tracker.cpp

#include <opencv2/core/utility.hpp>#include <opencv2/tracking.hpp>#include <opencv2/videoio.hpp>#include <opencv2/highgui.hpp>#include <iostream>#include <cstring>#include "samples_utility.hpp"using namespace std;using namespace cv;static const char* keys ={ "{@tracker_algorithm | | Tracker algorithm }"    "{@video_name      | | video name        }"    "{@start_frame     |0| Start frame       }"    "{@bounding_frame  |0,0,0,0| Initial bounding frame}"};static void help(){  cout << "\nThis example shows the functionality of \"Long-term optical tracking API\""       "-- pause video [p] and draw a bounding box around the target to start the tracker\n"       "Example of <video_name> is in opencv_extra/testdata/cv/tracking/\n"       "Call:\n"       "./tracker <tracker_algorithm> <video_name> <start_frame> [<bounding_frame>]\n"       "tracker_algorithm can be: MIL, BOOSTING, MEDIANFLOW, TLD\n"       << endl;  cout << "\n\nHot keys: \n"       "\tq - quit the program\n"       "\tp - pause video\n";}int main( int argc, char** argv ){  CommandLineParser parser( argc, argv, keys );  String tracker_algorithm = parser.get<String>( 0 );  String video_name = parser.get<String>( 1 );  int start_frame = parser.get<int>( 2 );  if( tracker_algorithm.empty() || video_name.empty() )  {    help();    return -1;  }  int coords[4]={0,0,0,0};  bool initBoxWasGivenInCommandLine=false;  {      String initBoundingBox=parser.get<String>(3);      for(size_t npos=0,pos=0,ctr=0;ctr<4;ctr++){        npos=initBoundingBox.find_first_of(',',pos);        if(npos==string::npos && ctr<3){           printf("bounding box should be given in format \"x1,y1,x2,y2\",where x's and y's are integer cordinates of opposed corners of bdd box\n");           printf("got: %s\n",initBoundingBox.substr(pos,string::npos).c_str());           printf("manual selection of bounding box will be employed\n");           break;        }        int num=atoi(initBoundingBox.substr(pos,(ctr==3)?(string::npos):(npos-pos)).c_str());        if(num<=0){           printf("bounding box should be given in format \"x1,y1,x2,y2\",where x's and y's are integer cordinates of opposed corners of bdd box\n");           printf("got: %s\n",initBoundingBox.substr(pos,npos-pos).c_str());           printf("manual selection of bounding box will be employed\n");           break;        }        coords[ctr]=num;        pos=npos+1;      }      if(coords[0]>0 && coords[1]>0 && coords[2]>0 && coords[3]>0){          initBoxWasGivenInCommandLine=true;      }  }  //open the capture  VideoCapture cap;  cap.open( video_name );  cap.set( CAP_PROP_POS_FRAMES, start_frame );  if( !cap.isOpened() )  {    help();    cout << "***Could not initialize capturing...***\n";    cout << "Current parameter's value: \n";    parser.printMessage();    return -1;  }  Mat frame;  namedWindow( "Tracking API", 1 );  Mat image;  Rect2d boundingBox;  bool paused = false;  //instantiates the specific Tracker  Ptr<Tracker> tracker = createTrackerByName(tracker_algorithm);  if( tracker == NULL )  {    cout << "***Error in the instantiation of the tracker...***\n";    return -1;  }  //get the first frame  cap >> frame;  frame.copyTo( image );  if(initBoxWasGivenInCommandLine){      boundingBox.x = coords[0];      boundingBox.y = coords[1];      boundingBox.width = std::abs( coords[2] - coords[0] );      boundingBox.height = std::abs( coords[3]-coords[1]);      printf("bounding box with vertices (%d,%d) and (%d,%d) was given in command line\n",coords[0],coords[1],coords[2],coords[3]);      rectangle( image, boundingBox, Scalar( 255, 0, 0 ), 2, 1 );  }  else    boundingBox = selectROI("Tracking API", image);  imshow( "Tracking API", image );  bool initialized = false;  int frameCounter = 0;  for ( ;; )  {    if( !paused )    {      if(initialized){          cap >> frame;          if(frame.empty()){            break;          }          frame.copyTo( image );      }      if( !initialized )      {        //initializes the tracker        if( !tracker->init( frame, boundingBox ) )        {          cout << "***Could not initialize tracker...***\n";          return -1;        }        initialized = true;      }      else if( initialized )      {        //updates the tracker        if( tracker->update( frame, boundingBox ) )        {          rectangle( image, boundingBox, Scalar( 255, 0, 0 ), 2, 1 );        }      }      imshow( "Tracking API", image );      frameCounter++;    }    char c = (char) waitKey( 2 );    if( c == 'q' )      break;    if( c == 'p' )      paused = !paused;  }  return 0;}