def createTrackerByName(self):
trackerType = self.trackerType
trackerTypes = [
'BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'MOSSE', 'CSRT'
]
if trackerType == trackerTypes[0]:
tracker = cv2.TrackerBoosting_create()
elif trackerType == trackerTypes[1]:
tracker = cv2.TrackerMIL_create()
elif trackerType == trackerTypes[2]:
tracker = cv2.TrackerKCF_create()
elif trackerType == trackerTypes[3]:
tracker = cv2.TrackerTLD_create()
elif trackerType == trackerTypes[4]:
tracker = cv2.TrackerMedianFlow_create()
elif trackerType == trackerTypes[5]:
tracker = cv2.TrackerMOSSE_create()
elif trackerType == trackerTypes[6]:
tracker = cv2.TrackerCSRT_create()
else:
# 这里应该主动抛出异常
tracker = None
print('Incorrect tracker name')
print('Available trackers are:')
for t in trackerTypes:
print(t)
raise NameError('trackers name error !')
return tracker
def initWorking(self, frame, box):
if self.tracker_type == 'BOOSTING':
self.tracker = cv2.TrackerBoosting_create()
if self.tracker_type == 'MIL':
self.tracker = cv2.TrackerMIL_create()
if self.tracker_type == 'KCF':
self.tracker = cv2.TrackerKCF_create()
if self.tracker_type == 'TLD':
self.tracker = cv2.TrackerTLD_create()
if self.tracker_type == 'MEDIANFLOW':
self.tracker = cv2.TrackerMedianFlow_create()
if self.tracker_type == 'GOTURN':
self.tracker = cv2.TrackerGOTURN_create()
'''
追踪器工作初始化
frame:初始化追踪画面
box:追踪的区域
'''
if not self.tracker:
raise Exception("追踪器未初始化")
status = self.tracker.init(frame, box)
if not status:
raise Exception("追踪器工作初始化失败")
self.coord = box
self.isWorking = True
print("ROI: ", self.coord)
def __init__(self):
self.image_sub = rospy.Subscriber("/usb_cam/image_raw/compressed", CompressedImage, self.callback, queue_size=20)
self.image_sub_2 = rospy.Subscriber("/usb_cam/image_raw/compressed", CompressedImage, self.callback_2, queue_size=20)
self.contronl_pub = rospy.Publisher("cmd_topic", Int32, queue_size=1)
self.bridge = CvBridge()
self.check = 1
tracker_types = ['BOOSTING', 'MIL','KCF', 'TLD', 'MEDIANFLOW', 'MOSSE', 'CSRT']
self.tracker_type = tracker_types[4]
if self.tracker_type == 'BOOSTING':
self.tracker = cv2.TrackerBoosting_create()
if self.tracker_type == 'MIL':
self.tracker = cv2.TrackerMIL_create()
if self.tracker_type == 'KCF':
self.tracker = cv2.TrackerKCF_create()
if self.tracker_type == 'TLD':
self.tracker = cv2.TrackerTLD_create()
if self.tracker_type == 'MEDIANFLOW':
self.tracker = cv2.TrackerMedianFlow_create()
if self.tracker_type == "CSRT":
self.tracker = cv2.TrackerCSRT_create()
if self.tracker_type == "MOSSE":
self.tracker = cv2.TrackerMOSSE_create()
def createTrackerByName(trackerType):
# Create a tracker based on tracker name
# https://docs.opencv.org/master/d0/d0a/classcv_1_1Tracker.html
if trackerType == trackerTypes[0]:
tracker = cv2.TrackerBoosting_create()
elif trackerType == trackerTypes[1]:
tracker = cv2.TrackerMIL_create()
elif trackerType == trackerTypes[2]:
tracker = cv2.TrackerKCF_create()
elif trackerType == trackerTypes[3]:
tracker = cv2.TrackerTLD_create()
elif trackerType == trackerTypes[4]:
tracker = cv2.TrackerMedianFlow_create()
elif trackerType == trackerTypes[5]:
tracker = cv2.TrackerGOTURN_create()
elif trackerType == trackerTypes[6]:
tracker = cv2.TrackerMOSSE_create()
elif trackerType == trackerTypes[7]:
tracker = cv2.TrackerCSRT_create()
# https://docs.opencv.org/master/d2/da2/classcv_1_1TrackerCSRT.html
else:
tracker = None
print('Incorrect tracker name')
print('Available trackers are:')
for t in trackerTypes:
print(t)
return tracker
def ask_tracker():
