- defined COLORs added legend

- ocv_template_mnatching uses video
2024-07-01 12:28:47 +02:00
parent 50bb0433f1
commit 0189e02bbc
3 changed files with 93 additions and 46 deletions
@@ -1,8 +1,15 @@
 import cv2
 import sys
+import imutils as im

 from util import bbox_extend, bbox_round, image_crop, to_rect, bbox_add_position

+COLOR_TRACKER = (0, 255, 0)
+COLOR_TRACKER_EXT = (0, 255, 255)
+COLOR_MATCHER = (0, 0, 255)
+COLOR_TEMPLATE = (255, 0, 0)
+IMG_SCALE_UP = 1
+TEMPLATE_MATCH_OVERLAP = 1

 video = cv2.VideoCapture("./data/IMG_1730.MP4")

@@ -18,35 +25,65 @@ if not ok:
 	print('Cannot read video file')
 	sys.exit()

-bb_crop = bbox_extend(cv2.selectROI("Image", image, False), 1)
+bb_crop = bbox_extend(cv2.selectROI("Image", image, False), TEMPLATE_MATCH_OVERLAP)
 crop = image_crop(image.copy(), bb_crop)

 bb_template = cv2.selectROI("Image", crop, False)
 template = image_crop(crop, bb_template)

-# Perform template match operations
-res = cv2.matchTemplate(crop, template, cv2.TM_CCOEFF_NORMED)
-(min_val, max_val, min_loc, max_loc) = cv2.minMaxLoc(res)
-
-matcher_bbox_local = (max_loc[0], max_loc[1], template.shape[1], template.shape[0])
-matcher_top_left_local, matcher_bottom_right_local = to_rect(matcher_bbox_local)
-
-matcher_bbox_global = bbox_round(bbox_add_position(matcher_bbox_local, bb_crop))
-matcher_top_left_global, matcher_bottom_right_global = to_rect(matcher_bbox_global)
-
-template_top_left, template_bottom_right = to_rect(bb_template)
-
-cv2.rectangle(crop, template_top_left, template_bottom_right, (255, 0, 0), 3)
-cv2.rectangle(crop, matcher_top_left_local, matcher_bottom_right_local, (0, 255, 0), 1)
-
-cv2.rectangle(image, matcher_top_left_global, matcher_bottom_right_global, (0, 0, 255), 1)
-
-cv2.imshow("Crop", crop)
-cv2.imshow("Image", image)
-cv2.imshow("Matcher", res)
+# Initialize tracker with first frame and bounding box
+tracker = cv2.TrackerKCF().create()
+tracker.init(image, bb_crop)

 while True:
+	# Read a new frame
+	ok, image = video.read()
+	if not ok:
+		break
+
+	# Start timer
+	timer = cv2.getTickCount()
+
+	# Update tracker
+	ok, bb_crop = tracker.update(image)
+	crop = image_crop(image.copy(), bb_crop)
+	image_anno = image.copy()
+
+	if ok:
+		# Perform template match operations
+		crop_scaled = im.resize(crop, IMG_SCALE_UP * crop.shape[0], IMG_SCALE_UP * crop.shape[1])
+		template_scaled = im.resize(template, IMG_SCALE_UP * template.shape[0], IMG_SCALE_UP * template.shape[1])
+		res = cv2.matchTemplate(crop_scaled, template_scaled, cv2.TM_CCOEFF_NORMED)
+		(min_val, max_val, min_loc, max_loc) = cv2.minMaxLoc(res)
+
+		matcher_bbox_local = (max_loc[0]/IMG_SCALE_UP, max_loc[1]/IMG_SCALE_UP, template.shape[1], template.shape[0])
+		matcher_top_left_local, matcher_bottom_right_local = to_rect(bbox_round(matcher_bbox_local))
+
+		matcher_bbox = bbox_round(bbox_add_position(matcher_bbox_local, bb_crop))
+		matcher_rect = to_rect(matcher_bbox)
+
+		tracker_rect = to_rect(bb_crop)
+		template_top_left, template_bottom_right = to_rect(bb_template)
+
+		cv2.rectangle(crop, template_top_left, template_bottom_right, COLOR_TEMPLATE, 3)
+		cv2.rectangle(crop, matcher_top_left_local, matcher_bottom_right_local, COLOR_MATCHER, 1)
+
+		cv2.rectangle(image_anno, matcher_rect[0], matcher_rect[1], COLOR_MATCHER, 1)
+		cv2.rectangle(image_anno, tracker_rect[0], tracker_rect[1], COLOR_TRACKER, 1)
+		matcher_crop = image_crop(image, matcher_bbox)
+
+		cv2.imshow("Crop", crop)
+		cv2.imshow("Image", image_anno)
+		cv2.imshow("Matcher res", res)
+		cv2.imshow("Matcher view", matcher_crop)
+
+	while True:
 		# Exit if ESC pressed
 		k = cv2.waitKey(1) & 0xff
 		if k == 27:
 			break
+		if k == 32:
+			break
+
+	if k == 27:
+		break
@@ -6,16 +6,16 @@ from template_matcher import template_match_rotation
 from util import bbox_extend, bbox_round, process_image_bbox, image_crop, bbox_add_position, to_rect

