jens/ocv_template_matching
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jens
2024-07-04 18:28:00 +02:00
parent 62f6b9071b
commit 76db5bd3d5
1 changed files with 51 additions and 51 deletions
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ocv_corner_tracker.py
+51 -51
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@@ -2,7 +2,7 @@ import cv2
import numpy as np
import imutils as im
from util import bbox_extend, bbox_round, image_crop, to_rect, bbox_add_position, bbox_center
from util import bbox_round, image_crop, to_rect, bbox_add_position, bbox_center
IMG_SCALE_UP = 1
IMG_ROTATE = 0
@@ -25,7 +25,7 @@ class Corner:
self.line_from = None
self.first_frame = True
def _debug(self, image, matcher_res, matcher_start_x, matcher_start_y, template_scaled, crop_scaled):
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']
@@ -34,7 +34,7 @@ class Corner:
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 : {_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}")
@@ -42,7 +42,7 @@ class Corner:
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)
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)
@@ -50,13 +50,13 @@ class Corner:
if CONSOLE_DEBUG:
print(f"{self.name}: {s}")
def process(self, image: np.array):
image_anno = image.copy()
crop_scaled = im.resize(image, IMG_SCALE_UP * image.shape[1], IMG_SCALE_UP * image.shape[0])
def process(self, _image: np.array):
_image_anno = _image.copy()
crop_scaled = im.resize(_image, IMG_SCALE_UP * _image.shape[1], IMG_SCALE_UP * _image.shape[0])
template = self.ref['image']
bb_template = self.ref['bbox']
# Reseize template
# Resize template
template_scaled = im.resize(template, IMG_SCALE_UP * template.shape[0], IMG_SCALE_UP * template.shape[1])
# Match
matcher_res = cv2.matchTemplate(crop_scaled, template_scaled, cv2.TM_CCOEFF_NORMED)
@@ -79,7 +79,7 @@ class Corner:
matcher_bbox_local = (matcher_start_x, matcher_start_y, template.shape[1], template.shape[0])
self._debug(image_anno, matcher_res, matcher_start_x, matcher_start_y, template_scaled, crop_scaled)
self._debug(_image_anno, matcher_res, matcher_start_x, matcher_start_y, template_scaled, crop_scaled)
return matcher_bbox_local, matcher_res
@@ -114,7 +114,7 @@ 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, tracking_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)
@@ -124,20 +124,20 @@ class CornerTracker:
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)
cv2.rectangle(_image_anno, matcher_rect[0], matcher_rect[1], COLOR_MATCHER, 1)
tracker_rect = to_rect(self.tracking_bb)
cv2.rectangle(image_anno, tracker_rect[0], tracker_rect[1], self.color, 1)
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):
print(f"Select tracking object")
bb = cv2.selectROI("Tracker Reference", image, False)
bb = cv2.selectROI("Tracker Reference", _image, False)
cv2.destroyWindow("Tracker Reference")
if bbox_center(bb) == (0, 0):
return False
self.tracking_ref_bb = bb
self.tracking_ref_img = image_crop(image, self.tracking_ref_bb)
self.tracking_ref_img = image_crop(_image, self.tracking_ref_bb)
self.tracking_ref_gray_img = cv2.cvtColor(self.tracking_ref_img, cv2.COLOR_BGR2GRAY)
self.corner_matcher_list = []
@@ -162,77 +162,80 @@ class CornerTracker:
cv2.destroyWindow("Matcher Reference")
print(f"Added {count} corners")
if len(corner_list) == 0:
return False
# Initialize tracker with first frame and bounding box
self.tracker = cv2.TrackerKCF().create()
self.tracker.init(image, self.tracking_ref_bb)
self.tracker.init(_image, self.tracking_ref_bb)
# Refine initial corners and store them as reference
self.corner_ref = self._corner_refine(cv2.cvtColor(image, cv2.COLOR_BGR2GRAY), corners=corner_list)
self.corner_ref = self._corner_refine(cv2.cvtColor(_image, cv2.COLOR_BGR2GRAY), corners=corner_list)