print('Which tracker ? : ')
print('Enter 0 for BOOSTING')
print('Enter 1 for MIL')
print('Enter 2 for KCF')
print('Enter 3 for TLD')
print('Enter 4 for MEDIANFLOW')
print('Enter 5 for GOTURN')
print('Enter 6 for MOSSE')
print('Enter 7 for CSRT')
choice = input('Select tracker : ')
if choice == '0':
tracker = cv2.TrackerBoosting_create()
if choice == '1':
tracker = cv2.TrackerMIL_create()
if choice == '2':
tracker = cv2.TrackerKCF_create()
if choice == '3':
tracker = cv2.TrackerTLD_create()
if choice == '4':
tracker = cv2.TrackerMedianFlow_create()
if choice == '5':
tracker = cv2.TrackerGOTURN_create()
if choice == '6':
tracker = cv2.TrackerMOSSE_create()
if choice == '7':
tracker = cv2.TrackerCSRT_create()
return tracker
def call_tracker_constructor(self, tracker_type):
if tracker_type == 'DASIAMRPN':
tracker = dasiamrpn()
else:
# -- TODO: remove this if I assume OpenCV version > 3.4.0
if int(self.major_ver == 3) and int(self.minor_ver) < 3:
#tracker = cv2.Tracker_create(tracker_type)
pass
# --
else:
try:
tracker = cv2.TrackerKCF_create()
except AttributeError as error:
print(error)
print('\nMake sure that OpenCV contribute is installed: opencv-contrib-python\n')
if tracker_type == 'CSRT':
tracker = cv2.TrackerCSRT_create()
elif tracker_type == 'KCF':
tracker = cv2.TrackerKCF_create()
elif tracker_type == 'MOSSE':
tracker = cv2.TrackerMOSSE_create()
elif tracker_type == 'MIL':
tracker = cv2.TrackerMIL_create()
elif tracker_type == 'BOOSTING':
tracker = cv2.TrackerBoosting_create()
elif tracker_type == 'MEDIANFLOW':
tracker = cv2.TrackerMedianFlow_create()
elif tracker_type == 'TLD':
tracker = cv2.TrackerTLD_create()
elif tracker_type == 'GOTURN':
tracker = cv2.TrackerGOTURN_create()
return tracker
def ask_for_tracker():
print('Hi, ! What tracker API would you like to use?')
print('Enter 0 for Boosting: ')
print('Enter 1 for MIL: ')
print('Enter 2 for KCF: ')
print('print 3 for TLD: ')
print('Enter 4 for MEDIANFLOW: ')
print('Enter 5 for GOTURN: ')
print('Enter 6 for MOSSE: ')
print('Enter 7 for CSRT: ')
choice = input('Please select your tracker: ')
if choice == '0':
trackerchoice = cv2.TrackerBoosting_create()
if choice == '1':
trackerchoice = cv2.TrackerMIL_create()
if choice == '2':
trackerchoice = cv2.TrackerKCF_create()
if choice == '3':
trackerchoice = cv2.TrackerTLD_create()
if choice == '4':
trackerchoice = cv2.TrackerMedianFlow_create()
if choice == '5':
trackerchoice = cv2.TrackerGOTURN_create()
if choice == '6':
trackerchoice = cv2.TrackerMOSSE_create()
if choice == '7':
trackerchoice = cv2.TrackerCSRT_create()
return trackerchoice
def Tracker():
print("Choose Tracker API:")
print('Enter 0 for Boosting:')
print('Enter 1 for MIL:')
print('Enter 2 for KCF:')
print('Enter 3 for TLD:')
print('Enter 4 for MEDIANFLOW:')
print('Enter 5 for GOTURN:')
print('Enter 6 for MOSSE:')
print('Enter 7 for CSRT:')
choice = input('Select Tracker:')
if choice == '0':
tracker = cv2.TrackerBoosting_create()
if choice == '1':
tracker = cv2.TrackerMIL_create()
if choice == '2':
tracker = cv2.TrackerKCF_create()
if choice == '3':
tracker = cv2.TrackerTLD_create()
if choice == '4':
tracker = cv2.TrackerMedianFlow_create()
if choice == '5':
tracker = cv2.TrackerGOTURN_create()
if choice == '6':
tracker = cv2.TrackerMOSSE_create()
if choice == '7':
tracker = cv2.TrackerCSRT_create()
return tracker
def __init__(self, tracker_type="BOOSTING", draw_coord=True):
'''
初始化追踪器种类
'''
# 获得opencv版本
(major_ver, minor_ver, subminor_ver) = (cv2.__version__).split('.')
