jens/ocv_template_matching
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disabled tracker - just use fixed tracker bounding box -> faster

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jens
2024-07-04 21:15:05 +02:00
parent 7f7d28179e
commit 9ee75a21ef
1 changed files with 17 additions and 20 deletions
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ocv_corner_tracker.py
+17 -20
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@@ -15,6 +15,7 @@ TEMPLATE_MATCH_OVERLAP = 0
CONSOLE_DEBUG = False CONSOLE_DEBUG = False
IMAGE_DEBUG = False IMAGE_DEBUG = False
DO_TRACKING = False
class Corner: class Corner:
@@ -99,14 +100,11 @@ class CornerTracker:
def __init__(self, color=(0, 255, 0), name: str = 'CornerTracker'): def __init__(self, color=(0, 255, 0), name: str = 'CornerTracker'):
self.color = color self.color = color
self.name = name self.name = name
self.tracking_ref_bb = None
self.tracking_ref_img = None
self.tracking_ref_gray_img = None
self.matching_tpl_bb = None self.matching_tpl_bb = None
self.matching_tpl_img = None self.matching_tpl_img = None
self.tracking_bb = None self.tracking_bb = None
self.tracking_img = None self.tracking_img = None
self.tracker = cv2.TrackerKCF.create() self.tracker = None
self.corner_ref = None self.corner_ref = None
self.corner_matcher_list = [] self.corner_matcher_list = []
@@ -136,23 +134,23 @@ class CornerTracker:
if bbox_center(bb) == (0, 0): if bbox_center(bb) == (0, 0):
return False return False
self.tracking_ref_bb = bb self.tracking_bb = bb
self.tracking_ref_img = image_crop(_image, self.tracking_ref_bb) self.tracking_img = image_crop(_image, self.tracking_bb)
self.tracking_ref_gray_img = cv2.cvtColor(self.tracking_ref_img, cv2.COLOR_BGR2GRAY) tracking_ref_gray_img = cv2.cvtColor(self.tracking_img, cv2.COLOR_BGR2GRAY)
self.corner_matcher_list = [] self.corner_matcher_list = []
corner_list = [] corner_list = []
count = 1 count = 1
while True: while True:
print(f"Add Corner {count}") print(f"Add Corner {count}")
bb = cv2.selectROI("Matcher Reference", self.tracking_ref_img, fromCenter=True, showCrosshair=True) bb = cv2.selectROI("Matcher Reference", self.tracking_img, fromCenter=True, showCrosshair=True)
if bbox_center(bb) == (0, 0): if bbox_center(bb) == (0, 0):
break break
self.matching_tpl_bb = bb self.matching_tpl_bb = bb
self.matching_tpl_img = image_crop(self.tracking_ref_gray_img.copy(), self.matching_tpl_bb) self.matching_tpl_img = image_crop(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}")) 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))) corner_list.append(bbox_center(bbox_add_position(self.matching_tpl_bb, self.tracking_bb)))
print(f"Corner {count} added") print(f"Corner {count} added")
print(f"Press any key to add another corner or ESC to continue") print(f"Press any key to add another corner or ESC to continue")
@@ -166,7 +164,9 @@ class CornerTracker:
return False return False
# Initialize tracker with first frame and bounding box # Initialize tracker with first frame and bounding box
self.tracker.init(_image, self.tracking_ref_bb) if DO_TRACKING:
self.tracker = cv2.TrackerKCF.create()
self.tracker.init(_image, self.tracking_bb)
# Refine initial corners and store them as reference # 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)
@@ -174,18 +174,15 @@ class CornerTracker:
return True 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: # Update tracker bb
raise Exception(f"{self.name}: Call init_reference_frame() first") if self.tracker is not None:
_ok, self.tracking_bb = self.tracker.update(_image)
if not _ok:
return None
# Update tracker tracking_img = image_crop(_image.copy(), self.tracking_bb)
_ok, tracking_bb = self.tracker.update(_image)
if not _ok:
return None
tracking_img = image_crop(_image.copy(), tracking_bb)
tracking_img = cv2.cvtColor(tracking_img, cv2.COLOR_BGR2GRAY) tracking_img = cv2.cvtColor(tracking_img, cv2.COLOR_BGR2GRAY)
self.tracking_img = cv2.GaussianBlur(tracking_img, (9, 9), 0) 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)