 IMG_SCALE_UP = 1
-TEMPLATE_MATCH_OVERLAP = 0.5
+TEMPLATE_MATCH_OVERLAP = 1


 def match(source, template, angle, center):
 	# coarse
-	angle_c, loc = template_match_rotation(source, template, angle, center)
+	angle_c, loc, res = template_match_rotation(source, template, angle, center)
 	# fine
-	angle, loc = template_match_rotation(source, template, angle_c, center, rot_min=-0.25, rot_max=+0.25, n_steps=20, scale=IMG_SCALE_UP)
+	angle, loc, res = template_match_rotation(source, template, angle_c, center, rot_min=-0.25, rot_max=+0.25, n_steps=20, scale=IMG_SCALE_UP)

-	return angle, loc
+	return angle, loc, res


 class Reference:
@@ -85,6 +85,9 @@ print(f"ref_center = {ref_center}")
 tracker.create()
 tracker.init(frame_init, bbox_template)

+COLOR_TRACKER = (0, 255, 0)
+COLOR_TRACKER_EXT = (0, 255, 255)
+COLOR_MATCHER = (0, 0, 255)
 current_angle = 0
 path = []
 line_from = None
@@ -100,39 +103,40 @@ while True:

 	# Update tracker
 	ok, bbox_tracker = tracker.update(frame)
-
+	print(f"Bbox Tracker: {bbox_tracker}")
 	image_template_rotated = image_template
 	bbox_tracker_ext = bbox_extend(bbox_tracker, TEMPLATE_MATCH_OVERLAP)

 	if ok:
-		image_bbox = process_image_bbox(image_crop(frame, bbox_tracker_ext))
-		current_angle, max_loc = match(image_bbox, image_template, current_angle, ref_center)
+		crop = image_crop(frame.copy(), bbox_tracker_ext)
+		current_angle, max_loc, matcher_res = match(process_image_bbox(crop), image_template, current_angle, ref_center)

 		# determine the starting and ending (x, y)-coordinates of the
 		# bounding box
-		(startX, startY) = max_loc
-		print(f"current_angle: {current_angle:.2f}, startX: {startX}, startY: {startY}")
 		image_template_rotated = im.rotate(image_template, current_angle, center=ref_center)

 		# Matcher
-		matcher_bbox = (max_loc[0], max_loc[1], image_template.shape[1], image_template.shape[0])
-		matcher_bbox_global = bbox_round(bbox_add_position(matcher_bbox, bbox_tracker_ext))
-		matcher_top_left, matcher_bottom_right = to_rect(matcher_bbox_global)
-		cv2.rectangle(frame, matcher_top_left, matcher_bottom_right, (255, 0, 0), 2)
+		matcher_bbox_local = (max_loc[0], max_loc[1], image_template.shape[1], image_template.shape[0])
+		matcher_rect_local = to_rect(bbox_round(matcher_bbox_local))
+
+		matcher_bbox = bbox_round(bbox_add_position(matcher_bbox_local, bbox_tracker))
+		matcher_rect = to_rect(matcher_bbox)

