- added CornerTracker

- added multi spindle with black background

ocv_corner_tracker.py

@@ -0,0 +1,65 @@
+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
+
+IMG_SCALE_UP = 1
+IMG_ROTATE = 0
+
+
+class CornerTracker:
+	def __init__(self, reference: np.array, bbox: np.array, name: str = 'CornerTracker'):
+		self.ref = {'image': reference, 'bbox': bbox, 'offset': (0, 0)}
+		self.name = name
+		self._path = []
+		self.line_from = None
+		self.first_frame = True
+
+	def _print(self, s):
+		print(f"{self.name}: {s}")
+
+	def process(self, image: np.array):
+		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']
+
+		template_scaled = im.resize(template, IMG_SCALE_UP * template.shape[0], IMG_SCALE_UP * template.shape[1])
+		matcher_res = cv2.matchTemplate(crop_scaled, template_scaled, cv2.TM_CCOEFF_NORMED)
+
+		(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_res     : {matcher_res.shape}")
+		self._print(f"crop            : {image.shape}")
+		self._print(f"crop_scaled     : {crop_scaled.shape}")
+		self._print(f"template        : {template.shape}")
+		self._print(f"template_scaled : {template_scaled.shape}")
+
+		matcher_start_x = max_loc[0]/IMG_SCALE_UP
+		matcher_start_y = max_loc[1]/IMG_SCALE_UP
+		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)
+			self._print(f"offset : {(offset_x, offset_y)}")
+
+		matcher_start_x -= self.ref['offset'][0]
+		matcher_start_y -= self.ref['offset'][1]
+
+		self._print(f"matcher_start : {(matcher_start_x, matcher_start_y)}")
+		matcher_bbox_local = (round(matcher_start_x), round(matcher_start_y), template.shape[1], template.shape[0])
+
+		cv2.imshow(f"{self.name}: Matcher res", matcher_res)
+#	cv2.imshow("{self.name}: Matcher view", matcher_crop)
+
+		return matcher_bbox_local, matcher_res
+
+	def path_add(self, point):
+		if self.line_from is not None:
+			self._path.append({'from': self.line_from, 'to': point})
+		self.line_from = point
+
+	@property
+	def path(self):
+		return self._path