Add trackers

track-model.cpp

+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <iostream>
+#include <algorithm>
+#include <string>
+#include <vector>
+
+#include <dirent.h>
+#include <sys/types.h>
+#include <math.h>
+#include <assert.h>
+
+using namespace std;
+using namespace cv;
+
+#define WIN       "test"
+#define SCALE     0.003921569f
+
+typedef struct
+{
+  Point tl, br;
+  Mat   img;
+}
+Data;
+
+static Scalar BLACK (0  , 0  , 0  );
+static Scalar RED   (0  , 0  , 255);
+static Scalar GREEN (0  , 255, 0  );
+static Scalar BLUE  (255, 0  , 0  );
+
+static inline void
+draw_cross (Mat          &img,
+            Point  const &point,
+            Scalar const &color)
+{
+  Point d (3, 3);
+  line (img, point - d, point + d, color, 1, LINE_AA, 0);
+  d = Point (-3, 3);
+  line (img, point - d, point + d, color, 1, LINE_AA, 0);
+}
+
+static inline Mat
+load_image (string const &name)
+{
+  Mat tmp = imread (name);
+  tmp.convertTo (tmp, CV_32FC3, SCALE);
+  return tmp;
+}
+
+static vector<string>
+read_directory (char const *path)
+{
+  vector<string> result;
+  dirent *de;
+  DIR *dp;
+  string prefix (path);
+
+  dp = opendir (path);
+  if (dp)
+  {
+    while (true)
+    {
+      de = readdir (dp);
+      if (de == NULL)
+        break;
+      if (strlen (de->d_name) > 5)
+        result.push_back (prefix + string (de->d_name));
+    }
+    closedir (dp);
+    sort (result.begin(), result.end());
+  }
+  return result;
+}
+
+static Mat
+get_avg_image (vector<string> &seq)
+{
+  Mat img = load_image (seq[0]);
+
+  for (unsigned int i = 1; i < seq.size (); i++)
+    img += load_image (seq[i]);
+
+  return img / seq.size ();
+}
+
+static inline bool
+is_valid_detection (int          area,
+                    Point const &curr,
+                    Point const &prev)
+{
+  int max_dist = 20;
+  int min_area = 10;
+
+  /* Area needs to be large enough */
+  if (area < min_area)
+    return false;
+
+  /* If no previous localtion, we use this detection */
+  if (prev.x < 0)
+    return true;
+
+  /* Make sure we're not too far from previous position */
+  if (abs (curr.x - prev.x) > max_dist)
+    return false;
+  if (abs (curr.y - prev.y) > max_dist)
+    return false;
+
+  return true;
+}
+
+static Point
+detect_object (Mat   const &stats,
+               Mat   const &centroids,
+               Point const &prev)
+{
+  int limit = stats.size ().height;
+  vector<Point> candidates;
+  vector<int> areas;
+
+  for (int i = 1; i < limit; i++)
+    {
+      Point curr (centroids.at<double> (i, 0), centroids.at<double> (i, 1));
+      if (is_valid_detection (stats.at<int> (i, CC_STAT_AREA), curr, prev))
+        {
+          candidates.push_back (curr);
+          areas.push_back (stats.at<int> (i, CC_STAT_AREA));
+        }
+    }
+
+  if (candidates.size () == 0)
+    /* No detection in this frame */
+    return Point (-1, -1);
+
+  /* Find largets area */
+  int best = 0;
+  for (unsigned int i = 1; i < candidates.size (); i++)
+    if (areas[i] > areas[best])
+      best = i;
+  return candidates[best];
+}
+
+int
+main (int        ,
+      char **argv)
+{
+  vector<string> seq = read_directory (argv[1]);
+
+  Mat avg = get_avg_image (seq);
+  imshow (WIN, avg);
+  waitKey ();
+
+  Point p (-1, -1);
+  for (unsigned int i = 0; i < seq.size (); i++)
+    {
+      Mat img = load_image (seq[i]);
+      Mat diff = cv::abs (avg - img);
+      cvtColor (diff, diff, CV_BGR2GRAY);
+      threshold (diff, diff, 0.3, 1.0, THRESH_BINARY);
+      diff.convertTo (diff, CV_8U, 255);
+      morphologyEx (diff, diff, MORPH_CLOSE,
+                    getStructuringElement (MORPH_RECT, Size (5, 5)));
+
+      Mat labels, stats, centroids;
+      connectedComponentsWithStats (diff, labels, stats, centroids);
+      Point detected = detect_object (stats, centroids, p);
+
+      cvtColor (diff, diff, CV_GRAY2BGR);
+      if (detected.x >= 0)
+        {
+          p = detected;
+          draw_cross (diff, p, RED);
+        }
+
+      imshow (WIN, diff);
+      waitKey ();
+    }
+
+  return 0;
+}

