (train_means == Py_True);
else
throw Exception("train_means should be of type `bool`.");
PyObject* regularize_features = PyDict_GetItemString(parameters, "regularize_features");
if(regularize_features)
params->regularizeFeatures = PyObject_ToRegularizer(regularize_features);
PyObject* regularize_predictors = PyDict_GetItemString(parameters, "regularize_predictors");
if(regularize_predictors)
params->regularizePredictors = PyObject_ToRegularizer(regularize_predictors);
PyObject* regularize_weights = PyDict_GetItemString(parameters, "regularize_weights");
if(regularize_weights)
params->regularizeWeights = PyObject_ToRegularizer(regularize_weights);
PyObject* regularize_linear_features = PyDict_GetItemString(parameters, "regularize_linear_features");
if(regularize_linear_features)
params->regularizeLinearFeatures = PyObject_ToRegularizer(regularize_linear_features);
PyObject* regularize_means = PyDict_GetItemString(parameters, "regularize_means");
if(regularize_means)
params->regularizeMeans = PyObject_ToRegularizer(regularize_means);
}
return params;
}
int main(int argc, char *argv[])
{
ros::init(argc,argv,"Vision");
ROS_INFO("node creation");
ros::NodeHandle nh_v;
ros::Rate loop_rate(10);
int start = 0;
bool SelectROI=false;//For bounding box
cout<<"Do you want to give the ROI ?"<<endl<<"Press y for YES and n for NO"<<endl;
char input='n';
cin>>input;
if(input!='n')
SelectROI=true;
cout<<"SelectROI : "<<SelectROI<<endl;
CMT cmt;
//Code for normal camera using OpenCV
/*VideoCapture cap(0);
cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);
cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);
bool open=true;
if (!cap.isOpened()) // if not success, exit program
{
cout << "Cannot open the video cam" << endl;
return -1;
open=false;
}
cvNamedWindow("Initial frame",CV_WINDOW_AUTOSIZE );*/
//Code for using Kinect input using OpenCV
bool open=true;
VideoCapture cap;
cap.open(CV_CAP_OPENNI);
cap.set( CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ );
if( !cap.isOpened() )
{
cout << "Can not open a capture object." << endl;
return -1;
}
cout << " Device Open " << endl;
//capture.set(CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE, CV_CAP_OPENNI_VGA_30HZ);
if( !cap.grab() )
{
cout << "Can not grab images." << endl;
return -1;
}
cvNamedWindow("Initial frame",CV_WINDOW_AUTOSIZE );
int Keyhit=-1;//Used to get Enter input from the keyboard for ROI selection
while(Keyhit==-1){
//cap.read(img);//used for normal cameras
cap.grab();
cap.retrieve(img,CV_CAP_OPENNI_BGR_IMAGE);
if(SelectROI==true)
putText(img, "Press enter when the object is in the field of view ", cvPoint(20,30),FONT_HERSHEY_COMPLEX_SMALL, 0.6, cvScalar(255,255,255), 1, CV_AA);
else {
putText(img, "Using Default Bounding box at the center of frame ", cvPoint(20,30),FONT_HERSHEY_COMPLEX_SMALL, 0.6, cvScalar(255,255,255), 1, CV_AA);
putText(img, "Press enter to start tracking ", cvPoint(20,60),FONT_HERSHEY_COMPLEX_SMALL, 0.6, cvScalar(255,255,255), 1, CV_AA);
}
imshow("Initial frame",img);
Keyhit=cv::waitKey(1);
}
while(open && ros::ok())
{
//Capturing images from the Kinect OpenCV
//cap.read(img);//used for normal cameras
cap.grab();
cap.retrieve(img,CV_CAP_OPENNI_BGR_IMAGE);
cv::cvtColor(img, im_gray, CV_RGB2GRAY);
//imshow("Initial frame",img);
//cv::waitKey(0);
while(start==0 && SelectROI==true){
cout<<"Inside ROI selection"<<endl;
//set the callback function for any mouse event
static CvFont font;
cvInitFont(&font, CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5, 0, 1, 8);
//cout<<"Starting CMT initialization"<<endl;
setMouseCallback("Initial frame", getRect, NULL); // Mouse Callback function with image as param
putText(img, "Use mouse to select the rectangle around object to track ", cvPoint(20,30),FONT_HERSHEY_COMPLEX_SMALL, 0.6, cvScalar(255,255,255), 1, CV_AA);
putText(img, "You can reselect till you press Enter ", cvPoint(20,50),FONT_HERSHEY_COMPLEX_SMALL, 0.6, cvScalar(255,255,255), 1, CV_AA);
putText(img, "After selecting PRESS ENTER", cvPoint(20,70),FONT_HERSHEY_COMPLEX_SMALL, 0.6, cvScalar(255,255,255), 1, CV_AA);
imshow("Initial frame",img);
cv::waitKey(0);
start=1;
cout<<"ROI Selected Manually"<<endl;
cout<<"Rectangular Edge Points : "<<initBottomDown<<","<<initTopLeft<<endl;
cout<<"CMT Initialising "<<endl;
cmt.initialise(im_gray, initTopLeft, initBottomDown);//Using the Initialise Method with predefined bounding box
setMouseCallback("Initial frame", NULL, NULL);//Disabling the Callback function
}
if(start==0 && SelectROI==false ){//If manual ROI is not selected the default case
initTopLeft.x=270;
initTopLeft.y=190; //Default bounding box positions - Frame Center
initBottomDown.x=370;
initBottomDown.y=290;
cout<<"Rectangular Edge Points : "<<initBottomDown<<","<<initTopLeft<<endl;
cout<<"CMT Initialising "<<endl;
cmt.initialise(im_gray, initTopLeft, initBottomDown);//Using the Initialise Method with default bounding box
start=1;
}
//cout<<endl<<"Starting CMT frame processing"<<endl;
cmt.processFrame(im_gray);//Using the process frame method
cout<<"The Center is : "<<cmt.CENTER<<endl;
cout<<"The scaling is : "<<cmt.SCALE<<endl;
cout<<"The orientation is :"<<cmt.ROTATION<<endl;
//cout<<"CMT Frame Processing Done"<<endl;
for(int i = 0; i<cmt.trackedKeypoints.size(); i++)
cv::circle(img, cmt.trackedKeypoints[i].first.pt, 3, cv::Scalar(255,255,255));//draw circles around track points
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));
putText(img, "Tracking ", cvPoint(20,30),FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(255,255,255), 1, CV_AA);
imshow("Initial frame", img);//Show the image frame with circles of key points
cv::waitKey(1);
}//close for open while loop
return 0;
}
