From 76db5bd3d5a26a662db493658b1c49f64faf6e94 Mon Sep 17 00:00:00 2001 From: Jens Ahrensfeld Date: Thu, 4 Jul 2024 18:28:00 +0200 Subject: [PATCH] Reformatted file --- ocv_corner_tracker.py | 102 +++++++++++++++++++++--------------------- 1 file changed, 51 insertions(+), 51 deletions(-) diff --git a/ocv_corner_tracker.py b/ocv_corner_tracker.py index 05ba8bb..9b030b5 100644 --- a/ocv_corner_tracker.py +++ b/ocv_corner_tracker.py @@ -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: