/*
public void TestCodeBookBGModel()
{
using (Capture capture = new Capture())
using (BGCodeBookModel<Bgr> model = new BGCodeBookModel<Bgr>())
{
ImageViewer viewer = new ImageViewer();
Image<Gray, byte> fgMask = capture.QueryFrame().Convert<Gray, Byte>();
Application.Idle += delegate(Object sender, EventArgs args)
{
Mat frame = capture.QueryFrame();
model.Apply(frame);
viewer.Image = model.ForegroundMask;
};
viewer.ShowDialog();
}
}
public void TestBlobTracking()
{
MCvFGDStatModelParams fgparam = new MCvFGDStatModelParams();
fgparam.alpha1 = 0.1f;
fgparam.alpha2 = 0.005f;
fgparam.alpha3 = 0.1f;
fgparam.delta = 2;
fgparam.is_obj_without_holes = 1;
fgparam.Lc = 32;
fgparam.Lcc = 16;
fgparam.minArea = 15;
fgparam.N1c = 15;
fgparam.N1cc = 25;
fgparam.N2c = 25;
fgparam.N2cc = 35;
fgparam.perform_morphing = 0;
fgparam.T = 0.9f;
BlobTrackerAutoParam<Bgr> param = new BlobTrackerAutoParam<Bgr>();
param.BlobDetector = new BlobDetector(Emgu.CV.CvEnum.BlobDetectorType.CC);
param.FGDetector = new FGDetector<Bgr>(Emgu.CV.CvEnum.ForgroundDetectorType.Fgd, fgparam);
param.BlobTracker = new BlobTracker(Emgu.CV.CvEnum.BLOBTRACKER_TYPE.MSFG);
param.FGTrainFrames = 10;
BlobTrackerAuto<Bgr> tracker = new BlobTrackerAuto<Bgr>(param);
//MCvFont font = new MCvFont(Emgu.CV.CvEnum.FontFace.HersheySimplex, 1.0, 1.0);
using(ImageViewer viewer = new ImageViewer())
using (Capture capture = new Capture())
{
capture.ImageGrabbed += delegate(object sender, EventArgs e)
{
tracker.Process(capture.RetrieveBgrFrame());
//Image<Bgr, Byte> img = capture.RetrieveBgrFrame();
Image<Bgr, Byte> img = tracker.ForegroundMask.Convert<Bgr, Byte>();
foreach (MCvBlob blob in tracker)
{
img.Draw((Rectangle)blob, new Bgr(255.0, 255.0, 255.0), 2);
img.Draw(blob.ID.ToString(), Point.Round(blob.Center), CvEnum.FontFace.HersheySimplex, 1.0, new Bgr(255.0, 255.0, 255.0));
}
viewer.Image = img;
};
capture.Start();
viewer.ShowDialog();
}
}*/
public void TestCvBlob()
{
//MCvFont font = new MCvFont(Emgu.CV.CvEnum.FontFace.HersheySimplex, 0.5, 0.5);
using (CvTracks tracks = new CvTracks())
using (ImageViewer viewer = new ImageViewer())
using (Capture capture = new Capture())
using (Mat fgMask = new Mat())
{
//BGStatModel<Bgr> bgModel = new BGStatModel<Bgr>(capture.QueryFrame(), Emgu.CV.CvEnum.BG_STAT_TYPE.GAUSSIAN_BG_MODEL);
BackgroundSubtractorMOG2 bgModel = new BackgroundSubtractorMOG2(0, 0, true);
//BackgroundSubstractorMOG bgModel = new BackgroundSubstractorMOG(0, 0, 0, 0);
capture.ImageGrabbed += delegate(object sender, EventArgs e)
{
Mat frame = new Mat();
capture.Retrieve(frame);
bgModel.Apply(frame, fgMask);
using (CvBlobDetector detector = new CvBlobDetector())
using (CvBlobs blobs = new CvBlobs())
{
detector.Detect(fgMask.ToImage<Gray, Byte>(), blobs);
blobs.FilterByArea(100, int.MaxValue);
tracks.Update(blobs, 20.0, 10, 0);
Image<Bgr, Byte> result = new Image<Bgr, byte>(frame.Size);
using (Image<Gray, Byte> blobMask = detector.DrawBlobsMask(blobs))
{
frame.CopyTo(result, blobMask);
}
//CvInvoke.cvCopy(frame, result, blobMask);
foreach (KeyValuePair<uint, CvTrack> pair in tracks)
{
if (pair.Value.Inactive == 0) //only draw the active tracks.