 		# Tracker
-		tracker_top_left, tracker_bottom_right = to_rect(bbox_round(bbox_tracker))
-		cv2.rectangle(frame, tracker_top_left, tracker_bottom_right, (0, 0, 255), 2)
+		tracker_rect = to_rect(bbox_round(bbox_tracker))

 		# Tracker ext
-		tracker_top_left, tracker_bottom_right = to_rect(bbox_round(bbox_tracker_ext))
-		cv2.rectangle(frame, tracker_top_left, tracker_bottom_right, (255, 0, 255), 2)
+		tracker_ext_rect = to_rect(bbox_round(bbox_tracker_ext))
+
+		cv2.rectangle(frame, tracker_ext_rect[0], tracker_ext_rect[1], COLOR_TRACKER_EXT, 2)
+		cv2.rectangle(frame, tracker_rect[0], tracker_rect[1], COLOR_TRACKER, 2)
+		cv2.rectangle(frame, matcher_rect[0], matcher_rect[1], COLOR_MATCHER, 1)

 		# Calculate Frames per second (FPS)
 		fps = cv2.getTickFrequency() / (cv2.getTickCount() - timer)

 		# Draw path
-		line_to = (round(startX + bbox_tracker[0]), round(startY + bbox_tracker[1]))
+		line_to = matcher_rect[0]
 		if line_from is not None:
 			path.append({'from': line_from, 'to': line_to})
 		line_from = line_to
@@ -145,16 +149,20 @@ while True:
 		cv2.putText(frame, "Tracking failure detected", (100, 80), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 0, 255), 2)

 	# Display tracker type on frame
-	cv2.putText(frame, tracker_type + " Tracker", (100, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (50, 170, 50), 2)
+	cv2.putText(frame, tracker_type + " Tracker", (100, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.75, COLOR_TRACKER, 2)
+	cv2.putText(frame, tracker_type + " Tracker Ext", (100, 60), cv2.FONT_HERSHEY_SIMPLEX, 0.75, COLOR_TRACKER_EXT, 2)
+	cv2.putText(frame, tracker_type + " Matcher", (100, 100), cv2.FONT_HERSHEY_SIMPLEX, 0.75, COLOR_MATCHER, 2)

 	# Display FPS on frame
-	cv2.putText(frame, "FPS : " + str(int(fps)), (100, 50), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (50, 170, 50), 2)
+	cv2.putText(frame, "FPS : " + str(int(fps)), (100, 140), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (50, 170, 50), 2)

 	# Display result
 	cv2.imshow("Frame", frame)
+	cv2.imshow("Matcher", matcher_res)
+	cv2.imshow("Crop", image_crop(frame.copy(), matcher_bbox))

 	# Exit if ESC pressed
-	k = cv2.waitKey(1) & 0xff
+	k = cv2.waitKey(100) & 0xff
 	if k == 27:
 		break

@@ -8,7 +8,8 @@ def template_match_rotation(source, template, angle, center, rot_min=-1.0, rot_m
 	best_angle = 0
 	best_r = 0
 	best_max_loc = 0
-	r = 0
+	best_res = None
+
 	im_source = im.resize(source, scale * source.shape[0], scale * source.shape[1])
 	for dangle in np.linspace(rot_min, rot_max, n_steps):
 		# rotated and scale up to IMG_SCALE_UP-size
@@ -23,6 +24,7 @@ def template_match_rotation(source, template, angle, center, rot_min=-1.0, rot_m
 			best_r = r
 			best_angle = dangle
 			best_max_loc = (maxLoc[0]/scale, maxLoc[1]/scale)
+			best_res = res
 		else:
 			break

@@ -30,4 +32,4 @@ def template_match_rotation(source, template, angle, center, rot_min=-1.0, rot_m
 	loc_x = best_max_loc[0]
 	loc_y = best_max_loc[1]

-	return angle, (loc_x, loc_y)
+	return angle, (loc_x, loc_y), best_res