- added real data footage

- introduced masked detection of corners to reduce jitter

ocv_corner_tracker.py

@@ -107,6 +107,7 @@ class CornerTracker:
 		self.matching_tpl_img = None
 		self.tracking_bb = None
 		self.tracking_img = None
+		self.tracking_mask = None
 		self.tracker = None
 		self.corner_ref = None
 		self.corner_matcher_list = []
@@ -130,7 +131,37 @@ class CornerTracker:
 		tracker_rect = to_rect(bbox_round(self.tracking_bb))
 		cv2.rectangle(_image_anno, tracker_rect[0], tracker_rect[1], self.color, 1)
 
+	@staticmethod
+	def mask_init(_image: np.array):
+		# Create mask
+		_mask = np.zeros((_image.shape[0], _image.shape[1]), dtype=np.uint8)
+		return _mask
+
+	@staticmethod
+	def mask_draw(_image: np.array, _mask: np.array):
+		print(f"Draw mask object")
+		bb = cv2.selectROI("Tracker Reference", _image, False)
+		cv2.destroyWindow("Tracker Reference")
+		if bbox_center(bb) == (0, 0):
+			return False
+
+		rect_upper_left = (bb[0], bb[1])
+		rect_lower_right = (bb[0] + bb[2], bb[1] + bb[3])
+		cv2.rectangle(_mask, rect_upper_left, rect_lower_right, 255, -1)
+
+		return True
+
+	@staticmethod
+	def mask_apply(_image: np.array, _mask: np.array):
+		_image[_mask == 0] = 0
+		_image[_mask != 0] = _image[_mask != 0]
+
 	def init_reference_frame(self, _image: np.array):
+		# Draw mask
+		_mask = CornerTracker.mask_init(image)
+		CornerTracker.mask_draw(image, _mask)
+
+		# Select search area
 		print(f"Select tracking object")
 		bb = cv2.selectROI("Tracker Reference", _image, False)
 		cv2.destroyWindow("Tracker Reference")
@@ -139,14 +170,18 @@ class CornerTracker:
 
 		self.tracking_bb = bb
 		self.tracking_img = image_crop(_image, self.tracking_bb)
+		self.tracking_mask = image_crop(_mask, self.tracking_bb)
 		tracking_ref_gray_img = cv2.cvtColor(self.tracking_img, cv2.COLOR_BGR2GRAY)
 		self.corner_matcher_list = []
 
+		masked_tracking_img = self.tracking_img.copy()
+		CornerTracker.mask_apply(masked_tracking_img, self.tracking_mask)
+
 		corner_list = []
 		count = 1
 		while True:
 			print(f"Add Corner {count}")
-			bb = cv2.selectROI("Matcher Reference", self.tracking_img, fromCenter=True, showCrosshair=True)
+			bb = cv2.selectROI("Matcher Reference", masked_tracking_img, fromCenter=True, showCrosshair=True)
 			if bbox_center(bb) == (0, 0):
 				break
 
@@ -183,29 +218,38 @@ class CornerTracker:
 			if not _ok:
 				return None
 
-		tracking_img = image_crop(_image.copy(), self.tracking_bb)
-		tracking_img = cv2.cvtColor(tracking_img, cv2.COLOR_BGR2GRAY)
+		_image_local = image_crop(_image.copy(), self.tracking_bb).copy()
+		CornerTracker.mask_apply(_image_local, self.tracking_mask)
+		tracking_img = cv2.cvtColor(_image_local, cv2.COLOR_BGR2GRAY)
+		CornerTracker.mask_apply(tracking_img, self.tracking_mask)
 		self.tracking_img = cv2.GaussianBlur(tracking_img, (9, 9), 0)
 
-		return self._match(_image, _image_anno)
+		return self._match(_image_local, _image_anno)
 
 	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)
-			matcher_bbox = bbox_add_position(matcher_bbox_local, self.tracking_bb)
 
 			# Draw path
-			corner = bbox_center(matcher_bbox)
+			corner = bbox_center(matcher_bbox_local)
 			corners_raw.append(corner)
 
 			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_local = self._corner_refine(cv2.cvtColor(_image, cv2.COLOR_BGR2GRAY), corners_raw)
 
-		# store refined corners
+		# Transform corners to global
+		corners_refined = []
+		for corner_local in corners_refined_local:
+			corner = (corner_local[0] + self.tracking_bb[0], corner_local[1] + self.tracking_bb[1])
+			corners_refined.append(corner)
+
+		corners_refined = np.array(corners_refined)
+
+		# Create path from global refined corners
 		_i = 0
 		for corner in corners_refined:
 			_ct = self.corner_matcher_list[_i]
@@ -264,7 +308,9 @@ class CornerTracker:
 
 if __name__ == '__main__':
 	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')
+#	video = cv2.VideoCapture('./data/spindle_multi_black/%04d.png')
+#	video = cv2.VideoCapture('./data/spindle_jet_12/0013/results_20240621_165000/gear_4/Distance_33.7/video/Distance_33.7_5fps.mp4')
+	video = cv2.VideoCapture('./data/spindle_jet_12/0020/Distance_70/video/Distance_70_5fps.mp4')
 	tracker_count = 0
 	tracker_list = []
 	if video.isOpened():