def __init__(self,
max_tracked_objects=30,
dt_prediction=0.05,
gsd=1,
origin_coordinate=[0, 0],
in_events_topic="/multi_tracker/global_events",
in_status_topic="/multi_tracker/status",
in_window_topic="/multi_tracker/window",
out_kalman_topic="/multi_tracker/pos",
in_frames_topic="/homography_output",
out_frames_topic="/out",
out_kalman_frames_topic=None):
KalmanMultiTrackerReceiver.__init__(
self,
max_tracked_objects=max_tracked_objects,
dt_prediction=dt_prediction,
in_events_topic=in_events_topic,
in_status_topic=in_status_topic,
in_window_topic=in_window_topic,
out_kalman_topic=out_kalman_topic,
in_frames_topic=in_frames_topic,
out_frames_topic=out_kalman_frames_topic)
self.gsd = gsd
self.origin_coordinate = origin_coordinate
self.frames_sub = ROSImageStream(sub_topic_name=in_frames_topic)
self.frames_pub = ROSImageStream(pub_topic_name=out_frames_topic)
self.cars = {}
self.cars_lock = threading.Lock()
self.last_id = 0
def __init__(self):
self.t = None
self.last_frame = None
self.track_window = None
self.s = ROSImageStream(sub_topic_name=args.i)
self.p = ROSImageStream(pub_topic_name=args.o)
self.pre_tracker = PreTracker()
self.pre_tracker.set_color_range(((0,0,0),(10,10,10)))
self.pre_tracker.set_pre_track_callbacks([self.pre_tracker.pre_track_color_range])
def __init__(self, in_topic=None, in_bag=None, processed_frame_topic=None):
self.pre_track_callbacks = []
if in_topic != None:
self.stream_frame = ROSImageStream(sub_topic_name=in_topic,
in_bag_name=in_bag)
if processed_frame_topic != None:
self.stream_processed_frame = ROSImageStream(
pub_topic_name=processed_frame_topic)
else:
self.stream_processed_frame = None
def start(
self,
loop=True
):
if self.in_frames_topic is not None and self.out_frames_topic is not None:
self.pub = ROSImageStream(pub_topic_name=self.out_frames_topic)
self.sub = ROSImageStream(sub_topic_name=self.in_frames_topic)
self.sub.img_stream_subscribe(
callback=self.publish_frame,
loop=False
)
self.multi_tracker_receiver.start(loop=loop)
def __init__(
self,
tracker_type=CamshiftTracker, # MeanshiftTracker, CamshiftTracker
cnt_min_area=500,
window_max_width=None,
lost_ttl_attempts=10,
max_tracked_objects=30,
overlap_margin=25,
allowed_directions=['n', 's', 'e', 'w'],
pre_tracker=None,
in_frames_topic="/img_stream",
out_events_topic="/multi_tracker/global_events",
out_status_topic="/multi_tracker/status",
out_window_topic="/multi_tracker/window",
in_kalman_topic="/multi_tracker/pos",
out_frames_topic="/multi_tracker/tracked_frames"):
self.tracker_type = tracker_type
self.cnt_min_area = cnt_min_area
self.window_max_width = window_max_width
self.lost_ttl_attempts = lost_ttl_attempts
self.max_tracked_objects = max_tracked_objects
self.overlap_margin = overlap_margin
self.allowed_directions = allowed_directions
if pre_tracker == None:
self.pre_tracker = PreTracker(
) #processed_frame_topic="/pre_tracked_frame")
self.pre_tracker.set_color_range(color_range=((0, 0, 0), (20, 20,
20)))
self.pre_tracker.set_median_blur(7)
self.pre_tracker.set_pre_track_callbacks([
self.pre_tracker.pre_track_color_range,
self.pre_tracker.pre_track_median_blur
])
else:
self.pre_tracker = pre_tracker
self.in_frames_topic = in_frames_topic
self.out_events_topic = out_events_topic
self.out_status_topic = out_status_topic
self.out_window_topic = out_window_topic
self.in_kalman_topic = in_kalman_topic
self.out_frames_topic = out_frames_topic
self.frames_img_stream = ROSImageStream(
sub_topic_name=self.in_frames_topic)
self.kalman_sub = rospy.Subscriber(self.in_kalman_topic,
Window,
callback=self.kalman_pos_callback,
queue_size=self.max_tracked_objects)
if self.out_frames_topic != None:
self.out_frames_pub = ROSImageStream(
pub_topic_name=self.out_frames_topic)
else:
selt.out_frames_pub = None
self.tracked_objects = TrackedObjects(
out_status_topic=self.out_status_topic,
out_window_topic=self.out_window_topic,
out_events_topic=self.out_events_topic,
max_tracked_objects=self.max_tracked_objects,
max_ttl=self.lost_ttl_attempts)
self.trackers = {} # {"id": tracker_type}