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ObjectTracking.cpp
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ObjectTracking.cpp
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// ObjectTrackingCPP.cpp
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
#include<iostream>
#include<conio.h> // it may be necessary to change or remove this line if not using Windows
#include "Blob.h"
#define SHOW_STEPS // un-comment or comment this line to show steps or not
// global variables ///////////////////////////////////////////////////////////////////////////////
const cv::Scalar SCALAR_BLACK = cv::Scalar(0.0, 0.0, 0.0);
const cv::Scalar SCALAR_WHITE = cv::Scalar(255.0, 255.0, 255.0);
const cv::Scalar SCALAR_YELLOW = cv::Scalar(0.0, 255.0, 255.0);
const cv::Scalar SCALAR_GREEN = cv::Scalar(0.0, 200.0, 0.0);
const cv::Scalar SCALAR_RED = cv::Scalar(0.0, 0.0, 255.0);
// function prototypes ////////////////////////////////////////////////////////////////////////////
void matchCurrentFrameBlobsToExistingBlobs(std::vector<Blob> &existingBlobs, std::vector<Blob> ¤tFrameBlobs);
void addBlobToExistingBlobs(Blob ¤tFrameBlob, std::vector<Blob> &existingBlobs, int &intIndex);
void addNewBlob(Blob ¤tFrameBlob, std::vector<Blob> &existingBlobs);
double distanceBetweenPoints(cv::Point point1, cv::Point point2);
void drawAndShowContours(cv::Size imageSize, std::vector<std::vector<cv::Point> > contours, std::string strImageName);
void drawAndShowContours(cv::Size imageSize, std::vector<Blob> blobs, std::string strImageName);
void drawBlobInfoOnImage(std::vector<Blob> &blobs, cv::Mat &imgFrame2Copy);
///////////////////////////////////////////////////////////////////////////////////////////////////
int main(void) {
cv::VideoCapture capVideo;
cv::Mat imgFrame1;
cv::Mat imgFrame2;
std::string path;
int k_cicles = 0;
// This variable is false on default, it only becomes true when a background is rejected.
bool background_rejected = false;
// Begins with '0' to demonstrate that there is no valid background yet.
int background_valid = 0;
// For future processing (tracking process)
int imageHeight = imgFrame1.size().height;
int imageWidth = imgFrame1.size().width;
double imageDiagonal = sqrt(imageHeight * imageWidth);
std::vector<Blob> blobs;
capVideo.open("jack.avi");
if (!capVideo.isOpened()) { // if unable to open video file
std::cout << "error reading video file" << std::endl << std::endl; // show error message
_getch(); // it may be necessary to change or remove this line if not using Windows
return(0); // and exit program
}
if (capVideo.get(CV_CAP_PROP_FRAME_COUNT) < 2) {
std::cout << "error: video file must have at least two frames";
_getch();
return(0);
}
capVideo.read(imgFrame1);
capVideo.read(imgFrame2);
// Show the First frame to compare with the proposed background.
cv::imshow("imgOriginal", imgFrame1);
char chCheckForEscKey = 0;
bool blnFirstFrame = true;
int frameCount = 2;
while (capVideo.isOpened() && chCheckForEscKey != 27) {
std::vector<Blob> currentFrameBlobs;
// Copy of the frames to be used in subtraction.
cv::Mat imgFrame1Copy = imgFrame1.clone();
cv::Mat imgFrame2Copy = imgFrame2.clone();
// Este save de imagens no disco é uma ordem ao OpenCV, sobre a Mat respectiva:
if (k_cicles == 25 || k_cicles == 50 || k_cicles == 114 || k_cicles == 133 || k_cicles == 240 || k_cicles == 792)
{
// CvCapture *pCapturedImage = cvCreateFileCapture("jack.avi");
// IplImage *pSaveImg = imgFrame2Copy;
//cvSaveImage("D:\Visual Studio 2017\Projects\MultipleObjectTracking\MultipleObjectTracking\Images", pSaveImg);
// path = "D:\Visual Studio 2017\Projects\MultipleObjectTracking\MultipleObjectTracking\Images" + k_cicles; + "_1_Img_Frame2.png";
// cv::imwrite(path, imgFrame2Copy);
}
cv::Mat imgDifference;
cv::Mat imgThresh;
cv::cvtColor(imgFrame1Copy, imgFrame1Copy, CV_BGR2GRAY);
cv::cvtColor(imgFrame2Copy, imgFrame2Copy, CV_BGR2GRAY);
cv::GaussianBlur(imgFrame1Copy, imgFrame1Copy, cv::Size(5, 5), 0);
cv::GaussianBlur(imgFrame2Copy, imgFrame2Copy, cv::Size(5, 5), 0);
cv::absdiff(imgFrame1Copy, imgFrame2Copy, imgDifference);
cv::threshold(imgDifference, imgThresh, 22.5, 255.0, CV_THRESH_BINARY);
cv::imshow("imgThresh", imgThresh);
