jens/ocv_template_matching
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removed IMAGE_DEBUG

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jens
2024-07-06 16:12:13 +02:00
parent 546020f971
commit 2f824f6232
1 changed files with 19 additions and 47 deletions
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ocv_corner_tracker.py
+19 -47
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@@ -1,6 +1,5 @@
import cv2
import numpy as np
import imutils as im
import argparse
from util import image_crop, to_rect, bbox_add_position, bbox_center, bbox_round
@@ -15,53 +14,35 @@ COLOR_TEMPLATE = (255, 0, 0)
COLOR_TRACK = (255, 255, 0)
COLOR_CIRCLE = (0, 255, 0)
TEMPLATE_MATCH_OVERLAP = 0
CONSOLE_DEBUG = False
IMAGE_DEBUG = False
class Corner:
def __init__(self, reference: np.array, bbox: np.array, name: str = 'Corner'):
self.ref = {'image': reference, 'bbox': bbox, 'offset': (0, 0)}
def __init__(self, _ref_img: np.array, _ref_bb: np.array, name: str = 'Corner'):
self.ref_img = _ref_img
self.ref_bb = _ref_bb
self.ref_offset = (0, 0)
self.name = name
self._path = []
self.line_from = None
self.first_frame = True
def _debug(self, _image, matcher_res, matcher_start_x, matcher_start_y, template_scaled, crop_scaled):
template_img = self.ref['image']
offset = self.ref['offset']
def _debug(self, _image, matcher_res, matcher_start_x, matcher_start_y):
(min_val, max_val, min_loc, max_loc) = cv2.minMaxLoc(matcher_res)
self._print(f"(min_val, max_val, min_loc, max_loc): {(min_val, max_val, min_loc, max_loc)}")
self._print(f"matcher_start : {(matcher_start_x, matcher_start_y)}")
self._print(f"matcher_res : {matcher_res.shape}")
self._print(f"crop : {_image.shape}")
self._print(f"crop_scaled : {crop_scaled.shape}")
self._print(f"template : {template_img.shape}")
self._print(f"template_scaled : {template_scaled.shape}")
self._print(f"offset : {offset}")
if IMAGE_DEBUG:
matcher_bbox_local = (matcher_start_x, matcher_start_y, template_img.shape[1], template_img.shape[0])
matcher_crop = image_crop(_image, matcher_bbox_local)
cv2.imshow(f"{self.name}: Matcher res", matcher_res)
cv2.imshow(f"{self.name}: Matcher view", matcher_crop)
self._print(f"template : {self.ref_img.shape}")
self._print(f"offset : {self.ref_offset}")
def _print(self, s):
if CONSOLE_DEBUG:
print(f"{self.name}: {s}")
def process(self, _image: np.array):
_image_anno = _image.copy()
template = self.ref['image']
bb_template = self.ref['bbox']
# Match
matcher_res = cv2.matchTemplate(_image, template, cv2.TM_CCOEFF_NORMED)
matcher_res = cv2.matchTemplate(_image, self.ref_img, cv2.TM_CCOEFF_NORMED)
(min_val, max_val, min_loc, max_loc) = cv2.minMaxLoc(matcher_res)
# Get matcher coord
@@ -71,17 +52,17 @@ class Corner:
# Store offset at first frame
if self.first_frame:
self.first_frame = False
offset_x = matcher_start_x - bb_template[0]
offset_y = matcher_start_y - bb_template[1]
self.ref['offset'] = (offset_x, offset_y)
offset_x = matcher_start_x - self.ref_bb[0]
offset_y = matcher_start_y - self.ref_bb[1]
self.ref_offset = (offset_x, offset_y)
# Compensate offset
matcher_start_x -= self.ref['offset'][0]
matcher_start_y -= self.ref['offset'][1]
matcher_start_x -= self.ref_offset[0]
matcher_start_y -= self.ref_offset[1]
matcher_bbox_local = (matcher_start_x, matcher_start_y, template.shape[1], template.shape[0])
matcher_bbox_local = (matcher_start_x, matcher_start_y, self.ref_img.shape[1], self.ref_img.shape[0])
self._debug(_image_anno, matcher_res, matcher_start_x, matcher_start_y, template, _image)
self._debug(_image, matcher_res, matcher_start_x, matcher_start_y)
return matcher_bbox_local, matcher_res
@@ -120,15 +101,9 @@ class CornerTracker:
if CONSOLE_DEBUG:
print(f"{self.name}: {s}")
def _debug(self, _image_anno, tracking_anno, matcher_bbox_local):
def _debug(self, _image_anno, matcher_bbox_local):
matcher_bbox = bbox_round(bbox_add_position(matcher_bbox_local, self.tracking_bb))
template_top_left, template_bottom_right = to_rect(self.matching_tpl_bb)
cv2.rectangle(tracking_anno, template_top_left, template_bottom_right, COLOR_TEMPLATE, 1)
matcher_top_left_local, matcher_bottom_right_local = to_rect(bbox_round(matcher_bbox_local))
cv2.rectangle(tracking_anno, matcher_top_left_local, matcher_bottom_right_local, COLOR_MATCHER, 1)
matcher_rect = to_rect(matcher_bbox)
cv2.rectangle(_image_anno, matcher_rect[0], matcher_rect[1], COLOR_MATCHER, 1)
@@ -239,9 +214,9 @@ class CornerTracker:
CornerTracker.mask_apply(_image_local, self.tracking_mask)
_image_processed_local = CornerTracker.image_process(_image_local)
return self._match(_image_processed_local, _image_anno, _image_local.copy())
return self._match(_image_processed_local, _image_anno)
def _match(self, _image: np.array, _image_anno: np.array, tracking_anno):
def _match(self, _image: np.array, _image_anno: np.array):
corner_list = []
for _ct in self.corner_matcher_list:
matcher_bbox_local, matcher = _ct.process(_image)
@@ -250,7 +225,7 @@ class CornerTracker:
corner = bbox_center(matcher_bbox_local)
corner_list.append(corner)
self._debug(_image_anno, tracking_anno, matcher_bbox_local)
self._debug(_image_anno, matcher_bbox_local)
# refine corners
corners_local = self._corner_refine(_image, corner_list)
@@ -290,9 +265,6 @@ class CornerTracker:
self._print(f" -- Corner distance [{i}] {corners_refined[_i] - self.corner_ref[_i]}")
cv2.circle(_image_anno, (int(corners_refined[_i, 0] + 0.5), int(corners_refined[_i, 1] + 0.5)), 4, COLOR_CIRCLE)
if IMAGE_DEBUG:
cv2.imshow(f"{self.name}: Tracker: ", tracking_anno)
return _mean_distance
@staticmethod