self.tracker_types = [
'BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'GOTURN'
]
self.tracker_type = tracker_type
self.isWorking = False
self.draw_coord = draw_coord
# 构造追踪器
if int(major_ver) < 3:
self.tracker = cv2.Tracker_create(tracker_type)
else:
if tracker_type == 'BOOSTING':
self.tracker = cv2.TrackerBoosting_create()
if tracker_type == 'MIL':
self.tracker = cv2.TrackerMIL_create()
if tracker_type == 'KCF':
self.tracker = cv2.TrackerKCF_create()
if tracker_type == 'TLD':
self.tracker = cv2.TrackerTLD_create()
if tracker_type == 'MEDIANFLOW':
self.tracker = cv2.TrackerMedianFlow_create()
if tracker_type == 'GOTURN':
self.tracker = cv2.TrackerGOTURN_create()
def tracker_name(tracker_types):
if tracker_type == tracker_types[0]:
tracker = cv2.TrackerBoosting_create()
elif tracker_type == tracker_types[1]:
tracker = cv2.TrackerMIL_create()
elif tracker_type == tracker_types[2]:
tracker = cv2.TrackerKCF_create()
elif tracker_type == tracker_types[3]:
tracker = cv2.TrackerTLD_create()
elif tracker_type == tracker_types[4]:
tracker = cv2.TrackerMeidanFlow_create()
elif tracker_type == tracker_types[5]:
tracker = cv2.TrackerGOTURN_create()
elif tracker_type == tracker_types[6]:
tracker = cv2.TrackerMosse_create()
elif tracker_type == tracker_types[7]:
tracker = cv2.TrackerCSRT_create()
else:
tracker = None
print('No Tracker Found')
print('Choose from these trackers')
for tr in tracker_types:
print(ta)
return tracker
def selectTrackerForObj():
print('Welcome in the Object Tracker API!!!')
print('1.Boosting')
print('2.TLD')
print('3.MIL')
print('4.KCF')
print('5.Median Flow')
choice = int(input('Enter the choice for the tracker:'))
if choice == 1:
tracker = cv2.TrackerBoosting_create()
elif choice == 2:
tracker = cv2.TrackerTLD_create()
elif choice == 3:
tracker = cv2.TrackerMIL_create()
elif choice == 4:
tracker = cv2.TrackerKCF_create()
elif choice == 5:
tracker = cv2.TrackerMedianFlow_create()
else:
print('Ooops!, You entered wrong chocie, Plz try again!!')