{
CvBlob b = blobs[pair.Value.BlobLabel];
Bgr color = detector.MeanColor(b, frame.ToImage<Bgr, Byte>());
result.Draw(pair.Key.ToString(), pair.Value.BoundingBox.Location, CvEnum.FontFace.HersheySimplex, 0.5, color);
result.Draw(pair.Value.BoundingBox, color, 2);
Point[] contour = b.GetContour();
result.Draw(contour, new Bgr(0, 0, 255), 1);
}
}
viewer.Image = frame.ToImage<Bgr, Byte>().ConcateVertical(fgMask.ToImage<Bgr, Byte>().ConcateHorizontal(result));
}
};
capture.Start();
viewer.ShowDialog();
}
}
private void videoPredictToolStripMenuItem_Click(object sender, EventArgs e)
{
try
{
_cameraCapture = new VideoCapture(1);
_tracker = new CvTracks();
//Load haarcascades for face detection
face = new CascadeClassifier("haarcascade_frontalface_default.xml");
//if (File.Exists("svm.txt"))
//{
// svm = new SVM();
// FileStorage file = new FileStorage("svm.txt", FileStorage.Mode.Read);
// svm.Read(file.GetNode("opencv_ml_svm"));
//}
//if (svm == null)
//{
// return;
//}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
return;
}
Application.Idle += new EventHandler(ProcessFrame);
}
void Run()
{
try
{
var trt = CvInvoke.BuildInformation;
_putenv_s("OPENCV_FFMPEG_CAPTURE_OPTIONS", "rtsp_transport;udp");
// _putenv_s("OPENCV_FFMPEG_CAPTURE_OPTIONS", "");
cameraCapture = new VideoCapture("rtsp://*****:*****@192.168.5.49:554/onvif1", VideoCapture.API.Ffmpeg);
//_cameraCapture = new VideoCapture("http://192.168.1.90:81/stream?x.mjpeg", VideoCapture.API.Any);
//_cameraCapture = new VideoCapture("rtsp://192.168.1.90:8554", VideoCapture.API.Ffmpeg);
//_cameraCapture = new VideoCapture("http://192.168.1.90/?x.mjpeg", VideoCapture.API.Ffmpeg);
//_cameraCapture = new VideoCapture("http://192.168.1.90", VideoCapture.API.Any);
// Mat _frame = new Mat();
// Mat _frameCopy = new Mat();
// _cameraCapture.Read(_frame);
//// _cameraCapture.Retrieve(_frame, 0);
// _frame.CopyTo(_frameCopy);
}
catch (Exception e)
{
MessageBox.Show(e.Message);
return;
}
fgDetector = new BackgroundSubtractorMOG2();
blobDetector = new CvBlobDetector();
tracker = new CvTracks();
Application.Idle += ProcessFrame;
}
public ObjectTracker(
TrackerSettings settings)
{
_settings = settings;
_foregroundDetector = new BackgroundSubtractorMOG2(_settings.BackgroundSubtractorHistory.Value, _settings.BackgroundSubtractorMaxComponents.Value, false);
_blobDetector = new CvBlobDetector();
_blobs = new CvBlobs();
_tracks = new CvTracks();
_trackedObjectIdentities = new Dictionary<uint, TrackedObject>();
}
private static void Track()
{
using (var video = new CvCapture("data/bach.mp4"))
{
IplImage frame = null;
IplImage gray = null;
IplImage binary = null;
IplImage render = null;
IplImage renderTracks = null;
CvTracks tracks = new CvTracks();
CvWindow window = new CvWindow("render");
CvWindow windowTracks = new CvWindow("tracks");
for (int i = 0; ; i++)
{
frame = video.QueryFrame();
//if (frame == null)
// frame = new IplImage("data/shapes.png");
if (gray == null)
{
gray = new IplImage(frame.Size, BitDepth.U8, 1);
binary = new IplImage(frame.Size, BitDepth.U8, 1);
render = new IplImage(frame.Size, BitDepth.U8, 3);
renderTracks = new IplImage(frame.Size, BitDepth.U8, 3);
}
render.Zero();
renderTracks.Zero();
Cv.CvtColor(frame, gray, ColorConversion.BgrToGray);
Cv.Threshold(gray, binary, 0, 255, ThresholdType.Otsu);