return len(corner_list) > 0
return True
def process(self, image: np.array, image_anno: np.array):
def process(self, _image: np.array, _image_anno: np.array):
if self.tracker is None:
raise Exception(f"{self.name}: Call init_reference_frame() first")
# Update tracker
_ok, tracking_bb = self.tracker.update(image)
_ok, tracking_bb = self.tracker.update(_image)
if not _ok:
return None
tracking_img = image_crop(image.copy(), tracking_bb)
tracking_img = image_crop(_image.copy(), tracking_bb)
tracking_img = cv2.cvtColor(tracking_img, cv2.COLOR_BGR2GRAY)
self.tracking_img = cv2.GaussianBlur(tracking_img, (9, 9), 0)
self.tracking_bb = tracking_bb
return self._match(image, image_anno)
return self._match(_image, _image_anno)
def _match(self, image: np.array, image_anno: np.array):
def _match(self, _image: np.array, _image_anno: np.array):
tracking_anno = self.tracking_img.copy()
corners_raw = []
for ct in self.corner_matcher_list:
matcher_bbox_local, matcher = ct.process(self.tracking_img)
for _ct in self.corner_matcher_list:
matcher_bbox_local, matcher = _ct.process(self.tracking_img)
matcher_bbox = bbox_add_position(matcher_bbox_local, self.tracking_bb)
# Draw path
corner = bbox_center(matcher_bbox)
corners_raw.append(corner)
self._debug(image_anno, tracking_anno, matcher_bbox_local)
self._debug(_image_anno, tracking_anno, matcher_bbox_local)
# refine corners
corners_refined = self._corner_refine(cv2.cvtColor(image, cv2.COLOR_BGR2GRAY), corners_raw)
corners_refined = self._corner_refine(cv2.cvtColor(_image, cv2.COLOR_BGR2GRAY), corners_raw)
# store refined corners
i = 0
_i = 0
for corner in corners_refined:
ct = self.corner_matcher_list[i]
ct.path_add(corner)
i += 1
_ct = self.corner_matcher_list[_i]
_ct.path_add(corner)
_i += 1
# draw path
for ct in self.corner_matcher_list:
for p in ct.path:
cv2.line(image_anno, bbox_round(p['from']), bbox_round(p['to']), (0, 0, 255), 1)
for _ct in self.corner_matcher_list:
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]))
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)
_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]}")
self._print(f" -- Corner coarse [{i}] {corners_raw[i]}")
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))
for _i in range(0, corners_refined.shape[0]):
self._print(f" -- Corner Reference [{i}] {self.corner_ref[_i]}")
self._print(f" -- Corner coarse [{i}] {corners_raw[_i]}")
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))
if IMAGE_DEBUG:
cv2.imshow(f"{self.name}: Tracker: ", self.tracking_img)
return mean_distance
return _mean_distance
@staticmethod
def _corner_refine(src_gray, corners: np.array):
@@ -253,17 +256,14 @@ class CornerTracker:
# Write them down
corner_result = []
for i in range(corners_original.shape[0]):
corner = (corners_refined[i, 0, 0], corners_refined[i, 0, 1])
for _i in range(corners_original.shape[0]):
corner = (corners_refined[_i, 0, 0], corners_refined[_i, 0, 1])
corner_result.append(corner)
return np.array(corner_result)
if __name__ == '__main__':
float_formatter = "{:.3f}".format
np.set_printoptions(formatter={'float_kind': float_formatter})
colors = [(255, 0, 0), (0, 255, 0), (0, 0, 255), (255, 0, 255), (0, 255, 255), (255, 255, 255)]
video = cv2.VideoCapture('./data/spindle_multi_black/%04d.png')
tracker_count = 0
@@ -295,8 +295,8 @@ if __name__ == '__main__':
i = 0
for ct in tracker_list:
mean_distance = ct.process(image, image_anno)
cv2.putText(image_anno, f"Distance [{i}] : ({mean_distance[0]:+05.2f}, {mean_distance[1]:+05.2f})", (20, 25 + 25 * i),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, ct.color, 1)
cv2.putText(image_anno, f"Distance [{i}] : ({mean_distance[0]:+05.2f}, {mean_distance[1]:+05.2f})",
(20, 25 + 25 * i), cv2.FONT_HERSHEY_SIMPLEX, 0.5, ct.color, 1)
i += 1
cv2.imshow(f"Image Anno", image_anno)
else: