public Rectangle camshift(Image <Bgr, byte> frame, Rectangle trackerbox, Mat HIST)
{
Mat HSV = new Mat();
CvInvoke.CvtColor(frame, HSV, ColorConversion.Bgr2Hsv);
float[] range = { 0, 180 };
int[] histsize = { 24 };
int[] channels = { 0, 0 };
int[] Chn = { 0 };
Mat dst = new Mat();
float[] Range = { 0, 180 };
var vhue = new VectorOfMat(HSV);
CvInvoke.CalcBackProject(vhue, Chn, HIST, dst, Range, 1);
Mat element = CvInvoke.GetStructuringElement(ElementShape.Rectangle, new Size(5, 5), new Point(1, 1));//
CvInvoke.Erode(dst, dst, element, new Point(1, 1), 1, BorderType.Default, new MCvScalar(0, 0, 0));
Mat DST = new Mat();
MCvTermCriteria termCrit = new MCvTermCriteria(10, 1);
try
{
RotatedRect result = CvInvoke.CamShift(dst, ref trackerbox, termCrit);
}
catch (Exception e) { MessageBox.Show(e.ToString()); }
tbox = trackerbox;
return(trackerbox);
}
protected override CamshiftOutput DoProcess(TrackingInput input)
{
var output = new CamshiftOutput();
Image <Gray, byte> grayscaleInput = input.Captured.ToImage <Gray, byte>();
if (input.Config.StartNewTrack)
{
_trackStarted = false;
_backProjection = grayscaleInput.Copy();
var trackingRegion = input.Config.ObjectOfInterest;
grayscaleInput.ROI = trackingRegion;
var inputRoiImage = grayscaleInput.Copy();
grayscaleInput.ROI = Rectangle.Empty; //clear the roi
StartNewTrack(input.Config.ObjectOfInterest, grayscaleInput, inputRoiImage, output);
}
if (_trackStarted)
{
using (VectorOfMat vectorMatGrayscaleInput = new VectorOfMat(grayscaleInput.Mat))
{
CvInvoke.CalcBackProject(vectorMatGrayscaleInput, _channels, _histogram, _backProjection, _ranges, 1);
}
output.ObjectOfInterest = CvInvoke.CamShift(_backProjection, ref _rectangleSearchWindow, TermCriteria);
}
output.BackProjection = _backProjection;
return(output);
}
public Rectangle Tracking(Image <Bgr, Byte> image)
{
UpdateHue(image);
if (backproject != null)
{
backproject.Dispose();
}
backproject = hist.BackProject(new Image <Gray, Byte>[] { hue });
// Apply mask
backproject._And(mask);
// Tracking windows empty means camshift lost bounding-box last time
// here we give camshift a new start window from 0,0 (you could change it)
if (trackingWindow.IsEmpty || trackingWindow.Width == 0 || trackingWindow.Height == 0)
{
trackingWindow = new Rectangle(0, 0, 100, 100);
}
var r = CvInvoke.CamShift(backproject, ref trackingWindow, TermCriteria);
return(trackingWindow);
}
public void ProcessFrame(Mat srcimg)
{
Image <Bgr, Byte> image = imageProcessing.MatToImage(srcimg);
// Draw selection box
if (_selectObject)
{
if ((_selRect.Width > 0) && (_selRect.Height > 0))
{
CvInvoke.Rectangle(srcimg, _selRect, new Bgr(Color.Red).MCvScalar, 2, LineType.AntiAlias);
}
}
UpdateHue(image);
// Check if time to init
if (_initTracking < 0)
{
InitTrackWindow(image);
}
if (_initTracking > 0)
{
//Mat prediction = m_KF.Predict();
_imgBackproject = _imgHist.BackProject(new Image <Gray, Byte>[] { _imgHue });
_imgBackproject._And(_imgMask);
if (_trackWindow.IsEmpty || _trackWindow.Width == 0 || _trackWindow.Height == 0)
{
_trackWindow = new Rectangle(0, 0, 100, 100);
}
_trackBox = CvInvoke.CamShift(_imgBackproject, ref _trackWindow, new MCvTermCriteria(10, 1));
//PredictPos();
}
}
public void tracking(Mat hist_roi)
{