CvBlobs blobs = new CvBlobs(binary);
CvBlobs newBlobs = new CvBlobs(blobs
.OrderByDescending(pair => pair.Value.Area)
.Take(200)
.ToDictionary(pair => pair.Key, pair => pair.Value), blobs.Labels);
newBlobs.RenderBlobs(binary, render);
window.ShowImage(render);
newBlobs.UpdateTracks(tracks, 10.0, Int32.MaxValue);
tracks.Render(binary, renderTracks);
windowTracks.ShowImage(renderTracks);
Cv.WaitKey(200);
Console.WriteLine(i);
}
}
}
public void Dispose()
{
if (_foregroundDetector == null) return;
try
{
_blobDetector.Dispose();
_blobs.Dispose();
_tracks.Dispose();
((IDisposable)_foregroundDetector).Dispose();
}
catch (Exception ex)
{
Log.Error("Exception disposing foreground detector", ex);
}
_blobDetector = null;
_blobs = null;
_tracks = null;
_foregroundDetector = null;
}
/// <summary>
/// Updates list of tracks based on current blobs.
/// </summary>
/// <param name="b">List of blobs.</param>
/// <param name="t">List of tracks.</param>
/// <param name="thDistance">Max distance to determine when a track and a blob match.</param>
/// <param name="thInactive">Max number of frames a track can be inactive.</param>
/// <remarks>
/// Tracking based on:
/// A. Senior, A. Hampapur, Y-L Tian, L. Brown, S. Pankanti, R. Bolle. Appearance Models for
/// Occlusion Handling. Second International workshop on Performance Evaluation of Tracking and
/// Surveillance Systems & CVPR'01. December, 2001.
/// (http://www.research.ibm.com/peoplevision/PETS2001.pdf)
/// </remarks>
public static void UpdateTracks(CvBlobs b, CvTracks t, double thDistance, uint thInactive)
{
if (b == null)
throw new ArgumentNullException("b");
if (t == null)
throw new ArgumentNullException("t");
CvBlobInvoke.cvb_cvUpdateTracks(b.CvPtr, t.CvPtr, thDistance, thInactive);
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
/// <param name="font">OpenCV font for print on the image.</param>
public static void RenderTracks(CvTracks tracks, IplImage imgSource, IplImage imgDest, RenderTracksMode mode, CvFont font)
{
if (tracks == null)
throw new ArgumentNullException("tracks");
if (imgSource == null)
throw new ArgumentNullException("imgSource");
if (imgDest == null)
throw new ArgumentNullException("imgDest");
IntPtr fontPtr = (font == null) ? IntPtr.Zero : font.CvPtr;
CvBlobInvoke.cvb_cvRenderTracks(tracks.CvPtr, imgSource.CvPtr, imgDest.CvPtr, mode, fontPtr);
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
public static void RenderTracks(CvTracks tracks, IplImage imgSource, IplImage imgDest, RenderTracksMode mode)
{
RenderTracks(tracks, imgSource, imgDest, mode, null);
}
/// <summary>
/// Updates list of tracks based on current blobs.
/// </summary>
/// <param name="blobs">List of blobs.</param>
/// <param name="tracks">List of tracks.</param>
/// <param name="thDistance">Max distance to determine when a track and a blob match.</param>
/// <param name="thInactive">Max number of frames a track can be inactive.</param>
/// <param name="thActive">If a track becomes inactive but it has been active less than thActive frames, the track will be deleted.</param>
/// <remarks>
/// Tracking based on:
/// A. Senior, A. Hampapur, Y-L Tian, L. Brown, S. Pankanti, R. Bolle. Appearance Models for
/// Occlusion Handling. Second International workshop on Performance Evaluation of Tracking and
/// Surveillance Systems & CVPR'01. December, 2001.
