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Diffstat (limited to 'sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp')
| -rw-r--r-- | sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp | 257 |
1 files changed, 257 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp b/sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp new file mode 100644 index 0000000..6d67886 --- /dev/null +++ b/sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp @@ -0,0 +1,257 @@ +/*************************************************** +Author : Tanmay Chaudhari + ***************************************************/ + +#include <numeric> +#include "opencv2/core/core.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/opencv.hpp" +#include <bits/stdc++.h> +using namespace cv; +using namespace std; +extern "C" +{ +#include "api_scilab.h" +#include "Scierror.h" +#include "BOOL.h" +#include <localization.h> +#include "sciprint.h" +#include "../common.h" +//#include "../common.cpp" + + Mat image; + bool backprojMode = false; + bool selectObject = false; + int trackObject = 0; + Point origin; + Rect selection; + int vmin = 10, vmax = 256, smin = 30; + double xcord[1<<20]; + double ycord[1<<20]; + double width[1<<20]; + double height[1<<20]; + double orientation[1<<20]; + + static void onMouse( int event, int x, int y, int, void* ) + { + if( selectObject ) + { + selection.x = MIN(x, origin.x); + selection.y = MIN(y, origin.y); + selection.width = std::abs(x - origin.x); + selection.height = std::abs(y - origin.y); + + selection &= Rect(0, 0, image.cols, image.rows); + } + + switch( event ) + { + case EVENT_LBUTTONDOWN: + origin = Point(x,y); + selection = Rect(x,y,0,0); + selectObject = true; + break; + case EVENT_LBUTTONUP: + selectObject = false; + if( selection.width > 0 && selection.height > 0 ) + trackObject = -1; + break; + } + } + + int opencv_HistogramBasedTracker() + { + SciErr sciErr; + int* piAddr = NULL; + int iRows = 0; + int iter = 0; + int iCols = 0; + int iRet = 0; + char** pstData = NULL; + + CheckInputArgument(pvApiCtx, 1, 1); + CheckOutputArgument(pvApiCtx, 1, 2); + + sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + iRet = getAllocatedMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, &pstData); + if(iRet) + { + freeAllocatedMatrixOfString(iRows, iCols, pstData); + return iRet; + } + sciErr = createMatrixOfString(pvApiCtx, nbInputArgument(pvApiCtx) + 1, iRows, iCols, pstData); + if(sciErr.iErr) + { + freeAllocatedMatrixOfString(iRows, iCols, pstData); + printError(&sciErr, 0); + return sciErr.iErr; + } + + VideoCapture cap(pstData[0]); + Rect trackWindow; + int hsize = 16; + float hranges[] = {0,180}; + const float* phranges = hranges; + namedWindow( "Video Player", 0 ); + setMouseCallback( "Video Player", onMouse, 0 ); + + Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj; + bool paused = false; + + for(;;) + { + if( !paused) + { + cap >> frame; + if( frame.empty() ) + break; + } + + frame.copyTo(image); + + if( !paused ) + { + cvtColor(image, hsv, COLOR_BGR2HSV); + + if( trackObject ) + { + int _vmin = vmin, _vmax = vmax; + + inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)), + Scalar(180, 256, MAX(_vmin, _vmax)), mask); + int ch[] = {0, 0}; + hue.create(hsv.size(), hsv.depth()); + mixChannels(&hsv, 1, &hue, 1, ch, 1); + + if( trackObject < 0 ) + { + Mat roi(hue, selection), maskroi(mask, selection); + calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges); + normalize(hist, hist, 0, 255, NORM_MINMAX); + + trackWindow = selection; + trackObject = 1; + + histimg = Scalar::all(0); + int binW = histimg.cols / hsize; + Mat buf(1, hsize, CV_8UC3); + for( int i = 0; i < hsize; i++ ) + buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255); + cvtColor(buf, buf, COLOR_HSV2BGR); + + for( int i = 0; i < hsize; i++ ) + { + int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255); + rectangle( histimg, Point(i*binW,histimg.rows), + Point((i+1)*binW,histimg.rows - val), + Scalar(buf.at<Vec3b>(i)), -1, 8 ); + } + } + + calcBackProject(&hue, 1, 0, hist, backproj, &phranges); + backproj &= mask; + RotatedRect trackBox = CamShift(backproj, trackWindow, + TermCriteria( TermCriteria::EPS | TermCriteria::COUNT, 10, 1 )); + if( trackWindow.area() <= 1 ) + { + int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6; + trackWindow = Rect(trackWindow.x - r, trackWindow.y - r, + trackWindow.x + r, trackWindow.y + r) & + Rect(0, 0, cols, rows); + } + + if( backprojMode ) + cvtColor( backproj, image, COLOR_GRAY2BGR ); + ellipse( image, trackBox, Scalar(0,0,255), 3, 16 ); + xcord[iter] = trackBox.center.x; + ycord[iter] = trackBox.center.y; + width[iter] = trackBox.size.width; + height[iter] = trackBox.size.height; + orientation[iter] = trackBox.angle; + iter++; + } + + } + else if( trackObject < 0 ) + paused = false; + + if( selectObject && selection.width > 0 && selection.height > 0 ) + { + Mat roi(image, selection); + bitwise_not(roi, roi); + } + imshow( "Video Player", image ); + char c = (char)waitKey(20); + if( c == 27 ) + break; + else if(c == 32) + paused = !paused; + else; + waitKey(20); + } + destroyAllWindows(); + + sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 4, &piAddr); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 1, 1, iter, xcord); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 2, 1, iter, ycord); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 3, 1, iter, width); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 4, 1, iter, height); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 1, &piAddr); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, piAddr, 1, 1, iter, orientation); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1; + AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx) + 2; + ReturnArguments(pvApiCtx); + backprojMode = false; + selectObject = false; + trackObject = 0; + return 0; + } + /* ==================================================================== */ +}
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