return tracker
def update_tracker(self, frame, mask=None, tracker_type=None, **kwargs):
if tracker_type is None:
tracker_type = self.tracker_type
tk_name = tracker_type.upper()
if int(cv_major_ver) < 3:
tracker = cv2.Tracker_create(tk_name)
elif tk_name == 'BOOSTING':
tracker = cv2.TrackerBoosting_create()
elif tk_name == 'MIL':
tracker = cv2.TrackerMIL_create()
elif tk_name == 'KCF':
tracker = cv2.TrackerKCF_create()
elif tk_name == 'TLD':
tracker = cv2.TrackerTLD_create()
elif tk_name == 'MEDIANFLOW':
tracker = cv2.TrackerMedianFlow_create()
elif tk_name == 'GOTURN':
tracker = cv2.TrackerGOTURN_create()
else:
raise ValueError("tracker_type not supported")
# add tail if tracker was created
if kwargs:
# renewing tracker and correct it
tf = self.add_to_tail(mask=mask, frame=frame, **kwargs)
else:
# renewing tracker from last item in tail
tf = self.tail[0]
# register new tracker if tail was added successfully
self.tracker_type = tracker_type
self.tracker = tracker
self.is_tracking = tracker.init(frame, tf.bbox)
def InitializingTLD(player, box, iniframe):
player = cv2.TrackerTLD_create()
box = (0, 0, 10, 10)
box = cv2.selectROI(iniframe, False)
ok = player.init(iniframe, box)
cv2.destroyAllWindows()
return player, box
def createTrackerByName(self, trackerType):
trackerTypes = [
'BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'GOTURN', 'MOSSE',
'CSRT'
]
# Create a tracker based on tracker name
if trackerType == trackerTypes[0]:
tracker = cv2.TrackerBoosting_create()
elif trackerType == trackerTypes[1]:
tracker = cv2.TrackerMIL_create()
elif trackerType == trackerTypes[2]:
tracker = cv2.TrackerKCF_create()
elif trackerType == trackerTypes[3]:
tracker = cv2.TrackerTLD_create()
elif trackerType == trackerTypes[4]:
tracker = cv2.TrackerMedianFlow_create()
elif trackerType == trackerTypes[5]:
tracker = cv2.TrackerGOTURN_create()
elif trackerType == trackerTypes[6]:
tracker = cv2.TrackerMOSSE_create()
elif trackerType == trackerTypes[7]:
tracker = cv2.TrackerCSRT_create()
else:
tracker = None
print('Incorrect tracker name')
print('Available trackers are:')
for t in trackerTypes:
print(t)
return tracker
def select_tracker(self):
"""
コンストラクタで用いるトラッカー初期化用のメソッド
Returns:
tracker obj:
指定されたタイプのトラッカーインスタンス
"""
tracker = None
choice = "3"
# print("0:Boosting")
# print("1:MIL")
# print("2:KCF")
# print("3:TLD")
# print("4:MedianFlow")
# choice = input("Please select your tracker number: ")
if choice == '0':
tracker = cv2.TrackerBoosting_create()
if choice == '1':
tracker = cv2.TrackerMIL_create()
if choice == '2':
tracker = cv2.TrackerKCF_create()
if choice == '3':
tracker = cv2.TrackerTLD_create()
if choice == '4':
tracker = cv2.TrackerMedianFlow_create()
return tracker
def create_tracker_by_name(self, tracker_type):
"""
Given input string, init the correct tracker
:param tracker_type: e.g. 'CSRT'
:return:
"""
# Create a tracker based on tracker name
if tracker_type == self.trackerTypes[0]:
tracker = cv2.TrackerBoosting_create()
elif tracker_type == self.trackerTypes[1]:
tracker = cv2.TrackerMIL_create()