cv::Mat structuringElement3x3 = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));
cv::Mat structuringElement5x5 = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(5, 5));
cv::Mat structuringElement7x7 = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(7, 7));
cv::Mat structuringElement9x9 = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(9, 9));
/*
cv::dilate(imgThresh, imgThresh, structuringElement7x7);
cv::erode(imgThresh, imgThresh, structuringElement3x3);
*/
cv::dilate(imgThresh, imgThresh, structuringElement5x5);
cv::dilate(imgThresh, imgThresh, structuringElement5x5);
cv::erode(imgThresh, imgThresh, structuringElement5x5);
cv::Mat imgThreshCopy = imgThresh.clone();
std::vector<std::vector<cv::Point> > contours;
cv::findContours(imgThreshCopy, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
drawAndShowContours(imgThresh.size(), contours, "imgContours");
std::vector<std::vector<cv::Point> > convexHulls(contours.size());
for (unsigned int i = 0; i < contours.size(); i++) {
cv::convexHull(contours[i], convexHulls[i]);
}
drawAndShowContours(imgThresh.size(), convexHulls, "imgConvexHulls");
for (auto &convexHull : convexHulls) {
Blob possibleBlob(convexHull);
if (possibleBlob.currentBoundingRect.area() > 100 &&
possibleBlob.dblCurrentAspectRatio >= 0.2 &&
possibleBlob.dblCurrentAspectRatio <= 1.25 &&
possibleBlob.currentBoundingRect.width > 20 &&
possibleBlob.currentBoundingRect.height > 20 &&
possibleBlob.dblCurrentDiagonalSize > 30.0 &&
(cv::contourArea(possibleBlob.currentContour) / (double)possibleBlob.currentBoundingRect.area()) > 0.40) {
currentFrameBlobs.push_back(possibleBlob);
}
}
drawAndShowContours(imgThresh.size(), currentFrameBlobs, "imgCurrentFrameBlobs");
if (blnFirstFrame == true) {
for (auto ¤tFrameBlob : currentFrameBlobs) {
blobs.push_back(currentFrameBlob);
}
}
else {
matchCurrentFrameBlobsToExistingBlobs(blobs, currentFrameBlobs);
}
drawAndShowContours(imgThresh.size(), blobs, "imgBlobs");
imgFrame2Copy = imgFrame2.clone(); // get another copy of frame 2 since we changed the previous frame 2 copy in the processing above
drawBlobInfoOnImage(blobs, imgFrame2Copy);
cv::imshow("imgFrame2Copy", imgFrame2Copy);
//cv::waitKey(0); // uncomment this line to go frame by frame for debugging
// now we prepare for the next iteration
currentFrameBlobs.clear();
imgFrame1 = imgFrame2.clone(); // move frame 1 up to where frame 2 is
if ((capVideo.get(CV_CAP_PROP_POS_FRAMES) + 1) < capVideo.get(CV_CAP_PROP_FRAME_COUNT)) {
capVideo.read(imgFrame2);
}
else {
std::cout << "end of video\n";
break;
}
blnFirstFrame = false;
frameCount++;
chCheckForEscKey = cv::waitKey(1);
}
if (chCheckForEscKey != 27) { // if the user did not press esc (i.e. we reached the end of the video)
cv::waitKey(0); // hold the windows open to allow the "end of video" message to show
}
// note that if the user did press esc, we don't need to hold the windows open, we can simply let the program end which will close the windows
return(0);
}
///////////////////////////////////////////////////////////////////////////////////////////////////
void matchCurrentFrameBlobsToExistingBlobs(std::vector<Blob> &existingBlobs, std::vector<Blob> ¤tFrameBlobs) {
for (auto &existingBlob : existingBlobs) {
existingBlob.blnCurrentMatchFoundOrNewBlob = false;
existingBlob.predictNextPosition();
if (existingBlob.dblHeight > existingBlob.dblWidth) {
existingBlob.isPerson = true;
}
if (existingBlob.dblHeight < existingBlob.dblWidth) {
existingBlob.isVehicle = true;
}
}
for (auto ¤tFrameBlob : currentFrameBlobs) {
int intIndexOfLeastDistance = 0;
double dblLeastDistance = 100000.0;
for (unsigned int i = 0; i < existingBlobs.size(); i++) {
if (existingBlobs[i].blnStillBeingTracked == true) {
double dblDistance = distanceBetweenPoints(currentFrameBlob.centerPositions.back(), existingBlobs[i].predictedNextPosition);
if (dblDistance < dblLeastDistance) {
dblLeastDistance = dblDistance;
intIndexOfLeastDistance = i;
}
}
}
if (currentFrameBlob.dblHeight > currentFrameBlob.dblWidth) {
currentFrameBlob.isPerson = true;
}
if (currentFrameBlob.dblHeight < currentFrameBlob.dblWidth) {
currentFrameBlob.isVehicle = true;
}
