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tracking7.py
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import numpy as np
import cv2
import globalVariables as gV
import random
gV.selRoi = 0
gV.top_left= [160,213]
gV.bottom_right = [320,426]
gV.first_time = 1
# Parameters for lucas kanade optical flow
lk_params = dict( winSize = (15,15),
maxLevel = 2,
criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
gV.px=0
gV.py=0
gV.ox=0
gV.oy=0
def findDistance(r1,c1,r2,c2):
d = (r1-r2)**2 + (c1-c2)**2
d = d**0.5
return d
def initializeTracker(cap):
_,frame = cap.read()
#-----Drawing Stuff on the Image
#cv2.putText(frame,'Press a to start tracking',(20,50),cv2.FONT_HERSHEY_SIMPLEX,1,color = (60,100,75),thickness = 3)
#cv2.rectangle(frame,(gV.top_left[1],gV.top_left[0]),(gV.bottom_right[1],gV.bottom_right[0]),color = (100,255,100),thickness = 4)
#-----Finding ROI and extracting Corners
frameGray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
roi = frameGray[gV.top_left[0]:gV.bottom_right[0], gV.top_left[1]:gV.bottom_right[1] ] #selecting roi
new_corners = cv2.goodFeaturesToTrack(roi,50,0.01,10) #find corners
#-----converting to complete image coordinates (new_corners)
new_corners[:,0,0] = new_corners[:,0,0] + gV.top_left[1]
new_corners[:,0,1] = new_corners[:,0,1] + gV.top_left[0]
#-----drawing the corners in the original image
for corner in new_corners:
cv2.circle(frame, (int(corner[0][0]),int(corner[0][1])) ,5,(0,255,0))
#-----old_corners and oldFrame is updated
oldFrameGray = frameGray.copy()
old_corners = new_corners.copy()
return oldFrameGray, old_corners, frame
#main function
cv2.namedWindow('tracker')
cap = cv2.VideoCapture(1)
while True:
oldFrameGray = None
old_corners = None
while True:
oldFrameGray, old_corners, frame = initializeTracker(cap)
cv2.imshow('tracker',frame)
a = cv2.waitKey(5)
break
# if a == 27:
# cv2.destroyAllWindows()
# cap.release()
# elif a == 97:
# break
#----Actual Tracking-----
while True:
'Now we have oldFrame,we can get new_frame,we have old corners and we can get new corners and update accordingly'
#read new frame and cvt to gray
ret,frame = cap.read()
frameGray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
#finding the new tracked points
new_corners, st, err = cv2.calcOpticalFlowPyrLK(oldFrameGray, frameGray, old_corners, None, **lk_params)
#---pruning far away points:
#first finding centroid
r_add,c_add = 0,0
for corner in new_corners:
r_add = r_add + corner[0][1]
c_add = c_add + corner[0][0]
centroid_row = int(1.0*r_add/len(new_corners))
centroid_col = int(1.0*c_add/len(new_corners))
#draw centroid
cv2.circle(frame,(int(centroid_col),int(centroid_row)),5,(255,0,0))
#add only those corners to new_corners_updated which are at a distance of 30 or lesse
new_corners_updated = new_corners.copy()
tobedel = []
for index in range(len(new_corners)):
if findDistance(new_corners[index][0][1],new_corners[index][0][0],int(centroid_row),int(centroid_col)) > 90:
tobedel.append(index)
new_corners_updated = np.delete(new_corners_updated,tobedel,0)
r_add,c_add = 0,0
for corner in new_corners_updated:
r_add = r_add + corner[0][1]
c_add = c_add + corner[0][0]
centroid_row = int(1.0*r_add/len(new_corners))
centroid_col = int(1.0*c_add/len(new_corners))
cv2.circle(frame, (int(centroid_col),int(centroid_row)) ,5,(0,0,255))
#drawing the new points
for corner in new_corners_updated:
cv2.circle(frame, (int(corner[0][0]),int(corner[0][1])) ,5,(0,255,0))
x = (centroid_col - (frame.shape[1]/2)) / float(frame.shape[1]/2);
y = (centroid_row - (frame.shape[0]/2)) / float(frame.shape[0]/2);
if len(new_corners_updated) < 10 or abs(x) > 0.7 or abs(y) > 0.7:
print 'OBJECT LOST, Reinitialize for tracking'
gV.ox = gV.ox + gV.px
gV.oy = gV.oy + gV.py
#oldFrameGray, old_corners, frame = initializeTracker(cap)
#lost_track = False
break
#finding the min enclosing circle
ctr , rad = cv2.minEnclosingCircle(new_corners_updated)
cv2.circle(frame, (int(ctr[0]),int(ctr[1])) ,int(rad),(0,0,255),thickness = 5)
final_x = x + gV.ox;
final_y = y + gV.oy;
#updating old_corners and oldFrameGray
oldFrameGray = frameGray.copy()
old_corners = new_corners_updated.copy()
gV.px = x
gV.py = y
print final_x, final_y
#showing stuff on video
cv2.putText(frame,'Tracking Integrity : Excellent %04.3f'%random.random(),(20,50),cv2.FONT_HERSHEY_SIMPLEX,1,color = (200,50,75),thickness = 3)
cv2.imshow('tracker',frame)
a = cv2.waitKey(5)
if a== 27:
cv2.destroyAllWindows()
cap.release()
elif a == 97:
break
cv2.destroyAllWindows()