elif tracker_type == self.trackerTypes[2]:
tracker = cv2.TrackerKCF_create()
elif tracker_type == self.trackerTypes[3]:
tracker = cv2.TrackerTLD_create()
elif tracker_type == self.trackerTypes[4]:
tracker = cv2.TrackerMedianFlow_create()
elif tracker_type == self.trackerTypes[5]:
tracker = cv2.TrackerGOTURN_create()
elif tracker_type == self.trackerTypes[6]:
tracker = cv2.TrackerMOSSE_create()
elif tracker_type == self.trackerTypes[7]:
tracker = cv2.TrackerCSRT_create()
else:
tracker = None
print('Incorrect tracker name')
print('Available trackers are:')
for t in self.trackerTypes:
print(t)
return tracker
def fluo_predict(self, image, blank=None):
if self.tracker is None:
"""
make template
"""
if self.tracker_name == "BOOSTING":
self.tracker = cv2.TrackerBoosting_create()
elif self.tracker_name == "MIL":
self.tracker = cv2.TrackerMIL_create()
elif self.tracker_name == "KCF":
self.tracker = cv2.TrackerKCF_create()
elif self.tracker_name == "TLD":
self.tracker = cv2.TrackerTLD_create()
elif self.tracker_name == "MEDIANFLOW":
self.tracker = cv2.TrackerMedianFlow_create()
elif self.tracker_name == "MOSSE":
self.tracker = cv2.TrackerMOSSE_create()
elif self.tracker_name == "CSRT":
self.tracker = cv2.TrackerCSRT_create()
else:
raise Exception("cannot create tracker: " + self.tracker_name)
bbox = (int(self.x - self.radius), int(self.y - self.radius),
int(2 * self.radius), int(2 * self.radius))
self.tracker.init(image, bbox)
else:
ok, bbox = self.tracker.update(image)
if ok:
self.x = bbox[0] + self.radius
self.y = bbox[1] + self.radius
else:
return 0, 0, False
return self.x, self.y, True
def create_tracker(tracker_type=1):
tracker_types = [
'BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'GOTURN', 'CSRT',
'MOSSE'
]
if tracker_type > len(tracker_types):
tracker_type = 0
tracker_type = tracker_types[tracker_type]
if tracker_type == 'BOOSTING':
tracker = cv2.TrackerBoosting_create()
elif tracker_type == 'MIL':
tracker = cv2.TrackerMIL_create()
elif tracker_type == 'KCF':
tracker = cv2.TrackerKCF_create()
elif tracker_type == 'TLD':
tracker = cv2.TrackerTLD_create()
elif tracker_type == 'MEDIANFLOW':
tracker = cv2.TrackerMedianFlow_create()
elif tracker_type == 'GOTURN':
tracker = cv2.TrackerGOTURN_create()
elif tracker_type == 'CSRT':
tracker = cv2.TrackerCSRT_create()
elif tracker_type == 'MOSSE':
tracker = cv2.TrackerMOSSE_create()
return tracker
def createTrackerByName(trackerType):
# 트레커를 이름에 따라 생성합니다.
if trackerType == trackerTypes[0]:
tracker = cv2.TrackerBoosting_create()
elif trackerType == trackerTypes[1]:
tracker = cv2.TrackerMIL_create()
elif trackerType == trackerTypes[2]:
tracker = cv2.TrackerKCF_create()
elif trackerType == trackerTypes[3]:
tracker = cv2.TrackerTLD_create()
elif trackerType == trackerTypes[4]:
tracker = cv2.TrackerMedianFlow_create()
elif trackerType == trackerTypes[5]:
tracker = cv2.TrackerGOTURN_create()
elif trackerType == trackerTypes[6]:
tracker = cv2.TrackerMOSSE_create()
elif trackerType == trackerTypes[7]:
tracker = cv2.TrackerCSRT_create()
