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1 #include <opencv2/core/utility.hpp>
2 #include "opencv2/video/tracking.hpp"
3 #include "opencv2/imgproc.hpp"
4 #include "opencv2/videoio.hpp"
5 #include "opencv2/highgui.hpp"
6 
7 #include <iostream>
8 #include <ctype.h>
9 
10 using namespace cv;
11 using namespace std;
12 
13 Mat image;
14 
15 bool backprojMode = false;
16 bool selectObject = false;
17 int trackObject = 0;
18 bool showHist = true;
19 Point origin;
20 Rect selection;
21 int vmin = 10, vmax = 256, smin = 30;
22 
onMouse(int event,int x,int y,int,void *)23 static void onMouse( int event, int x, int y, int, void* )
24 {
25     if( selectObject )
26     {
27         selection.x = MIN(x, origin.x);
28         selection.y = MIN(y, origin.y);
29         selection.width = std::abs(x - origin.x);
30         selection.height = std::abs(y - origin.y);
31 
32         selection &= Rect(0, 0, image.cols, image.rows);
33     }
34 
35     switch( event )
36     {
37     case EVENT_LBUTTONDOWN:
38         origin = Point(x,y);
39         selection = Rect(x,y,0,0);
40         selectObject = true;
41         break;
42     case EVENT_LBUTTONUP:
43         selectObject = false;
44         if( selection.width > 0 && selection.height > 0 )
45             trackObject = -1;
46         break;
47     }
48 }
49 
help()50 static void help()
51 {
52     cout << "\nThis is a demo that shows mean-shift based tracking\n"
53             "You select a color objects such as your face and it tracks it.\n"
54             "This reads from video camera (0 by default, or the camera number the user enters\n"
55             "Usage: \n"
56             "   ./camshiftdemo [camera number]\n";
57 
58     cout << "\n\nHot keys: \n"
59             "\tESC - quit the program\n"
60             "\tc - stop the tracking\n"
61             "\tb - switch to/from backprojection view\n"
62             "\th - show/hide object histogram\n"
63             "\tp - pause video\n"
64             "To initialize tracking, select the object with mouse\n";
65 }
66 
67 const char* keys =
68 {
69     "{@camera_number| 0 | camera number}"
70 };
71 
main(int argc,const char ** argv)72 int main( int argc, const char** argv )
73 {
74     help();
75 
76     VideoCapture cap;
77     Rect trackWindow;
78     int hsize = 16;
79     float hranges[] = {0,180};
80     const float* phranges = hranges;
81     CommandLineParser parser(argc, argv, keys);
82     int camNum = parser.get<int>(0);
83 
84     cap.open(camNum);
85 
86     if( !cap.isOpened() )
87     {
88         help();
89         cout << "***Could not initialize capturing...***\n";
90         cout << "Current parameter's value: \n";
91         parser.printMessage();
92         return -1;
93     }
94 
95     namedWindow( "Histogram", 0 );
96     namedWindow( "CamShift Demo", 0 );
97     setMouseCallback( "CamShift Demo", onMouse, 0 );
98     createTrackbar( "Vmin", "CamShift Demo", &vmin, 256, 0 );
99     createTrackbar( "Vmax", "CamShift Demo", &vmax, 256, 0 );
100     createTrackbar( "Smin", "CamShift Demo", &smin, 256, 0 );
101 
102     Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
103     bool paused = false;
104 
105     for(;;)
106     {
107         if( !paused )
108         {
109             cap >> frame;
110             if( frame.empty() )
111                 break;
112         }
113 
114         frame.copyTo(image);
115 
116         if( !paused )
117         {
118             cvtColor(image, hsv, COLOR_BGR2HSV);
119 
120             if( trackObject )
121             {
122                 int _vmin = vmin, _vmax = vmax;
123 
124                 inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
125                         Scalar(180, 256, MAX(_vmin, _vmax)), mask);
126                 int ch[] = {0, 0};
127                 hue.create(hsv.size(), hsv.depth());
128                 mixChannels(&hsv, 1, &hue, 1, ch, 1);
129 
130                 if( trackObject < 0 )
131                 {
132                     Mat roi(hue, selection), maskroi(mask, selection);
133                     calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
134                     normalize(hist, hist, 0, 255, NORM_MINMAX);
135 
136                     trackWindow = selection;
137                     trackObject = 1;
138 
139                     histimg = Scalar::all(0);
140                     int binW = histimg.cols / hsize;
141                     Mat buf(1, hsize, CV_8UC3);
142                     for( int i = 0; i < hsize; i++ )
143                         buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255);
144                     cvtColor(buf, buf, COLOR_HSV2BGR);
145 
146                     for( int i = 0; i < hsize; i++ )
147                     {
148                         int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);
149                         rectangle( histimg, Point(i*binW,histimg.rows),
150                                    Point((i+1)*binW,histimg.rows - val),
151                                    Scalar(buf.at<Vec3b>(i)), -1, 8 );
152                     }
153                 }
154 
155                 calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
156                 backproj &= mask;
157                 RotatedRect trackBox = CamShift(backproj, trackWindow,
158                                     TermCriteria( TermCriteria::EPS | TermCriteria::COUNT, 10, 1 ));
159                 if( trackWindow.area() <= 1 )
160                 {
161                     int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
162                     trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
163                                        trackWindow.x + r, trackWindow.y + r) &
164                                   Rect(0, 0, cols, rows);
165                 }
166 
167                 if( backprojMode )
168                     cvtColor( backproj, image, COLOR_GRAY2BGR );
169                 ellipse( image, trackBox, Scalar(0,0,255), 3, LINE_AA );
170             }
171         }
172         else if( trackObject < 0 )
173             paused = false;
174 
175         if( selectObject && selection.width > 0 && selection.height > 0 )
176         {
177             Mat roi(image, selection);
178             bitwise_not(roi, roi);
179         }
180 
181         imshow( "CamShift Demo", image );
182         imshow( "Histogram", histimg );
183 
184         char c = (char)waitKey(10);
185         if( c == 27 )
186             break;
187         switch(c)
188         {
189         case 'b':
190             backprojMode = !backprojMode;
191             break;
192         case 'c':
193             trackObject = 0;
194             histimg = Scalar::all(0);
195             break;
196         case 'h':
197             showHist = !showHist;
198             if( !showHist )
199                 destroyWindow( "Histogram" );
200             else
201                 namedWindow( "Histogram", 1 );
202             break;
203         case 'p':
204             paused = !paused;
205             break;
206         default:
207             ;
208         }
209     }
210 
211     return 0;
212 }
213