Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

asked 2013-01-17 07:33:26 -0600

theodore gravatar image

Understanding the blobtrack_sample.cpp modules

Hi i am trying to understand how the tracking modules of the blobtrack_sample.cpp example are working. For that reason and after quite a lot of research i managed to create an example with my own foreground detector. However, although i am able to detect and follow the blobs on the screen i cannot understand how to draw the trajectories by using the BlobTrackGen module does someone has any idea in order to point me to a direction on how to do it. Here is my code:

#include <vector>
#include <opencv/cv.h>
#include <opencv/cvaux.h>
#include <opencv/highgui.h>
#include <iostream>
#include <list>

#include <opencv2/video/background_segm.hpp>
#include <opencv2/legacy/blobtrack.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc_c.h>

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

using namespace std;
using namespace cv;

class SimpleDetector : public CvFGDetector
{
  IplImage * mask;
  public:

    SimpleDetector()
    {
      mask = 0;
      SetTypeName("SD");
    }

  virtual IplImage* GetMask()
  {
    return mask;
  }


virtual void Process(IplImage* img)
  {
     Mat frame(img);
     Mat thresh_frame;
     vector<Mat> channels;
     vector<Vec4i> hierarchy;
     vector<vector<Point> > contours;

     split(frame, channels);
     add(channels[0], channels[1], channels[1]);
     subtract(channels[2], channels[1], channels[2]);
     threshold(channels[2], thresh_frame, 50, 255, CV_THRESH_BINARY);
     medianBlur(thresh_frame, thresh_frame, 5);

     findContours(thresh_frame, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));

     Mat drawing = Mat::zeros(thresh_frame.size(), CV_8UC1);
     for(size_t i = 0; i < contours.size(); i++)
      {
        if(contourArea(contours[i]) > 500)
          drawContours(drawing, contours, i, Scalar::all(255), CV_FILLED, 8, vector<Vec4i>(), 0, Point());
      }
     thresh_frame = drawing;

     findContours(thresh_frame, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));

     drawing = Mat::zeros(thresh_frame.size(), CV_8UC1);
     for(size_t i = 0; i < contours.size(); i++)
      {
        if(contourArea(contours[i]) > 500)
          drawContours(drawing, contours, i, Scalar::all(255), CV_FILLED, 8, vector<Vec4i>(), 0, Point());
      }
     thresh_frame = drawing;

     IplImage tmp = thresh_frame;

     if (!mask)
      maska = cvCreateImage(cvGetSize(&tmp), tmp.depth, 1);

     cvCopy(&tmp, mask);
  }

  /* Release foreground detector: */
  virtual void Release()
  {
    if (mask)
    cvReleaseImage(&mask);
  }
};


int main(int argc, char** argv)
{

  CvCapture* cam = NULL;
  cam = cvCreateCameraCapture(0);

  cvNamedWindow("Original", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Mask", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Mask_v1", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Final", CV_WINDOW_AUTOSIZE);

//+++++++++++++++++++++++++++++++++++++++

  CvBlobTrackerAutoParam1 params;
  CvBlobTrackerAuto* tracker;

  SimpleDetector sd;

  params.pFG = &sd;
  params.FGTrainFrames = 0;
  params.pBD = cvCreateBlobDetectorSimple();
  params.pBT = cvCreateBlobTrackerMSPF();
  params.pBTA = cvCreateModuleBlobTrackAnalysisHistPVS();
  params.pBTGen = cvCreateModuleBlobTrackGen1();
//  params.pBTGen->SetFileName("trajectories.txt");
  params.pBTPP = cvCreateModuleBlobTrackPostProcKalman();

  tracker = cvCreateBlobTrackerAuto1(&params);

//+++++++++++++++++++++++++++++++++++++++

  IplImage * _img = cvQueryFrame(cam);
  while (true)
  {
    _img = cvQueryFrame(cam);

    CvSize sz = cvSize(_img->width, _img->height);
    IplImage* _img2 = cvCreateImage(sz, 8, 3);
    IplImage * _maskImg = cvCreateImage(sz, 8, 1);
    cvResize(_img, _img2);
    sd.Process(_img2);
    IplImage* _maskImgTemp = sd.GetMask();
    cvResize(_maskImgTemp, _maskImg);
    IplImage * _fImg = cvCreateImage(sz, 8, 3);
    cvZero(_fImg);

    tracker->Process(_img2, /*NULL*/_maskImg);