/// (http://www.research.ibm.com/peoplevision/PETS2001.pdf)
/// </remarks>
public static void UpdateTracks(CvBlobs blobs, CvTracks tracks, double thDistance, int thInactive, int thActive)
{
if (blobs == null)
throw new ArgumentNullException(nameof(blobs));
blobs.UpdateTracks(tracks, thDistance, thInactive, thActive);
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
/// <param name="textColor"></param>
/// <param name="fontFace"></param>
/// <param name="fontScale"></param>
/// <param name="thickness"></param>
public static void RenderTracks(CvTracks tracks, Mat imgSource, Mat imgDest, RenderTracksMode mode,
Scalar textColor, HersheyFonts fontFace = HersheyFonts.HersheySimplex, double fontScale = 1d, int thickness = 1)
{
if (tracks == null)
throw new ArgumentNullException(nameof(tracks));
tracks.Render(imgSource, imgDest, mode, textColor, fontFace, fontScale, thickness);
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
public static void RenderTracks(CvTracks tracks, Mat imgSource, Mat imgDest, RenderTracksMode mode)
{
if (tracks == null)
throw new ArgumentNullException(nameof(tracks));
tracks.Render(imgSource, imgDest, mode);
}
private static void Track()
{
using (var video = new CvCapture("data/bach.mp4"))
{
IplImage frame = null;
IplImage gray = null;
IplImage binary = null;
IplImage render = null;
IplImage renderTracks = null;
CvTracks tracks = new CvTracks();
CvWindow window = new CvWindow("render");
CvWindow windowTracks = new CvWindow("tracks");
for (int i = 0; ; i++)
{
frame = video.QueryFrame();
//if (frame == null)
// frame = new IplImage("data/shapes.png");
if (gray == null)
{
gray = new IplImage(frame.Size, BitDepth.U8, 1);
binary = new IplImage(frame.Size, BitDepth.U8, 1);
render = new IplImage(frame.Size, BitDepth.U8, 3);
renderTracks = new IplImage(frame.Size, BitDepth.U8, 3);
}
render.Zero();
renderTracks.Zero();
Cv.CvtColor(frame, gray, ColorConversion.BgrToGray);
Cv.Threshold(gray, binary, 0, 255, ThresholdType.Otsu);
CvBlobs blobs = new CvBlobs(binary);
CvBlobs newBlobs = new CvBlobs(blobs
.OrderByDescending(pair => pair.Value.Area)
.Take(200)
.ToDictionary(pair => pair.Key, pair => pair.Value), blobs.Labels);
newBlobs.RenderBlobs(binary, render);
window.ShowImage(render);
newBlobs.UpdateTracks(tracks, 10.0, Int32.MaxValue);
tracks.Render(binary, renderTracks);
windowTracks.ShowImage(renderTracks);
Cv.WaitKey(200);
Console.WriteLine(i);
}
}
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="mode">Render mode. By default is CV_TRACK_RENDER_ID.</param>
/// <param name="font">OpenCV font for print on the image.</param>
public static void RenderTracks(CvTracks tracks, IplImage imgSource, IplImage imgDest, RenderTracksMode mode, CvFont font)
{
if (tracks == null)
throw new ArgumentNullException("tracks");
tracks.Render(imgSource, imgDest, mode, font);
}
/// <summary>
/// Prints tracks information.
/// </summary>
/// <param name="tracks">List of tracks.</param>
/// <param name="imgSource">Input image (depth=IPL_DEPTH_8U and num. channels=3).</param>
/// <param name="imgDest">Output image (depth=IPL_DEPTH_8U and num. channels=3).</param>
public static void RenderTracks(CvTracks tracks, Mat imgSource, Mat imgDest)
{
if (tracks == null)
throw new ArgumentNullException("tracks");
tracks.Render(imgSource, imgDest);
}