else:
tracker = None
print('틀린 트레커 이름입니다')
print('현재 작동하는 트레커:')
for t in trackerTypes:
print(t)
return tracker
def __init__(self, raw_img, boundarybox, serieid, lipcenter, shotcount):
if config.tracker_type == 'BOOSTING':
self.tracker = cv2.TrackerBoosting_create()
if config.tracker_type == 'MIL':
self.tracker = cv2.TrackerMIL_create()
if config.tracker_type == 'KCF':
self.tracker = cv2.TrackerKCF_create()
if config.tracker_type == 'TLD':
self.tracker = cv2.TrackerTLD_create()
if config.tracker_type == 'MEDIANFLOW':
self.tracker = cv2.TrackerMedianFlow_create()
if config.tracker_type == 'GOTURN':
self.tracker = cv2.TrackerGOTURN_create()
if config.tracker_type == 'MOSSE':
self.tracker = cv2.TrackerMOSSE_create()
self.tracker = cv2.TrackerMOSSE_create()
self.bbox = (boundarybox[0], boundarybox[1],
boundarybox[2] - boundarybox[0],
boundarybox[3] - boundarybox[1])
self.tracked = True
self.serie_name = "series" + str(serieid)
self.drop_count = 0
self.valid = True
self.startshot = shotcount
self.endshot = None
self.delta = (0, 0)
# self.seqlist = []
self.syncseq = []
self.lastlipbox = None
self.update_lip_seq(raw_img, boundarybox, lipcenter)
self.tracker.init(raw_img, self.bbox)
self.remove = False
def createTrackerByName(trackerType):
# Create a tracker based on tracker name
if trackerType == trackerTypes[0]:
tracker = cv2.TrackerBoosting_create
elif trackerType == trackerTypes[1]:
tracker = cv2.TrackerMIL_create
elif trackerType == trackerTypes[2]:
tracker = cv2.TrackerKCF_create()
elif trackerType == trackerTypes[3]:
tracker = cv2.TrackerTLD_create()
elif trackerType == trackerTypes[4]:
tracker = cv2.TrackerMedianFlow_create()
elif trackerType == trackerTypes[5]:
tracker = cv2.TrackerGOTURN_create()
elif trackerType == trackerTypes[6]:
tracker = cv2.TrackerMOSSE_create()
elif trackerType == trackerTypes[7]:
tracker = cv2.TrackerCSRT_create()
else:
tracker = None
print('Incorrect tracker name')
print('Available trackers are:')
for t in trackerTypes:
print(t)
return tracker
def __create_tracker_by_name(self):
"""Method to creating a tracker object via type that is chosen by the user.
"""
if self.tracker_type == self.tracker_types[0]:
tracker = cv2.TrackerBoosting_create()
elif self.tracker_type == self.tracker_types[1]:
tracker = cv2.TrackerMIL_create()
elif self.tracker_type == self.tracker_types[2]:
tracker = cv2.TrackerKCF_create()
elif self.tracker_type == self.tracker_types[3]:
tracker = cv2.TrackerTLD_create()
elif self.tracker_type == self.tracker_types[4]:
tracker = cv2.TrackerMedianFlow_create()
elif self.tracker_type == self.tracker_types[5]:
tracker = cv2.TrackerGOTURN_create()
elif self.tracker_type == self.tracker_types[6]:
tracker = cv2.TrackerMOSSE_create()
elif self.tracker_type == self.tracker_types[7]:
tracker = cv2.TrackerCSRT_create()
else:
tracker = None
logger.error('Incorrect tracker name')
logger.info('Available trackers are:')
for t in self.tracker_types:
logger.info(t)
return tracker
def creat_tracker(tracker_type):
"""
Create video tracker.
