def next_frame(self, frame):
ok, bbox = self.tracker.update(frame)
frameHSV = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
w = frame.shape[0]
h = frame.shape[1]
self.particle_filter.transition(w, h)
self.particle_filter.update_weight(frameHSV, self.histo)
self.particle_filter.normalize_weights()
self.particle_filter.resample()
self.points.append(
ParticleFilter.get_particle_center(self.particle_filter))
self.frame_number += 1
return ok, bbox
def init_tracker(self, frame, bbox):
tracker_types = [
'BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'GOTURN'
]
tracker_type = tracker_types[0]
if tracker_type == tracker_types[0]:
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()
# Initialize tracker with first frame and bounding box
ok = self.tracker.init(frame, bbox)
self.particle_filter = ParticleFilter()
self.particle_filter = ParticleFilter.init_particles(
self.particle_filter, region=bbox, particlesPerObject=100)
img = frame[int(bbox[1]):int(bbox[1] + bbox[3]),
int(bbox[0]):int(bbox[0] + bbox[2])]
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
self.histo = cv2.calcHist([hsv], [0, 1], None, [180, 256],
[0, 180, 0, 256])
self.points.append(
ParticleFilter.get_particle_center(self.particle_filter))
self.frame_number += 1
return self