using (var nextframe = cap.QueryFrame().ToImage <Bgr, Byte>())
{
if (nextframe != null)
{
float[] range = { 0, 180 };
int[] histsize = { 180 };
int[] channels = { 0, 0 };
int[] Chn = { 0 };
//Rectangle ret = new Rectangle();
//ret = nextframe.Mat;
Rectangle trackwindow = new Rectangle(rectx, recty, rectw, recth);
Mat hsv = new Mat();
Mat hist = new DenseHistogram(16, new RangeF(0, 16));
CvInvoke.CvtColor(nextframe, hsv, ColorConversion.Bgr2Hsv);//hsv
Mat mask = new Mat();
CvInvoke.InRange(hsv, new ScalarArray(new MCvScalar(0, 60, 32)), new ScalarArray(new MCvScalar(180, 256, 255)), mask);
Mat hue = new Mat();
hue.Create(hsv.Rows, hsv.Cols, hsv.Depth, 0);
//CvInvoke.MixChannels()
int[] chn = { 0, 0 };
var vhue = new VectorOfMat(hue);
var vhsv = new VectorOfMat(hsv);
//var vhsv = new VectorOfMat(hsv);
CvInvoke.MixChannels(vhsv, vhue, chn);
Mat dst = new Mat();
float[] Range = { 0, 180, 0, 255 };
CvInvoke.CalcBackProject(vhue, Chn, hist_roi, dst, Range, 1);
Size s = new Size(5, 5);
// CvInvoke.GetStructuringElement(ElementShape.Ellipse,s);
CvInvoke.Threshold(dst, dst, 50, 255, 0);
imageBox1.Image = dst;
// MCvTermCriteria termcriteria = new MCvTermCriteria(TermCritType.Eps | TermCritType.Iter, 10, 1);
MCvTermCriteria termCrit = new MCvTermCriteria(10, 0.1);
RotatedRect result = CvInvoke.CamShift(dst, ref trackerbox, termCrit);
var grayframe = nextframe.Convert <Gray, byte>();
grayframe.ROI = trackerbox;
var grayface = grayframe.Copy().Mat;
var faces = haar.DetectMultiScale(grayface, 1.1, 10, Size.Empty);
int totalface = faces.Length;
RectangleF ret = trackerbox;
// PointF[] PTS = CvInvoke.BoxPoints(ret);
// Point[] pts = new Point[10];
//for (int x = 0; x < PTS.Length; x++)
// {
// pts[x] = Point.Round(PTS[x]);
CvInvoke.CvtColor(dst, nextframe, ColorConversion.Gray2Bgr);
//CvInvoke.Polylines(nextframe, pts, true, new MCvScalar(255, 0));
// if (totalface == 1)
// {
MCvScalar color = new MCvScalar(0, 0, 255);
CvInvoke.Ellipse(nextframe, ret, color, 3, LineType.AntiAlias);
// }
}
imageBox1.Image = nextframe;
} //while loop end*/
}
private void ProcessFrame(object sender, EventArgs e)
{
if (_capture != null && _capture.Ptr != IntPtr.Zero && _capture.IsOpened)
{
//取得網路攝影機的影像
_capture.Retrieve(_captureFrame);
if (_captureFrame == null || _captureFrame.IsEmpty)
{
return;
}
_resultFrame = _captureFrame.Clone();
_sourceFrame = _captureFrame.Clone();
_sourceImage = imageProcessing.MatToImage(_captureFrame);
//CvInvoke.Resize(_captureFrame, _captureFrame, new Size(_sourcePictureBox.Width, _sourcePictureBox.Height), 0, 0, Emgu.CV.CvEnum.Inter.Linear);//, Emgu.CV.CvEnum.Inter.Linear
//顯示影像到PictureBox上
if (imageProcess_for_realTime_way == "Gray")
{
_resultImage = imageProcessing.ConvertToGray(_sourceImage);
_resultPictureBox.Image = _resultImage.Bitmap;
}
else if (imageProcess_for_realTime_way == "Mirror")
{
_resultImage = imageProcessing.ConvertToMirror(_sourceImage);
_resultPictureBox.Image = _resultImage.Bitmap;
}
else if (imageProcess_for_realTime_way == "Rotating")
{
int _Threshold_trackBar_value = 0;
if (_Threshold_trackBar.InvokeRequired)
{
_Threshold_trackBar_value = (int)_Threshold_trackBar.Invoke(new obj_delegate(() => { return(_Threshold_trackBar.Value); }));
}
else
{
_Threshold_trackBar_value = _Threshold_trackBar.Value;