//    cout << tracker->GetBlobNum() << endl;

    if (tracker->GetBlobNum() > 0)
    {
      char str[1024];
      CvFont font;
      int line_type = CV_AA;   // Change it to 8 to see non-antialiased graphics.

      cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 0.7, 0.7, 0, 1, line_type );
      for (int i = tracker->GetBlobNum(); i > 0; i--)
      {    
          CvSize  TextSize;
          CvBlob* pB = tracker->GetBlob(i-1);
          CvPoint p = cvPoint(cvRound(pB->x*256),cvRound(pB->y*256));
          CvSize  s = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB)*256)), MAX(1,cvRound(CV_BLOB_RY(pB)*256)));
          int c = cvRound(255*tracker->GetState(CV_BLOB_ID(pB)));

          cvEllipse( _img2,
              p,
              s,
              0, 0, 360,
              CV_RGB(c,255-c,0), cvRound(1+(3*0)/255), CV_AA, 8 );

          p.x >>= 8;
          p.y >>= 8;
          s.width >>= 8;
          s.height >>= 8;
          sprintf(str,"%03d",CV_BLOB_ID(pB));
          cvGetTextSize( str, &font, &TextSize, NULL );
          p.y -= s.height;
          cvPutText( _img2, str, p, &font, CV_RGB(0,255,255));
        }
      }

    cvShowImage("Original", _img2);
    cvShowImage("Mask", _maskImgTemp);
    cvShowImage("Mask_v1", _maskImg);
    cvShowImage("Final", _fImg);

    char key = cvWaitKey(3);
    if (key == 'q')
      {
        sd.Release();
        cvReleaseImage(&_img2);
        cvReleaseImage(&_maskImgTemp);
        cvReleaseImage(&_maskImg);
        cvReleaseImage(&_fImg);
        break;
      }
  }

  cvDestroyAllWindows();
  if (cam)cvReleaseCapture(&cam);
  if (params.pBT)cvReleaseBlobTracker(&params.pBT);
  if (params.pBD)cvReleaseBlobDetector(&params.pBD);
  if (params.pBTGen)cvReleaseBlobTrackGen(&params.pBTGen);
  if (params.pBTA)cvReleaseBlobTrackAnalysis(&params.pBTA);
  if (params.pFG)cvReleaseFGDetector(&params.pFG);
  if (tracker)cvReleaseBlobTrackerAuto(&tracker);

  return 0;
}

Understanding the blobtrack_sample.cpp modules

Hi i am trying to understand how the tracking modules of the blobtrack_sample.cpp example are working. For that reason and after quite a lot of research i managed to create an example with my own foreground detector. However, although i am able to detect and follow the blobs on the screen i cannot understand how to draw the trajectories by using the BlobTrackGen module does someone has any idea in order to point me to a direction on how to do it. Here is my code:

#include <vector>
#include <opencv/cv.h>
#include <opencv/cvaux.h>
#include <opencv/highgui.h>
#include <iostream>
#include <list>

#include <opencv2/video/background_segm.hpp>
#include <opencv2/legacy/blobtrack.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc_c.h>

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

using namespace std;
using namespace cv;

class SimpleDetector : public CvFGDetector
{
  IplImage * mask;
  public:

    SimpleDetector()
    {
      mask = 0;
      SetTypeName("SD");
    }

  virtual IplImage* GetMask()
  {
    return mask;
  }


virtual void Process(IplImage* img)
  {
     Mat frame(img);
     Mat thresh_frame;
     vector<Mat> channels;
     vector<Vec4i> hierarchy;
     vector<vector<Point> > contours;

     split(frame, channels);
     add(channels[0], channels[1], channels[1]);
     subtract(channels[2], channels[1], channels[2]);
     threshold(channels[2], thresh_frame, 50, 255, CV_THRESH_BINARY);
     medianBlur(thresh_frame, thresh_frame, 5);

     findContours(thresh_frame, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));