Params:
tracker_type: string of tracker name
Return:
tracker object
"""
if int(minor_ver) < 3:
tracker = cv2.Tracker_create(tracker_type)
else:
if tracker_type == 'BOOSTING':
tracker = cv2.TrackerBoosting_create()
if tracker_type == 'MIL':
tracker = cv2.TrackerMIL_create()
if tracker_type == 'KCF':
# tracker = cv2.TrackerKCF_create() # OpenCV KCF is not good
tracker = kcftracker.KCFTracker(
False, True, False) # hog, fixed_window, multiscale
if tracker_type == 'TLD':
tracker = cv2.TrackerTLD_create()
if tracker_type == 'MEDIANFLOW':
tracker = cv2.TrackerMedianFlow_create()
if tracker_type == 'GOTURN':
tracker = cv2.TrackerGOTURN_create()
return tracker
def traker_name(tracker):
if tracker == tracker_types[0]:
return cv2.TrackerBoosting_create()
if tracker == tracker_types[1]:
return cv2.TrackerMIL_create()
if tracker == tracker_types[2]:
return cv2.TrackerKCF_create()
if tracker == tracker_types[3]:
return cv2.TrackerTLD_create()
if tracker == tracker_types[4]:
return cv2.TrackerMedianFlow_create()
if tracker == tracker_types[5]:
return cv2.TrackerGOTURN_create()
if tracker == tracker_types[6]:
return cv2.TrackerMOSSE_create()
if tracker == tracker_types[7]:
return cv2.TrackerCSRT_create()
else:
raise NotImplementedError
def __init__(self):
tracker_types = ['BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'GOTURN']
tracker_type = tracker_types[4]
if tracker_type == 'BOOSTING':
self.tracker = cv2.TrackerBoosting_create()
elif tracker_type == 'MIL':
self.tracker = cv2.TrackerMIL_create()
elif tracker_type == 'KCF':
self.tracker = cv2.TrackerKCF_create()
elif tracker_type == 'TLD':
self.tracker = cv2.TrackerTLD_create()
elif tracker_type == 'MEDIANFLOW':
self.tracker = cv2.TrackerMedianFlow_create()
elif tracker_type == 'GOTURN':
self.tracker = cv2.TrackerGOTURN_create()
# Read video
self.video = cv2.VideoCapture('testvideo.mp4')
# Exit if video not opened.
if not self.video.isOpened():
print("Could not open video")
sys.exit()
# Define an initial bounding box
self.bbox = (287, 23, 86, 320) # 横，纵，宽，高
_thread.start_new_thread(self.track_thread, ())
def __init__(self, videoFile):
"""
Initializes the tracker with the video file path
:param videoFile: the path to the video to analyze
"""
self.current_frame = 0
self.data_points = []
self.videoFile = videoFile
tracker_types = [
'BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'GOTURN', 'MOSSE',
'CSRT'
]
self.tracker_type = tracker_types[2]
# here the tracker type in the above line is instantiated
if self.tracker_type == 'BOOSTING':
self.tracker = cv2.TrackerBoosting_create()
elif self.tracker_type == 'MIL':
self.tracker = cv2.TrackerMIL_create()
elif self.tracker_type == 'KCF':
self.tracker = cv2.TrackerKCF_create()
elif self.tracker_type == 'TLD':
self.tracker = cv2.TrackerTLD_create()
elif self.tracker_type == 'MEDIANFLOW':
self.tracker = cv2.TrackerMedianFlow_create()
elif self.tracker_type == 'GOTURN':
self.tracker = cv2.TrackerGOTURN_create()
elif self.tracker_type == 'MOSSE':
self.tracker = cv2.TrackerMOSSE_create()
elif self.tracker_type == "CSRT":
self.tracker = cv2.TrackerCSRT_create()
def create_tracker_by_type(tracker_type):
# Create a tracker based on tracker name
if tracker_type == 'BOOSTING':
tracker = cv2.TrackerBoosting_create()
elif tracker_type == 'MIL':
tracker = cv2.TrackerMIL_create()
elif tracker_type == 'KCF':
tracker = cv2.TrackerKCF_create()
elif tracker_type == 'TLD':
tracker = cv2.TrackerTLD_create()
elif tracker_type == 'MEDIANFLOW':
tracker = cv2.TrackerMedianFlow_create()
elif tracker_type == 'GOTURN':
tracker = cv2.TrackerGOTURN_create()
elif tracker_type == 'MOSSE':
tracker = cv2.TrackerMOSSE_create()
elif tracker_type == 'CSRT':
tracker = cv2.TrackerCSRT_create()
