annotatorplugin_camshift/camshift.cpp at master · annotatorproject/annotatorplugin_camshift · GitHub

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#include"camshift.h"
#include"widget.h"

#include<AnnotatorLib/Annotation.h>
#include<AnnotatorLib/Commands/NewAnnotation.h>
#include<AnnotatorLib/Frame.h>
#include<AnnotatorLib/Session.h>
#include<QDebug>
#include<QtGui/QPainter>

#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/video/tracking.hpp>

#include<ctype.h>
#include<iostream>

usingnamespaceAnnotator::Plugins;

Annotator::Plugins::CamShift::CamShift() {
 hranges[0] = 0.0;
 hranges[1] = 180.0;
 phranges = hranges;
}

CamShift::~CamShift() {}

QString CamShift::getName() { return"CamShift"; }

QWidget *CamShift::getWidget() { return &widget; }

boolCamShift::setFrame(shared_ptr<Frame> frame, cv::Mat image) {
this->lastFrame = this->frame;
this->frame = frame;
this->frameImg = image;
return lastFrame != frame;
}

// first call
voidCamShift::setObject(shared_ptr<Object> object) {
if (object != this->object) {
this->object = object;
this->trackerStarted = false;
 }
}

shared_ptr<Object> CamShift::getObject() const { return object; }

// second call
voidCamShift::setLastAnnotation(shared_ptr<Annotation> annotation) {
if (trackerStarted || annotation == nullptr ||
 annotation->getObject() != object)
return;
if (lastAnnotation != nullptr &&
 annotation->getObject() == lastAnnotation->getObject())
return;

this->lastAnnotation = annotation;
 selection = cv::Rect(lastAnnotation->getX(), lastAnnotation->getY(),
 lastAnnotation->getWidth(), lastAnnotation->getHeight());
this->lastFrame = this->lastAnnotation->getFrame();
 newSelection = true;
 trackerStarted = true;
}

std::vector<shared_ptr<Commands::Command>> CamShift::getCommands() {
 std::vector<shared_ptr<Commands::Command>> commands;
if (object == nullptr || frame == nullptr || lastFrame == nullptr ||
this->lastAnnotation == nullptr || frame == lastFrame)
return commands;

try {
 cv::Rect found_rect = findObject();

int w = found_rect.width;
int h = found_rect.height;

int x = found_rect.x;
int y = found_rect.y;

 shared_ptr<Commands::NewAnnotation> nA =
 std::make_shared<Commands::NewAnnotation>(getProject()->getSession(),
 lastAnnotation->getObject(),
 frame, x, y, w, h);
 commands.push_back(nA);

 } catch (std::exception &e) {
qDebug() << e.what();
 }

return commands;
}

cv::Rect CamShift::findObject() {
cv::cvtColor(frameImg, hsv, cv::COLOR_BGR2HSV);
cv::inRange(hsv, cv::Scalar(0, smin, std::min(vmin, vmax)),
cv::Scalar(180, 256, std::max(vmin, vmax)), mask);

int ch[2] = {0, 0};

 hue.create(hsv.size(), hsv.depth());
cv::mixChannels(&hsv, 1, &hue, 1, ch, 1);

if (newSelection) {
 selection &= cv::Rect(0, 0, frameImg.cols, frameImg.rows);
 cv::Mat roi(hue, selection), maskroi(mask, selection);
cv::calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
cv::normalize(hist, hist, 0, 255, CV_MINMAX);
 trackWindow = selection;
 newSelection = false;
 }

cv::calcBackProject(&hue, 1, 0, hist, backproj, &phranges);

 backproj &= mask;

 cv::TermCriteria criteria(cv::TermCriteria::COUNT | cv::TermCriteria::EPS, 10,
1);

 cv::RotatedRect found_object = cv::CamShift(backproj, trackWindow, criteria);

// debug
cv::ellipse(frameImg, found_object, cv::Scalar(0, 0, 255), 3, CV_AA);
// cv::rectangle(frameImg, found_object.boundingRect(), cv::Scalar(0,0,255),
// 3, CV_AA);
// cv::imshow("CamShift Debug", frameImg);

return found_object.boundingRect();
}