     Mat drawing = Mat::zeros(thresh_frame.size(), CV_8UC1);
     for(size_t i = 0; i < contours.size(); i++)
      {
        if(contourArea(contours[i]) > 500)
          drawContours(drawing, contours, i, Scalar::all(255), CV_FILLED, 8, vector<Vec4i>(), 0, Point());
      }
     thresh_frame = drawing;

     findContours(thresh_frame, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));

     drawing = Mat::zeros(thresh_frame.size(), CV_8UC1);
     for(size_t i = 0; i < contours.size(); i++)
      {
        if(contourArea(contours[i]) > 500)
          drawContours(drawing, contours, i, Scalar::all(255), CV_FILLED, 8, vector<Vec4i>(), 0, Point());
      }
     thresh_frame = drawing;

     IplImage tmp = thresh_frame;

     if (!mask)
      maska = cvCreateImage(cvGetSize(&tmp), tmp.depth, 1);

     cvCopy(&tmp, mask);
  }

  /* Release foreground detector: */
  virtual void Release()
  {
    if (mask)
    cvReleaseImage(&mask);
  }
};


int main(int argc, char** argv)
{

  CvCapture* cam = NULL;
  cam = cvCreateCameraCapture(0);

  cvNamedWindow("Original", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Mask", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Mask_v1", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Final", CV_WINDOW_AUTOSIZE);

//+++++++++++++++++++++++++++++++++++++++

  CvBlobTrackerAutoParam1 params;
  CvBlobTrackerAuto* tracker;

  SimpleDetector sd;

  params.pFG = &sd;
  params.FGTrainFrames = 0;
  params.pBD = cvCreateBlobDetectorSimple();
  params.pBT = cvCreateBlobTrackerMSPF();
  params.pBTA = cvCreateModuleBlobTrackAnalysisHistPVS();
  params.pBTGen = cvCreateModuleBlobTrackGen1();
//  params.pBTGen->SetFileName("trajectories.txt");
  params.pBTPP = cvCreateModuleBlobTrackPostProcKalman();

  tracker = cvCreateBlobTrackerAuto1(&params);

//+++++++++++++++++++++++++++++++++++++++

  IplImage * _img = cvQueryFrame(cam);
  while (true)
  {
    _img = cvQueryFrame(cam);

    CvSize sz = cvSize(_img->width, _img->height);
    IplImage* _img2 = cvCreateImage(sz, 8, 3);
    IplImage * _maskImg = cvCreateImage(sz, 8, 1);
    cvResize(_img, _img2);
    sd.Process(_img2);
    IplImage* _maskImgTemp = sd.GetMask();
    cvResize(_maskImgTemp, _maskImg);
    IplImage * _fImg = cvCreateImage(sz, 8, 3);
    cvZero(_fImg);

    tracker->Process(_img2, /*NULL*/_maskImg);

//    cout << tracker->GetBlobNum() << endl;

    if (tracker->GetBlobNum() > 0)
    {
      char str[1024];
      CvFont font;
      int line_type = CV_AA;   // Change it to 8 to see non-antialiased graphics.

      cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 0.7, 0.7, 0, 1, line_type );
      for (int i = tracker->GetBlobNum(); i > 0; i--)
      {    
          CvSize  TextSize;
          CvBlob* pB = tracker->GetBlob(i-1);
          CvPoint p = cvPoint(cvRound(pB->x*256),cvRound(pB->y*256));
          CvSize  s = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB)*256)), MAX(1,cvRound(CV_BLOB_RY(pB)*256)));
          int c = cvRound(255*tracker->GetState(CV_BLOB_ID(pB)));

          cvEllipse( _img2,
              p,
              s,
              0, 0, 360,
              CV_RGB(c,255-c,0), cvRound(1+(3*0)/255), CV_AA, 8 );

          p.x >>= 8;
          p.y >>= 8;
          s.width >>= 8;
          s.height >>= 8;
          sprintf(str,"%03d",CV_BLOB_ID(pB));
          cvGetTextSize( str, &font, &TextSize, NULL );
          p.y -= s.height;
          cvPutText( _img2, str, p, &font, CV_RGB(0,255,255));
        }
      }