}
_resultImage = imageProcessing.Rotating(_sourceImage, _Threshold_trackBar_value / 100.0);
_resultPictureBox.Image = _resultImage.Bitmap;
}
else if (imageProcess_for_realTime_way == "Otsu")
{
_resultImage = imageProcessing.ConvertToOtsu(_sourceImage);
_resultPictureBox.Image = _resultImage.Bitmap;
}
else if (imageProcess_for_realTime_way == "HistogramEqualization")
{
_resultImage = imageProcessing.HistogramEqualization(_sourceImage);
_resultPictureBox.Image = _resultImage.Bitmap;
}
else if (imageProcess_for_realTime_way == "imageBlending")
{
int _Threshold_trackBar_value = 0;
if (_Threshold_trackBar.InvokeRequired)
{
_Threshold_trackBar_value = (int)_Threshold_trackBar.Invoke(new obj_delegate(() => { return(_Threshold_trackBar.Value); }));
}
else
{
_Threshold_trackBar_value = _Threshold_trackBar.Value;
}
_resultImage = imageProcessing.imageBlending(_sourceImage, _sourceImage2, _Threshold_trackBar_value / 100.0);
_resultPictureBox.Image = _resultImage.Bitmap;
}
else if (imageProcess_for_realTime_way == "RemovingBackgrounds" && background != null && !background.IsEmpty)
{
int _Threshold_trackBar_value = 30;
if (_Threshold_trackBar.InvokeRequired)
{
_Threshold_trackBar_value = (int)_Threshold_trackBar.Invoke(new obj_delegate(() => { return((int)((double)_Threshold_trackBar.Value / 100.0)); }));
}
else
{
_Threshold_trackBar_value = (int)((double)_Threshold_trackBar.Value / 100.0);
}
/* 在這裡實作 */
if (mousedown)
{
_resultImage = _sourceImage;
Image <Bgr, byte> backgroundImage = background.ToImage <Bgr, byte>();
for (int y = 0; y < _sourceImage.Height; y++)
{
for (int x = 0; x < _sourceImage.Width; x++)
{
if (Math.Abs((int)_sourceImage.Data[y, x, 0] - colorForRemovingBackground.B) < _Threshold_trackBar_value && Math.Abs((int)_sourceImage.Data[y, x, 1] - colorForRemovingBackground.G) < _Threshold_trackBar_value && Math.Abs((int)_sourceImage.Data[y, x, 2] - colorForRemovingBackground.R) < _Threshold_trackBar_value)
{
_resultImage.Data[y, x, 0] = backgroundImage.Data[y, x, 0];
_resultImage.Data[y, x, 1] = backgroundImage.Data[y, x, 1];
_resultImage.Data[y, x, 2] = backgroundImage.Data[y, x, 2];
}
else
{
continue;
}
}
}
_resultPictureBox.Image = _resultImage.Bitmap;
}
CvInvoke.PutText(_sourceFrame, "now keyColor is R: " + colorForRemovingBackground.R + " G: " + colorForRemovingBackground.G + " B: " + colorForRemovingBackground.B, new Point(10, 20), Emgu.CV.CvEnum.FontFace.HersheySimplex, 0.4, new MCvScalar(0, 0, 255));
}
else if (imageProcess_for_realTime_way == "CamShift")
{
if (!IsSelection && !IsTracking)
{
selection = new Rectangle(mouseDownPosition, new Size(mouseUpPosition.X - mouseDownPosition.X, mouseUpPosition.Y - mouseDownPosition.Y));
Graphics sG = _sourcePictureBox.CreateGraphics();
sG.DrawRectangle(new Pen(Color.Red, 10), selection);
}
else if (IsSelection && selection.Height != 0 && selection.Width != 0)
{
//選擇後初始化
rectangle = new Rectangle(new Point(Math.Min(selection.Left, selection.Right), Math.Min(selection.Top, selection.Bottom)), new Size(Math.Abs(selection.Size.Width), Math.Abs(selection.Size.Height)));
IsSelection = false;
IsTracking = true;
}
else if (IsTracking)
{
//開始執行
Image <Hsv, Byte> sourceHSV = new Image <Hsv, Byte>(_sourceImage.Width, _sourceImage.Height);