track.cpp

+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <iostream>
+#include <algorithm>
+#include <string>
+#include <vector>
+
+#include <dirent.h>
+#include <sys/types.h>
+#include <math.h>
+#include <assert.h>
+
+using namespace std;
+using namespace cv;
+
+#define WIN       "test"
+#define SCALE     0.003921569f
+
+typedef struct
+{
+  Point tl, br;
+  Mat   img;
+}
+Data;
+
+static Scalar BLACK (0  , 0  , 0  );
+static Scalar RED   (0  , 0  , 255);
+static Scalar GREEN (0  , 255, 0  );
+static Scalar BLUE  (255, 0  , 0  );
+
+static inline void
+draw_cross (Mat          &img,
+            Point  const &point,
+            Scalar const &color)
+{
+  Point d (3, 3);
+  line (img, point - d, point + d, color, 1, LINE_AA, 0);
+  d = Point (-3, 3);
+  line (img, point - d, point + d, color, 1, LINE_AA, 0);
+}
+
+static inline Mat
+load_image (string const &name)
+{
+  Mat tmp = imread (name);
+  tmp.convertTo (tmp, CV_32FC3, SCALE);
+  return tmp;
+}
+
+static vector<string>
+read_directory (char const *path)
+{
+  vector<string> result;
+  dirent *de;
+  DIR *dp;
+  string prefix (path);
+
+  dp = opendir (path);
+  if (dp)
+  {
+    while (true)
+    {
+      de = readdir (dp);
+      if (de == NULL)
+        break;
+      if (strlen (de->d_name) > 5)
+        result.push_back (prefix + string (de->d_name));
+    }
+    closedir (dp);
+    sort (result.begin(), result.end());
+  }
+  return result;
+}
+
+static Mat
+get_avg_image (vector<string> &seq)
+{
+  Mat img = load_image (seq[0]);
+
+  for (unsigned int i = 1; i < seq.size (); i++)
+    img += load_image (seq[i]);
+
+  return img / seq.size ();
+}
+
+static inline bool
+is_valid_detection (int          area,
+                    Point const &curr,
+                    Point const &prev)
+{
+  int max_dist = 20;
+  int min_area = 10;
+
+  /* Area needs to be large enough */
+  if (area < min_area)
+    return false;
+
+  /* If no previous localtion, we use this detection */
+  if (prev.x < 0)
+    return true;
+
+  /* Make sure we're not too far from previous position */
+  if (abs (curr.x - prev.x) > max_dist)
+    return false;
+  if (abs (curr.y - prev.y) > max_dist)
+    return false;
+
+  return true;
+}
+
+static Point
+detect_object (Mat   const &stats,
+               Mat   const &centroids,
+               Point const &prev)
+{
+  int limit = stats.size ().height;
+  vector<Point> candidates;
+  vector<int> areas;
+
+  for (int i = 1; i < limit; i++)
+    {
+      Point curr (centroids.at<double> (i, 0), centroids.at<double> (i, 1));
+      if (is_valid_detection (stats.at<int> (i, CC_STAT_AREA), curr, prev))
+        {
+          candidates.push_back (curr);
+          areas.push_back (stats.at<int> (i, CC_STAT_AREA));
+        }
+    }
+
+  if (candidates.size () == 0)
+    /* No detection in this frame */
+    return Point (-1, -1);
+
+  /* Find largets area */
+  int best = 0;
+  for (unsigned int i = 1; i < candidates.size (); i++)
+    if (areas[i] > areas[best])
+      best = i;
+  return candidates[best];
+}
+
+int
+main (int        ,
+      char **argv)
+{
+  vector<string> seq = read_directory (argv[1]);
+
+  Mat avg = get_avg_image (seq);
+  imshow (WIN, avg);
+  waitKey ();
+
+  Point p (-1, -1);
+  for (unsigned int i = 0; i < seq.size (); i++)
+    {
+      Mat img = load_image (seq[i]);
+      Mat diff = cv::abs (avg - img);
+      cvtColor (diff, diff, CV_BGR2GRAY);
+      threshold (diff, diff, 0.3, 1.0, THRESH_BINARY);
+      diff.convertTo (diff, CV_8U, 255);
+      morphologyEx (diff, diff, MORPH_CLOSE,
+                    getStructuringElement (MORPH_RECT, Size (5, 5)));
+
+      Mat labels, stats, centroids;
+      connectedComponentsWithStats (diff, labels, stats, centroids);
+      Point detected = detect_object (stats, centroids, p);
+
+      cvtColor (diff, diff, CV_GRAY2BGR);
+      if (detected.x >= 0)
+        {
+          p = detected;
+          draw_cross (diff, p, RED);
+        }
+
+      imshow (WIN, diff);
+      waitKey ();
+    }
+
+  return 0;
+}