// Matching persons with persons
if (dblLeastDistance < currentFrameBlob.dblCurrentDiagonalSize * 1.15) { // faz sentido usar diagonal size
addBlobToExistingBlobs(currentFrameBlob, existingBlobs, intIndexOfLeastDistance);
}
else {
addNewBlob(currentFrameBlob, existingBlobs);
}
// Matching vehicles with vehicles
/*if (dblLeastDistance < currentFrameBlob.dblCurrentDiagonalSize * 1.15 && currentFrameBlob.isVehicle == true && currentFrameBlob.isPerson == false) { // faz sentido usar diagonal size
addBlobToExistingBlobs(currentFrameBlob, existingBlobs, intIndexOfLeastDistance);
}
else {
addNewBlob(currentFrameBlob, existingBlobs);
*/
}
for (auto &existingBlob : existingBlobs) {
if (existingBlob.blnCurrentMatchFoundOrNewBlob == false) {
existingBlob.intNumOfConsecutiveFramesWithoutAMatch++;
}
if (existingBlob.intNumOfConsecutiveFramesWithoutAMatch >= 5) {
existingBlob.blnStillBeingTracked = false;
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////
void addBlobToExistingBlobs(Blob ¤tFrameBlob, std::vector<Blob> &existingBlobs, int &intIndex) {
existingBlobs[intIndex].currentContour = currentFrameBlob.currentContour;
existingBlobs[intIndex].currentBoundingRect = currentFrameBlob.currentBoundingRect;
existingBlobs[intIndex].centerPositions.push_back(currentFrameBlob.centerPositions.back());
existingBlobs[intIndex].dblCurrentDiagonalSize = currentFrameBlob.dblCurrentDiagonalSize;
existingBlobs[intIndex].dblCurrentAspectRatio = currentFrameBlob.dblCurrentAspectRatio;
existingBlobs[intIndex].blnStillBeingTracked = true;
existingBlobs[intIndex].blnCurrentMatchFoundOrNewBlob = true;
}
///////////////////////////////////////////////////////////////////////////////////////////////////
void addNewBlob(Blob ¤tFrameBlob, std::vector<Blob> &existingBlobs) {
currentFrameBlob.blnCurrentMatchFoundOrNewBlob = true;
existingBlobs.push_back(currentFrameBlob);
}
///////////////////////////////////////////////////////////////////////////////////////////////////
double distanceBetweenPoints(cv::Point point1, cv::Point point2) {
int intX = abs(point1.x - point2.x);
int intY = abs(point1.y - point2.y);
return(sqrt(pow(intX, 2) + pow(intY, 2)));
}
///////////////////////////////////////////////////////////////////////////////////////////////////
void drawAndShowContours(cv::Size imageSize, std::vector<std::vector<cv::Point> > contours, std::string strImageName) { // desenhar contornos
cv::Mat image(imageSize, CV_8UC3, SCALAR_BLACK);
cv::drawContours(image, contours, -1, SCALAR_WHITE, -1);
cv::imshow(strImageName, image);
}
///////////////////////////////////////////////////////////////////////////////////////////////////
void drawAndShowContours(cv::Size imageSize, std::vector<Blob> blobs, std::string strImageName) { // desenhar contornos em blobs
cv::Mat image(imageSize, CV_8UC3, SCALAR_BLACK);
std::vector<std::vector<cv::Point> > contours;
for (auto &blob : blobs) {
if (blob.blnStillBeingTracked == true) {
contours.push_back(blob.currentContour);
}
}
cv::drawContours(image, contours, -1, SCALAR_WHITE, -1);
cv::imshow(strImageName, image);
}
///////////////////////////////////////////////////////////////////////////////////////////////////
void drawBlobInfoOnImage(std::vector<Blob> &blobs, cv::Mat &imgFrame2Copy) {
for (unsigned int i = 0; i < blobs.size(); i++) {
if (blobs[i].dblWidth > blobs[i].dblHeight) {
if (blobs[i].blnStillBeingTracked == true) {
cv::rectangle(imgFrame2Copy, blobs[i].currentBoundingRect, SCALAR_RED, 2);
int intFontFace = CV_FONT_HERSHEY_DUPLEX;
double dblFontScale = 0.3;
int intFontThickness = (int)std::round(dblFontScale * 1.0);
cv::putText(imgFrame2Copy, "Vehicle(s)", blobs[i].leftCorner.back(), intFontFace, dblFontScale, SCALAR_GREEN, intFontThickness, false);
}
}
else if (blobs[i].dblHeight >= blobs[i].dblWidth)
{
if (blobs[i].blnStillBeingTracked == true) {
cv::rectangle(imgFrame2Copy, blobs[i].currentBoundingRect, SCALAR_YELLOW, 2);
int intFontFace = CV_FONT_HERSHEY_DUPLEX;
double dblFontScale = 0.3;
int intFontThickness = (int)std::round(dblFontScale * 1.0);
cv::putText(imgFrame2Copy, "Person(s)", blobs[i].leftCorner.back(), intFontFace, dblFontScale, SCALAR_GREEN, intFontThickness, false);
}
}
}
}