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| #include <stdio.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include "opencv2/video/tracking.hpp"
#include <math.h>
#include <time.h>
using namespace cv;
using namespace std;
float MHI_DURATION = 0.05;
int DEFAULT_THRESHOLD = 32;
float MAX_TIME_DELTA = 12500.0;
float MIN_TIME_DELTA = 5;
int visual_trackbar = 2;
void draw_motion_comp(Mat& img, int x_coordinate, int y_coordinate, int width, int height, double angle, Mat& result);
Mat frame;
int main(int argc, char** argv)
{
namedWindow("Motion_tracking", CV_WINDOW_AUTOSIZE);
string values[4] = { "input", "frame_diff", "motion_hist", "grad_orient" };
createTrackbar("visual", "Motion_tracking", &visual_trackbar, 3, NULL);
createTrackbar("threshold", "Motion_tracking", &DEFAULT_THRESHOLD, 255, NULL);
VideoCapture cap;
cap.open(0);
if (!cap.isOpened()) // if not success, exit program
{
cout << "Cannot open the video file" << endl;
return -1;
}
Mat frame, ret, frame_diff, gray_diff, motion_mask;
for (int i = 0; i<10; i++)
{
cap.read(frame);
Size frame_size = frame.size();
int h = frame_size.height;
int w = frame_size.width;
if (i == 5)
break;
}
//cap.open(0);
if (!cap.isOpened()) // if not success, exit program
{
cout << "Cannot open the video cam" << endl;
return -1;
}
ret = frame.clone();
Size frame_size = frame.size();
int h = frame_size.height;
int w = frame_size.width;
double timestamp = 1000.0*clock() / CLOCKS_PER_SEC;
Mat prev_frame = frame.clone();
Mat motion_history(h, w, CV_32FC1, Scalar(0, 0, 0));
Mat hsv(h, w, CV_8UC3, Scalar(0, 255, 0));
Mat mg_mask(h, w, CV_8UC1, Scalar(0, 0, 0));
Mat mg_orient(h, w, CV_32FC1, Scalar(0, 0, 0));
Mat seg_mask(h, w, CV_32FC1, Scalar(0, 0, 0));
vector<Rect> seg_bounds;
String visual_name;
Mat vis(h, w, CV_32FC3);
Mat vis1(h, w, CV_8UC1);
Mat silh_roi, orient_roi, mask_roi, mhi_roi;
VideoWriter output;
output.open("outputVideo.avi", CV_FOURCC('D', 'I', 'V', 'X'), 80, cv::Size(640, 480), true);
while (1)
{
cap.retrieve(frame);
cap.read(frame);
ret = frame.clone();
if (!ret.data) //if not success, break loop
{
cout << "video ended" << endl;
break;
}
absdiff(frame, prev_frame, frame_diff);
cvtColor(frame_diff, gray_diff, CV_BGR2GRAY);
threshold(gray_diff, ret, DEFAULT_THRESHOLD, 255, 0);
motion_mask = ret.clone();
double timestamp = 1000.0*clock() / CLOCKS_PER_SEC;
updateMotionHistory(motion_mask, motion_history, timestamp, MHI_DURATION);
calcMotionGradient(motion_history, mg_mask, mg_orient, MIN_TIME_DELTA, MAX_TIME_DELTA, 3);
segmentMotion(motion_history, seg_mask, seg_bounds, timestamp, 32);
visual_name = values[visual_trackbar];
if (visual_name == "input")
vis = frame.clone();
else if (visual_name == "frame_diff")
vis = frame_diff.clone();
else if (visual_name == "motion_hist")
{
for (int i = 0; i< motion_history.cols; i++)
{
for (int j = 0; j< motion_history.rows; j++)
{
float a = motion_history.at<float>(j, i);
// cout << (a-timestamp-MHI_DURATION)/MHI_DURATION << endl;
if ((a - timestamp - MHI_DURATION) / MHI_DURATION <= -5)
vis1.at<uchar>(j, i) = 0;
else
vis1.at<uchar>(j, i) = (a - timestamp - MHI_DURATION) / MHI_DURATION;
}
}
cvtColor(vis1, vis, COLOR_GRAY2BGR);
}
else if (visual_name == "grad_orient")
{
for (int i = 0; i< hsv.cols; i++)
{
for (int j = 0; j< hsv.rows; j++)
{
float a = (mg_orient.at<float>(j, i)) / 2;
hsv.at<Vec3b>(j, i)[0] = a;
float b = (mg_mask.at<uchar>(j, i)) * 255;
hsv.at<Vec3b>(j, i)[2] = b;
}
}
cvtColor(hsv, vis, COLOR_HSV2BGR);
}
for (unsigned int h = 0; h < seg_bounds.size(); h++)
{
Rect rec = seg_bounds[h];
if (rec.area() > 5000 && rec.area() < 70000)
{
rectangle(vis, rec, Scalar(0, 0, 255), 3);
silh_roi = motion_mask(rec);
orient_roi = mg_orient(rec);
mask_roi = mg_mask(rec);
mhi_roi = motion_history(rec);
if (norm(silh_roi, NORM_L2, noArray()) > rec.area()*0.5)
{
double angle = calcGlobalOrientation(orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION);
// cout << rec.width << endl;
draw_motion_comp(vis, rec.x, rec.y, rec.width, rec.height, angle, vis);
}
}
}
imshow("Motion_tracking", vis);
prev_frame = frame.clone();
// waitKey(30);
output.write(vis);
if (waitKey(30) >= 0) //wait for 'esc' key press for 30ms. If 'esc' key is pressed, break loop
{
cout << "esc key is pressed by user" << endl;
break;
}
// MHI_DURATION = 1000.0*clock()/CLOCKS_PER_SEC- timestamp;
}
// waitKey(30);
return 0;
}
void draw_motion_comp(Mat& img, int x_coordinate, int y_coordinate, int width, int height, double angle, Mat& result)
{
// rectangle(img,Point(x_coordinate,y_coordinate), Point(x_coordinate+width,y_coordinate+width), Scalar(255,0,0), 1, 8, 0);
int r, cx, cy;
if (height / 2 <= width / 2)
r = height / 2;
else
r = width / 2;
cx = x_coordinate + width / 2;
cy = y_coordinate + height / 2;
angle = angle/* *M_PI *// 180;
circle(img, Point(cx, cy), r, Scalar(255, 0, 0), 1, 8, 0);
line(img, Point(cx, cy), Point(int(cx + cos(angle)*r), int(cy + sin(angle)*r)), Scalar(255, 0, 0), 1, 8, 0);
result = img.clone();
} |
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