#include "opencv2/opencv.hpp"
#include "tld_utils.h"
#include "iostream"
#include "sstream"
#include "TLD.h"
#include "stdio.h"
using namespace cv;
using namespace std;
//Global variables
Rect box;
bool drawing_box = false;
bool gotBB = false;
bool tl = false;
bool rep = false;
bool fromfile=false;
string video;
//读入初始化文件,初始化文件确定初始的跟踪目标框
void readBB(char* file){
ifstream bb_file (file); //以输入方式打开文件
string line;
getline(bb_file,line);//将行读入字符串 默认终止符为\n
istringstream linestream(line);//istringstream 创建一个对象,这个对象绑定一个行字符串,以空格为分隔符把该行分隔开来
string x1,y1,x2,y2;
getline (linestream,x1, ',');
getline (linestream,y1, ',');
getline (linestream,x2, ',');
getline (linestream,y2, ',');
int x = atoi(x1.c_str());// = (int)file["bb_x"];//string.c_str将string转换为constan char* 因为atoi是c的库函数调用的参数是constant char*类型
int y = atoi(y1.c_str());// = (int)file["bb_y"];
int w = atoi(x2.c_str())-x;// = (int)file["bb_w"];
int h = atoi(y2.c_str())-y;// = (int)file["bb_h"];
box = Rect(x,y,w,h);
}
//鼠标相应函数,用鼠标选中bounding_box
void mouseHandler(int event, int x, int y, int flags, void *param){
switch( event ){
case CV_EVENT_MOUSEMOVE:
if (drawing_box){
box.width = x-box.x;
box.height = y-box.y;
}
break;
case CV_EVENT_LBUTTONDOWN:
drawing_box = true;
box = Rect( x, y, 0, 0 );
break;
case CV_EVENT_LBUTTONUP:
drawing_box = false;
if( box.width < 0 ){
box.x += box.width;
box.width *= -1;
}
if( box.height < 0 ){
box.y += box.height;
box.height *= -1;
}
gotBB = true;
break;
}
}
void print_help(char** argv){
printf("use:\n %s -p /path/parameters.yml\n",argv[0]);
printf("-s source video\n-b bounding box file\n-tl track and learn\n-r repeat\n");
}
//分析运行的命令行参数
void read_options(int argc, char** argv,VideoCapture& capture,FileStorage &fs){
for (int i=0;i<argc;i++){
if (strcmp(argv[i],"-b")==0){
if (argc>i){
readBB(argv[i+1]);//是否指定初始化bounding_box
gotBB = true;
}
else
print_help(argv);
}
if (strcmp(argv[i],"-s")==0){
if (argc>i){
video = string(argv[i+1]);//从视频中读取
capture.open(video);
fromfile = true;
}
else
print_help(argv);
}
if (strcmp(argv[i],"-p")==0){
if (argc>i){
fs.open(argv[i+1], FileStorage::READ);//读取参数文件parameters.yml
}
else
print_help(argv);
}
if (strcmp(argv[i],"-tl")==0){ //
tl = true;
}
if (strcmp(argv[i],"-r")==0){ //
rep = true;
}
}
/*
%To run from camera
./run_tld -p ../parameters.yml
%To run from file
./run_tld -p ../parameters.yml -s ../datasets/06_car/car.mpg
%To init bounding box from file
./run_tld -p ../parameters.yml -s ../datasets/06_car/car.mpg -b ../datasets/06_car/init.txt
%To train only in the firs frame (no tracking, no learning)
./run_tld -p ../parameters.yml -s ../datasets/06_car/car.mpg -b ../datasets/06_car/init.txt -no_tl
%To test the final detector (Repeat the video, first time learns, second time detects)
./run_tld -p ../parameters.yml -s ../datasets/06_car/car.mpg -b ../datasets/06_car/init.txt -r
*/
int main(int argc, char * argv[]){
VideoCapture capture;
capture.open(0);
FileStorage fs;
//Read options
read_options(argc,argv,capture,fs);
//Init camera
if (!capture.isOpened())
{
cout << "capture device failed to open!" << endl;
return 1;
}
//Register mouse callback to draw the bounding box
cvNamedWindow("TLD",CV_WINDOW_AUTOSIZE);
cvSetMouseCallback( "TLD", mouseHandler, NULL );
//TLD framework
TLD tld;
//Read parameters file
tld.read(fs.getFirstTopLevelNode());
Mat frame;
Mat last_gray;
Mat first;
if (fromfile){
capture >> frame;//读取当前帧
cvtColor(frame, last_gray, CV_RGB2GRAY);//将图像转换为灰度图像
frame.copyTo(first);//拷贝为第一帧
}else{
capture.set(CV_CAP_PROP_FRAME_WIDTH,340);//如果从摄像头读入,将文件设置为固定大小
capture.set(CV_CAP_PROP_FRAME_HEIGHT,240);
}
///Initialization
GETBOUNDINGBOX://获取bounding box
while(!gotBB)
{
if (!fromfile){
capture >> frame;
}
else
first.copyTo(frame);
cvtColor(frame, last_gray, CV_RGB2GRAY);
drawBox(frame,box);
imshow("TLD", frame);
if (cvWaitKey(33) == 'q')
return 0;
}
//bounding必须要大于一定大小,以便对图片进行采样
if (min(box.width,box.height)<(int)fs.getFirstTopLevelNode()["min_win"]){
cout << "Bounding box too small, try again." << endl;
gotBB = false;
goto GETBOUNDINGBOX;
}
//Remove callback
cvSetMouseCallback( "TLD", NULL, NULL );//如果已经获得第一帧的bounding box 则取消鼠标相应
printf("Initial Bounding Box = x:%d y:%d h:%d w:%d\n",box.x,box.y,box.width,box.height);
//Output file
FILE *bb_file = fopen("bounding_boxes.txt","w");//输出数据到bounding_boxes.txt
//TLD initialization
tld.init(last_gray,box,bb_file);
///Run-time
Mat current_gray;
BoundingBox pbox;
vector<Point2f> pts1;
vector<Point2f> pts2;
bool status=true;
int frames = 1;
int detections = 1;
REPEAT:
while(capture.read(frame)){
//get frame
cvtColor(frame, current_gray, CV_RGB2GRAY);
//Process Frame
tld.processFrame(last_gray,current_gray,pts1,pts2,pbox,status,tl,bb_file);
//Draw Points
if (status){//如果跟踪成功
drawPoints(frame,pts1);
drawPoints(frame,pts2,Scalar(0,255,0));
drawBox(frame,pbox);
detections++;
}
//Display
imshow("TLD", frame);
//swap points and images
swap(last_gray,current_gray);
pts1.clear();
pts2.clear();
frames++;
printf("Detection rate: %d/%d\n",detections,frames);
if (cvWaitKey(33) == 'q')
break;
}
if (rep){
rep = false;
tl = false;
fclose(bb_file);
bb_file = fopen("final_detector.txt","w");
//capture.set(CV_CAP_PROP_POS_AVI_RATIO,0);
capture.release();
capture.open(video);
goto REPEAT;
}
fclose(bb_file);
return 0;
}