TLD源码理解 run_tld.cpp
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TLD 全名为tracking-learning-detection 是有英国萨里大学的一位博士提出，据说效果不错，所以想开始研究一下tlc的源码和具体的实现过程（未完待续）
#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 variablesRect 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_boxvoid 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); } ///InitializationGETBOUNDINGBOX://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;}0 0
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