    cvShowImage("Original", _img2);
    cvShowImage("Mask", _maskImgTemp);
    cvShowImage("Mask_v1", _maskImg);
    cvShowImage("Final", _fImg);

    char key = cvWaitKey(3);
    if (key == 'q')
      {
        sd.Release();
        cvReleaseImage(&_img2);
        cvReleaseImage(&_maskImgTemp);
        cvReleaseImage(&_maskImg);
        cvReleaseImage(&_fImg);
        break;
      }
  }

  cvDestroyAllWindows();
  if (cam)cvReleaseCapture(&cam);
  if (params.pBT)cvReleaseBlobTracker(&params.pBT);
  if (params.pBD)cvReleaseBlobDetector(&params.pBD);
  if (params.pBTGen)cvReleaseBlobTrackGen(&params.pBTGen);
  if (params.pBTA)cvReleaseBlobTrackAnalysis(&params.pBTA);
  if (params.pFG)cvReleaseFGDetector(&params.pFG);
  if (tracker)cvReleaseBlobTrackerAuto(&tracker);

  return 0;
}

p.s. the subtractor that i have made is just extracting the red objects, so if you want to use the above code you need a red object in front of your camera

Understanding the blobtrack_sample.cpp modules

Hi i am trying to understand how the tracking modules of the blobtrack_sample.cpp example are working. For that reason and after quite a lot of research i managed to create an example with my own foreground detector. However, although i am able to detect and follow the blobs on the screen i cannot understand how to draw the trajectories by using the BlobTrackGen module does someone has any idea in order to point me to a direction on how to do it. Here is my code:

#include <vector>
#include <opencv/cv.h>
#include <opencv/cvaux.h>
#include <opencv/highgui.h>
#include <iostream>
#include <list>

#include <opencv2/video/background_segm.hpp>
#include <opencv2/legacy/blobtrack.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc_c.h>

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

using namespace std;
using namespace cv;

class SimpleDetector : public CvFGDetector
{
  IplImage * mask;
  public:

    SimpleDetector()
    {
      mask = 0;
      SetTypeName("SD");
    }

  virtual IplImage* GetMask()
  {
    return mask;
  }


virtual void Process(IplImage* img)
  {
     Mat frame(img);
     Mat thresh_frame;
     vector<Mat> channels;
     vector<Vec4i> hierarchy;
     vector<vector<Point> > contours;

     split(frame, channels);
     add(channels[0], channels[1], channels[1]);
     subtract(channels[2], channels[1], channels[2]);
     threshold(channels[2], thresh_frame, 50, 255, CV_THRESH_BINARY);
     medianBlur(thresh_frame, thresh_frame, 5);

     findContours(thresh_frame, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));

     Mat drawing = Mat::zeros(thresh_frame.size(), CV_8UC1);
     for(size_t i = 0; i < contours.size(); i++)
      {
        if(contourArea(contours[i]) > 500)
          drawContours(drawing, contours, i, Scalar::all(255), CV_FILLED, 8, vector<Vec4i>(), 0, Point());
      }
     thresh_frame = drawing;

     findContours(thresh_frame, contours, hierarchy, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));

     drawing = Mat::zeros(thresh_frame.size(), CV_8UC1);
     for(size_t i = 0; i < contours.size(); i++)
      {
        if(contourArea(contours[i]) > 500)
          drawContours(drawing, contours, i, Scalar::all(255), CV_FILLED, 8, vector<Vec4i>(), 0, Point());
      }
     thresh_frame = drawing;

     IplImage tmp = thresh_frame;

     if (!mask)
      maska mask = cvCreateImage(cvGetSize(&tmp), tmp.depth, 1);

     cvCopy(&tmp, mask);
  }

  /* Release foreground detector: */
  virtual void Release()
  {
    if (mask)
    cvReleaseImage(&mask);
  }
};


int main(int argc, char** argv)
{

  CvCapture* cam = NULL;
  cam = cvCreateCameraCapture(0);

  cvNamedWindow("Original", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Mask", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Mask_v1", CV_WINDOW_AUTOSIZE);
  cvNamedWindow("Final", CV_WINDOW_AUTOSIZE);

