kalman_tracking_live.py

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# Example : kalman filtering based cam shift object track processing
# from a video file specified on the command line (e.g. python FILE.py
# video_file) or from an attached web camera

# N.B. u se mouse to select region

# Author : Toby Breckon, toby.breckon@durham.ac.uk

# Copyright (c) 2016 Toby Breckon
#                    Durham University, UK
# License : LGPL - http://www.gnu.org/licenses/lgpl.html

# based in part on code from: Learning OpenCV 3 Computer Vision with Python
# Chapter 8 code samples, Minichino / Howse, Packt Publishing.
# and also code from:
# https://docs.opencv.org/3.3.1/dc/df6/tutorial_py_histogram_backprojection.html

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import cv2
import argparse
import sys
import math
import numpy as np

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keep_processing = True
selection_in_progress = False  # support interactive region selection
fullscreen = False  # run in fullscreen mode

# parse command line arguments for camera ID or video file

parser = argparse.ArgumentParser(
    description='Perform ' +
    sys.argv[0] +
    ' example operation on incoming camera/video image')
parser.add_argument(
    "-c",
    "--camera_to_use",
    type=int,
    help="specify camera to use",
    default=0)
parser.add_argument(
    "-r",
    "--rescale",
    type=float,
    help="rescale image by this factor",
    default=1.0)
parser.add_argument(
    'video_file',
    metavar='video_file',
    type=str,
    nargs='?',
    help='specify optional video file')
args = parser.parse_args()

#####################################################################

# select a region using the mouse

boxes = []
current_mouse_position = np.ones(2, dtype=np.int32)


def on_mouse(event, x, y, flags, params):

    global boxes
    global selection_in_progress

    current_mouse_position[0] = x
    current_mouse_position[1] = y

    if event == cv2.EVENT_LBUTTONDOWN:
        boxes = []
        # print 'Start Mouse Position: '+str(x)+', '+str(y)
        sbox = [x, y]
        selection_in_progress = True
        boxes.append(sbox)

    elif event == cv2.EVENT_LBUTTONUP:
        # print 'End Mouse Position: '+str(x)+', '+str(y)
        ebox = [x, y]
        selection_in_progress = False
        boxes.append(ebox)
#####################################################################

# return centre of a set of points representing a rectangle


def center(points):
    x = np.float32(
        (points[0][0] +
         points[1][0] +
         points[2][0] +
         points[3][0]) /
        4.0)
    y = np.float32(
        (points[0][1] +
         points[1][1] +
         points[2][1] +
         points[3][1]) /
        4.0)
    return np.array([np.float32(x), np.float32(y)], np.float32)

#####################################################################

# this function is called as a call-back everytime the trackbar is moved
# (here we just do nothing)


def nothing(x):
    pass

#####################################################################
# define video capture object


try:
    # to use a non-buffered camera stream (via a separate thread)

    if not (args.video_file):
        import camera_stream
        cap = camera_stream.CameraVideoStream()
    else:
        cap = cv2.VideoCapture()  # not needed for video files

except BaseException:
    # if not then just use OpenCV default

    print("INFO: camera_stream class not found - camera input may be buffered")
    cap = cv2.VideoCapture()

# define display window name

window_name = "Kalman Object Tracking"  # window name
window_name2 = "Hue histogram back projection"  # window name
window_nameSelection = "initial selected region"

# init kalman filter object

kalman = cv2.KalmanFilter(4, 2)
kalman.measurementMatrix = np.array([[1, 0, 0, 0],
                                     [0, 1, 0, 0]], np.float32)

kalman.transitionMatrix = np.array([[1, 0, 1, 0],
                                    [0, 1, 0, 1],
                                    [0, 0, 1, 0],
                                    [0, 0, 0, 1]], np.float32)

kalman.processNoiseCov = np.array([[1, 0, 0, 0],
                                   [0, 1, 0, 0],
                                   [0, 0, 1, 0],
                                   [0, 0, 0, 1]], np.float32) * 0.03

measurement = np.array((2, 1), np.float32)
prediction = np.zeros((2, 1), np.float32)

print("\nObservation in image: BLUE")
print("Prediction from Kalman: GREEN\n")

# if command line arguments are provided try to read video_name
# otherwise default to capture from attached H/W camera

if (((args.video_file) and (cap.open(str(args.video_file))))
        or (cap.open(args.camera_to_use))):

    # create window by name (note flags for resizable or not)

    cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
    cv2.namedWindow(window_name2, cv2.WINDOW_NORMAL)
    cv2.namedWindow(window_nameSelection, cv2.WINDOW_NORMAL)

    # set sliders for HSV selection thresholds

    s_lower = 60
    cv2.createTrackbar("s lower", window_name2, s_lower, 255, nothing)
    s_upper = 255
    cv2.createTrackbar("s upper", window_name2, s_upper, 255, nothing)
    v_lower = 32
    cv2.createTrackbar("v lower", window_name2, v_lower, 255, nothing)
    v_upper = 255
    cv2.createTrackbar("v upper", window_name2, v_upper, 255, nothing)

    # set a mouse callback

    cv2.setMouseCallback(window_name, on_mouse, 0)
    cropped = False

    # Setup the termination criteria for search, either 10 iteration or
    # move by at least 1 pixel pos. difference
    term_crit = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1)

    while (keep_processing):

        # if video file successfully open then read frame from video

        if (cap.isOpened):
            ret, frame = cap.read()

            # rescale if specified

            if (args.rescale != 1.0):
                frame = cv2.resize(
                    frame, (0, 0), fx=args.rescale, fy=args.rescale)