# Todo - not hardcoded and add checks
fs_settings = cv2.FileStorage("./trackers/cfg/csrt_settings.yaml",
cv2.FILE_STORAGE_READ)
tracker.read(fs_settings.root())
else:
raise Exception(f"There is no tracker name: {tracker_type}")
return tracker
def run(self):
global cycle
if self.start == True:
self.camera = PiCamera()
# self.camera.resolution = (640, 480)
self.camera.resolution = (640, 480)
self.camera.framerate = 20
self.camera.vflip = True
self.rawCapture = PiRGBArray(self.camera, size=(640, 480))
self.tracker = cv2.TrackerTLD_create()
self.initBB = None
time.sleep(1)
self.start = None
while self._running:
for frame in self.camera.capture_continuous(self.rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
W = 640 # float
H = 480 # float
if self.initBB is not None:
# grab the new bounding box coordinates of the object
(success, box) = self.tracker.update(image)
# check to see if the tracking was a success
if success:
(x, y, w, h) = [int(v) for v in box]
cv2.rectangle(image, (x, y), (x + w, y + h),
(0, 255, 0), 2)
# show the output frame
# fps = cap.get(cv2.CAP_PROP_FPS)
# print('fps:', fps) # float
cv2.imshow("Frame", image)
key = cv2.waitKey(1) & 0xFF
# print(time.time()-end)
# end = time.time()
# if the 's' key is selected, we are going to "select" a bounding
# box to track
if key == ord("s"):
# select the bounding box of the object we want to track (make
# sure you press ENTER or SPACE after selecting the ROI)
self.initBB = cv2.selectROI("Frame", image, fromCenter=False,
showCrosshair=True)
# start OpenCV object tracker using the supplied bounding box
# coordinates, then start the FPS throughput estimator as well
self.tracker.init(image, self.initBB)
# if the `q` key was pressed, break from the loop
elif key == ord("q"):
break
# show the frame
# clear the stream in preparation for the next frame
self.rawCapture.truncate(0)
def object_tracker(tracker_algo="MDF", video_path=""):
if tracker_algo == "boosting":
tracker = cv2.TrackerBoosting_create()
if tracker_algo == "CSRT":
tracker = cv2.TrackerCSRT_create()
if tracker_algo == "TLD":
tracker = cv2.TrackerTLD_create()
if tracker_algo == "MIL":
tracker = cv2.TrackerMIL_create()
if tracker_algo == "KCF":
tracker = cv2.TrackerKCF_create()
if tracker_algo == "MDF":
tracker = cv2.TrackerMedianFlow_create()
time.sleep(1)
cap = cv2.VideoCapture(0)
ret, frame = cap.read()
bbox = cv2.selectROI("Tracking", frame, False)
tracker.init(frame, bbox)
def drawBox(img, bbox):
x, y, w, h = int(bbox[0]), int(bbox[1]), int(bbox[2]), int(bbox[3])
cv2.rectangle(img, (x, y), ((x + w), (y + h)), (0, 255, 0), 3, 3)
cv2.putText(img, "Tracking Started", (100, 75),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
while True:
timer = cv2.getTickCount()
success, img = cap.read()
success, bbox = tracker.update(img)
if success:
drawBox(img, bbox)
else:
cv2.putText(img, "Lost", (100, 75), cv2.FONT_HERSHEY_SIMPLEX, 0.7,
(0, 0, 255), 2)
cv2.rectangle(img, (15, 15), (200, 90), (255, 0, 255), 2)
cv2.putText(img, "Fps:", (20, 40), cv2.FONT_HERSHEY_SIMPLEX, 0.7,
(255, 0, 255), 2)
cv2.putText(img, "Status:", (20, 75), cv2.FONT_HERSHEY_SIMPLEX, 0.7,
(255, 0, 255), 2)
fps = cv2.getTickFrequency() / (cv2.getTickCount() - timer)
if fps > 60: myColor = (20, 230, 20)
elif fps > 20: myColor = (230, 20, 20)
else: myColor = (20, 20, 230)
cv2.putText(img, str(int(fps)), (75, 40), cv2.FONT_HERSHEY_SIMPLEX,
0.7, myColor, 2)
cv2.imshow("Tracking", img)
if cv2.waitKey(1) & 0xff == ord('q'):
break
cv2.destroyAllWindows()
cap.release()
def init_tld_tracker(self) -> _Tracker:
"""
Initialize TLD (Tracking, learning and detection) tracker instance
Returns:
----------------------------
_Tracekr - tracker_instance
"""
return cv2.TrackerTLD_create()