//+++++++++++++++++++++++++++++++++++++++

  CvBlobTrackerAutoParam1 params;
  CvBlobTrackerAuto* tracker;

  SimpleDetector sd;

  params.pFG = &sd;
  params.FGTrainFrames = 0;
  params.pBD = cvCreateBlobDetectorSimple();
  params.pBT = cvCreateBlobTrackerMSPF();
  params.pBTA = cvCreateModuleBlobTrackAnalysisHistPVS();
  params.pBTGen = cvCreateModuleBlobTrackGen1();
//  params.pBTGen->SetFileName("trajectories.txt");
  params.pBTPP = cvCreateModuleBlobTrackPostProcKalman();

  tracker = cvCreateBlobTrackerAuto1(&params);

//+++++++++++++++++++++++++++++++++++++++

  IplImage * _img = cvQueryFrame(cam);
  while (true)
  {
    _img = cvQueryFrame(cam);

    CvSize sz = cvSize(_img->width, _img->height);
    IplImage* _img2 = cvCreateImage(sz, 8, 3);
    IplImage * _maskImg = cvCreateImage(sz, 8, 1);
    cvResize(_img, _img2);
    sd.Process(_img2);
    IplImage* _maskImgTemp = sd.GetMask();
    cvResize(_maskImgTemp, _maskImg);
    IplImage * _fImg = cvCreateImage(sz, 8, 3);
    cvZero(_fImg);

    tracker->Process(_img2, /*NULL*/_maskImg);

//    cout << tracker->GetBlobNum() << endl;

    if (tracker->GetBlobNum() > 0)
    {
      char str[1024];
      CvFont font;
      int line_type = CV_AA;   // Change it to 8 to see non-antialiased graphics.

      cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 0.7, 0.7, 0, 1, line_type );
      for (int i = tracker->GetBlobNum(); i > 0; i--)
      {    
          CvSize  TextSize;
          CvBlob* pB = tracker->GetBlob(i-1);
          CvPoint p = cvPoint(cvRound(pB->x*256),cvRound(pB->y*256));
          CvSize  s = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB)*256)), MAX(1,cvRound(CV_BLOB_RY(pB)*256)));
          int c = cvRound(255*tracker->GetState(CV_BLOB_ID(pB)));

          cvEllipse( _img2,
              p,
              s,
              0, 0, 360,
              CV_RGB(c,255-c,0), cvRound(1+(3*0)/255), CV_AA, 8 );

          p.x >>= 8;
          p.y >>= 8;
          s.width >>= 8;
          s.height >>= 8;
          sprintf(str,"%03d",CV_BLOB_ID(pB));
          cvGetTextSize( str, &font, &TextSize, NULL );
          p.y -= s.height;
          cvPutText( _img2, str, p, &font, CV_RGB(0,255,255));
        }
      }

    cvShowImage("Original", _img2);
    cvShowImage("Mask", _maskImgTemp);
    cvShowImage("Mask_v1", _maskImg);
    cvShowImage("Final", _fImg);

    char key = cvWaitKey(3);
    if (key == 'q')
      {
        sd.Release();
        cvReleaseImage(&_img2);
        cvReleaseImage(&_maskImgTemp);
        cvReleaseImage(&_maskImg);
        cvReleaseImage(&_fImg);
        break;
      }
  }

  cvDestroyAllWindows();
  if (cam)cvReleaseCapture(&cam);
  if (params.pBT)cvReleaseBlobTracker(&params.pBT);
  if (params.pBD)cvReleaseBlobDetector(&params.pBD);
  if (params.pBTGen)cvReleaseBlobTrackGen(&params.pBTGen);
  if (params.pBTA)cvReleaseBlobTrackAnalysis(&params.pBTA);
  if (params.pFG)cvReleaseFGDetector(&params.pFG);
  if (tracker)cvReleaseBlobTrackerAuto(&tracker);

  return 0;
}

p.s. the subtractor that i have made is just extracting the red objects, so if you want to use the above code you need a red object in front of your camera

Copyright OpenCV foundation, 2012-2018. Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
about | faq | help | privacy policy | terms of service
Powered by Askbot version 0.10.2