- fixed multi tracking

- added mean distance

ocv_corner_tracker.py

@@ -14,6 +14,8 @@ COLOR_TEMPLATE = (255, 0, 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'):
@@ -38,10 +40,11 @@ class Corner:
 		self._print(f"template_scaled : {template_scaled.shape}")
 		self._print(f"offset 		  : {offset}")
 
-		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)
+		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)
 
 	def _print(self, s):
 		if CONSOLE_DEBUG:
@@ -124,9 +127,9 @@ class CornerTracker:
 		tracker_rect = to_rect(self.tracking_bb)
 		cv2.rectangle(image_anno, tracker_rect[0], tracker_rect[1], self.color, 1)
 
-	def init_reference_frame(self, image: np.array):
+	def init_reference_frame(self, image: np.array, select_window: np.array):
 		print(f"Select tracking object")
-		self.tracking_ref_bb = cv2.selectROI("Select", image, False)
+		self.tracking_ref_bb = cv2.selectROI("Tracker Reference", select_window, False)
 		self.tracking_ref_img = image_crop(image.copy(), self.tracking_ref_bb)
 		self.tracking_ref_gray_img = cv2.cvtColor(self.tracking_ref_img, cv2.COLOR_BGR2GRAY)
 
@@ -134,21 +137,21 @@ class CornerTracker:
 		corner_list = []
 		count = 1
 		while True:
-			self._print(f"Add Corner {count}")
-			self.matching_tpl_bb = cv2.selectROI("Image", self.tracking_ref_img, fromCenter=True, showCrosshair=True)
+			print(f"Add Corner {count}")
+			self.matching_tpl_bb = cv2.selectROI("Matcher Reference", self.tracking_ref_img, fromCenter=True, showCrosshair=True)
 			self.matching_tpl_img = image_crop(self.tracking_ref_gray_img.copy(), self.matching_tpl_bb)
 			self.corner_matcher_list.append(Corner(self.matching_tpl_img, self.matching_tpl_bb, name=f"Corner-{count}"))
 			corner_list.append(bbox_center(bbox_add_position(self.matching_tpl_bb, self.tracking_ref_bb)))
 
-			self._print(f"Corner {count} added")
-			self._print(f"Press any key to add another corner or ESC to continue")
+			print(f"Corner {count} added")
+			print(f"Press any key to add another corner or ESC to continue")
 
 			k = cv2.waitKey(-1) & 0xff
 			if k == 27:
 				break
 			count += 1
 
-		self._print(f"Added {count} corners")
+		print(f"Added {count} corners")
 
 		# Initialize tracker with first frame and bounding box
 		self.tracker = cv2.TrackerKCF().create()
@@ -156,7 +159,6 @@ class CornerTracker:
 
 		# Refine initial corners and store them as reference
 		self.corner_ref = self._corner_refine(cv2.cvtColor(image, cv2.COLOR_BGR2GRAY), corners=corner_list)
-		#cv2.destroyWindow("Select")
 
 	def process(self, image: np.array, image_anno: np.array):
 		if self.tracker is None:
@@ -202,6 +204,12 @@ class CornerTracker:
 			for p in ct.path:
 				cv2.line(image_anno, bbox_round(p['from']), bbox_round(p['to']), (0, 0, 255), 1)
 
+		distances = []
+		for i in range(0, corners_refined.shape[0]):
+			distances.append((corners_refined[i] - self.corner_ref[i]))
+
+		mean_distance = np.mean(distances, axis=0)
+
 		# show refined corners
 		for i in range(0, corners_refined.shape[0]):
 			self._print(f" -- Corner Reference [{i}] {self.corner_ref[i]}")
@@ -209,9 +217,11 @@ class CornerTracker:
 			self._print(f" -- Corner fine      [{i}] {corners_refined[i]}")
 			self._print(f" -- Corner distance  [{i}] {corners_refined[i] - self.corner_ref[i]}")
 			cv2.circle(image_anno, (int(corners_refined[i, 0]), int(corners_refined[i, 1])), 4, (0, 255, 0))
-			cv2.putText(image_anno, f"Distance [{i}] : {corners_refined[i] - self.corner_ref[i]}", (50, 20 + 20*i), cv2.FONT_HERSHEY_SIMPLEX, 0.5, self.color, 1)
 
-		cv2.imshow(f"{self.name}: Tracker: ", self.tracking_img)
+		if IMAGE_DEBUG:
+			cv2.imshow(f"{self.name}: Tracker: ", self.tracking_img)
+
+		return mean_distance
 
 	@staticmethod
 	def _corner_refine(src_gray, corners: np.array):
@@ -248,19 +258,23 @@ if __name__ == '__main__':
 	tracker_count = 0
 	tracker_list = []
 	if video.isOpened():
-		for tracker_count in range(0, 6):
-			ct = CornerTracker(colors[tracker_count], name=f"Tracker-{tracker_count}")
-			# Read first frame.
-			ok, image = video.read()
-			if ok:
-				ct.init_reference_frame(image)
-			else:
-				print('Cannot read video file')
+		# Read first frame.
+		ok, image = video.read()
+		select_window = image.copy()
+		if ok:
+			for tracker_count in range(0, 6):
+				print(f"Add tracker #{tracker_count}")
+				ct = CornerTracker(colors[tracker_count], name=f"Tracker-{tracker_count}")
+				ct.init_reference_frame(image, select_window)
+				tracker_list.append(ct)
+				print(f"Press any key to add another tracker or ESC to continue")
+				k = cv2.waitKey(-1) & 0xff
+				if k == 27:
+					break
 
-			tracker_list.append(ct)
-			k = cv2.waitKey(-1) & 0xff
-			if k == 27:
-				break
+				print(f"Number of active tracker: {len(tracker_list)}")
+		else:
+			print('Cannot read video file')
 
 		key_wait = -1
 		while True:
@@ -268,8 +282,12 @@ if __name__ == '__main__':
 			ok, image = video.read()
 			if ok:
 				image_anno = image.copy()
+				i = 0
 				for ct in tracker_list:
-					ct.process(image, image_anno)
+					mean_distance = ct.process(image, image_anno)
+					cv2.putText(image_anno, f"Distance [{i}] : {mean_distance}", (50, 20 + 20 * i),
+								cv2.FONT_HERSHEY_SIMPLEX, 0.6, ct.color, 1)
+					i += 1
 				cv2.imshow(f"Image Anno", image_anno)
 			else:
 				video.set(cv2.CAP_PROP_POS_FRAMES, 0)