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 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)
{
//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;
}
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;
}
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;
}