CvInvoke.CvtColor(_sourceImage, sourceHSV, Emgu.CV.CvEnum.ColorConversion.Bgr2Hsv); //轉HSV
//計算hue
hue._EqualizeHist();
hue = sourceHSV.Split()[0];
hue.ROI = rectangle;
//計算mask
mask = sourceHSV.Split()[1].ThresholdBinary(new Gray(60), new Gray(255));
CvInvoke.InRange(sourceHSV, new ScalarArray(new MCvScalar(0, 30, Math.Min(10, 255), 0)), new ScalarArray(new MCvScalar(180, 256, Math.Max(10, 255), 0)), mask);
mask.ROI = rectangle;
//計算histogram
hist.Calculate(new Image <Gray, Byte>[] { hue }, false, mask);
CvInvoke.Normalize(hist, hist);
//清空ROI
hue.ROI = Rectangle.Empty;
mask.ROI = Rectangle.Empty;
//計算backproject
backProjection = hist.BackProject <Byte>(new Image <Gray, Byte>[] { hue });
backProjection._And(mask);
//顯示camshift計算結果
Graphics rG = _resultPictureBox.CreateGraphics();
rG.DrawRectangle(new Pen(Color.Green, 10), CvInvoke.CamShift(backProjection, ref rectangle, new MCvTermCriteria(10, 1)).MinAreaRect());
}
//_resultPictureBox.Image = backProjection.Bitmap; //測試backProject
_resultPictureBox.Image = _resultFrame.Bitmap;
}
else if (imageProcess_for_realTime_way == "Game")
{
_resultPictureBox.Image = _resultFrame.Bitmap;
}
else if (imageProcess_for_realTime_way == "findPedestrian")
{
_resultPictureBox.Image = _resultFrame.Bitmap;
}
else
{
_resultPictureBox.Image = _resultFrame.Bitmap;
}
_sourcePictureBox.Image = _sourceFrame.Bitmap;
}
//釋放繪圖資源->避免System.AccessViolationException
GC.Collect();
}
public RotatedRect Tracking(Image <Bgr, Byte> image)
{
GetFrameHue(image);
// User changed bins num ,recalculate Hist
if (Main._advancedHsv)
{
if (bins != Main.HsvSetting.Getbins)
{
bins = Main.HsvSetting.Getbins;
hist.Dispose();
hist = new DenseHistogram(bins, new RangeF(0, 180));
CalcHist(image);
}
}
backprojection = hist.BackProject(new Image <Gray, Byte>[] { hue });
// Add mask
backprojection._And(mask);
// FindContours
//CvInvoke.Canny(backprojection, backcopy, 3, 6);
backprojection.CopyTo(backcopy);
CvInvoke.FindContours(backcopy, vvp, null, Emgu.CV.CvEnum.RetrType.External, Emgu.CV.CvEnum.ChainApproxMethod.ChainApproxNone);
int trackArea = trackingWindow.Height * trackingWindow.Width;
FindTargetByArea(vvp, trackArea * 0.25, trackArea * 10, ref vvpApprox);
vvpApproxDensity = GetVVPDensity(vvpApprox, out vvpApproxRect);
targetVVPIndex = FindTargetByOverlap(vvpApprox, trackingWindow);
//FindTargetByCenter(vvpApprox, new PointF(trackingWindow.X + trackingWindow.Width / 2, trackingWindow.Y + trackingWindow.Height / 2));
// If lost trackbox
if (trackingWindow.IsEmpty || trackingWindow.Width <= 10 || trackingWindow.Height <= 10 || _lost || targetVVPIndex == -1)
{
if (!timer.IsRunning)
{
timer.Start();
}
if (timer.ElapsedMilliseconds > 1000)
{
_lost = true;
}
if (timer.ElapsedMilliseconds > 3000)
{
//targetVVPIndex = Array.IndexOf(vvpApproxDensity, vvpApproxDensity.Max());
}
for (int i = 0; i < vvpApproxDensity.Length; i++)
{
if (vvpApproxDensity[i] >= targetDensity * 0.8)
{
trackingWindow = vvpApproxRect[i];
_lost = false;
timer.Reset();
}
}
}
else
{
trackbox = CvInvoke.CamShift(backprojection, ref trackingWindow, new MCvTermCriteria(10, 1));
targetDensity += vvpApproxDensity[targetVVPIndex];
targetDensity /= 2;
if (timer.IsRunning)
{
timer.Reset();
}
}
return(trackbox);
}