        # start a timer (to see how long processing and display takes)

        start_t = cv2.getTickCount()

        # get parameters from track bars

        s_lower = cv2.getTrackbarPos("s lower", window_name2)
        s_upper = cv2.getTrackbarPos("s upper", window_name2)
        v_lower = cv2.getTrackbarPos("v lower", window_name2)
        v_upper = cv2.getTrackbarPos("v upper", window_name2)

        # select region using the mouse and display it

        if (len(boxes) > 1) and (boxes[0][1] < boxes[1][1]) and (
                boxes[0][0] < boxes[1][0]):
            crop = frame[boxes[0][1]:boxes[1][1],
                         boxes[0][0]:boxes[1][0]].copy()

            h, w, c = crop.shape   # size of template
            if (h > 0) and (w > 0):
                cropped = True

                # convert region to HSV

                hsv_crop = cv2.cvtColor(crop, cv2.COLOR_BGR2HSV)

                # select all Hue (0-> 180) and Sat. values but eliminate values
                # with very low saturation or value (due to lack of useful
                # colour information)

                mask = cv2.inRange(
                    hsv_crop, np.array(
                        (0., float(s_lower), float(v_lower))), np.array(
                        (180., float(s_upper), float(v_upper))))

                # construct a histogram of hue and saturation values and
                # normalize it

                crop_hist = cv2.calcHist(
                    [hsv_crop], [
                        0, 1], mask, [
                        180, 255], [
                        0, 180, 0, 255])
                cv2.normalize(crop_hist, crop_hist, 0, 255, cv2.NORM_MINMAX)

                # set intial position of object

                track_window = (
                    boxes[0][0],
                    boxes[0][1],
                    boxes[1][0] -
                    boxes[0][0],
                    boxes[1][1] -
                    boxes[0][1])

                cv2.imshow(window_nameSelection, crop)

            # reset list of boxes

            boxes = []

        # interactive display of selection box

        if (selection_in_progress):
            top_left = (boxes[0][0], boxes[0][1])
            bottom_right = (
                current_mouse_position[0],
                current_mouse_position[1])
            cv2.rectangle(frame, top_left, bottom_right, (0, 255, 0), 2)

        # if we have a selected region

        if (cropped):

            # convert incoming image to HSV

            img_hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

            # back projection of histogram based on Hue and Saturation only

            img_bproject = cv2.calcBackProject(
                [img_hsv], [
                    0, 1], crop_hist, [
                    0, 180, 0, 255], 1)
            cv2.imshow(window_name2, img_bproject)

            # apply camshift to predict new location (observation)
            # basic HSV histogram comparision with adaptive window size
            # see :
            # http://docs.opencv.org/3.1.0/db/df8/tutorial_py_meanshift.html
            ret, track_window = cv2.CamShift(
                img_bproject, track_window, term_crit)

            # draw observation on image - in BLUE
            x, y, w, h = track_window
            frame = cv2.rectangle(
                frame, (x, y), (x + w, y + h), (255, 0, 0), 2)

            # extract centre of this observation as points

            pts = cv2.boxPoints(ret)
            pts = np.intp(pts)
            # (cx, cy), radius = cv2.minEnclosingCircle(pts)

            # use to correct kalman filter

            kalman.correct(center(pts))

            # get new kalman filter prediction

            prediction = kalman.predict()

            # draw predicton on image - in GREEN

            frame = cv2.rectangle(frame,
                                  (int(prediction[0][0] - (0.5 * w)),
                                   int(prediction[1][0] - (0.5 * h))),
                                  (int(prediction[0][0] + (0.5 * w)),
                                   int(prediction[1][0] + (0.5 * h))),
                                  (0,
                                      255,
                                      0),
                                  2)

        else:

            # before we have cropped anything show the mask we are using
            # for the S and V components of the HSV image

            img_hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

            # select all Hue values (0-> 180) but eliminate values with very
            # low saturation or value (due to lack of useful colour info.)

            mask = cv2.inRange(
                img_hsv, np.array(
                    (0., float(s_lower), float(v_lower))), np.array(
                    (180., float(s_upper), float(v_upper))))

            cv2.imshow(window_name2, mask)

        # display image

        cv2.imshow(window_name, frame)
        cv2.setWindowProperty(
            window_name,
            cv2.WND_PROP_FULLSCREEN,
            cv2.WINDOW_FULLSCREEN & fullscreen)

        # stop the timer and convert to ms. (to see how long processing and
        # display takes)

        stop_t = ((cv2.getTickCount() - start_t) /
                  cv2.getTickFrequency()) * 1000

        # start the event loop - essential

        # cv2.waitKey() is a keyboard binding function (argument is the time in
        # milliseconds). It waits for specified milliseconds for any keyboard
        # event. If you press any key in that time, the program continues.
        # If 0 is passed, it waits indefinitely for a key stroke.
        # (bitwise and with 0xFF to extract least significant byte of
        # multi-byte response)

        # wait 40ms or less depending on processing time taken (i.e. 1000ms /
        # 25 fps = 40 ms)

        key = cv2.waitKey(max(2, 40 - int(math.ceil(stop_t)))) & 0xFF

        # It can also be set to detect specific key strokes by recording which
        # key is pressed

        # e.g. if user presses "x" then exit  / press "f" for fullscreen
        # display

        if (key == ord('x')):
            keep_processing = False
        elif (key == ord('f')):
            fullscreen = not (fullscreen)

    # close all windows

    cv2.destroyAllWindows()

else:
    print("No video file specified or camera connected.")

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