opencv3_multitracking_sample

CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(sample)

add_executable(pedestrian
  main.cpp
  # kalman.cpp
)

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -W -Wall")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
set (CMAKE_CXX_FLAHS "${CMAKE_CXX_FLAGS} -march=native")
set (CMAKE_BUILD_TYPE Debug)

find_package (OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
target_link_libraries(sample ${OpenCV_LIBS})

opencv3_multitracking_sample.cpp

#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/tracking.hpp>
#include "samples_utility.hpp"

using namespace std;
using namespace cv;

int main() {
	Mat img;
	VideoCapture cap("C:/opencv/samples/data/vtest.avi");
	cap >> img;

	int max_frame = cap.get(CV_CAP_PROP_FRAME_COUNT);

	cv::String trackingAlg = "MEDIAN_FLOW";
	MultiTracker trackers;
	vector<Rect2d> objects;

	vector<Rect> ROIs;
	selectROIs("tracker", img, ROIs);
	if (ROIs.size() < 1)return 0;
	std::vector<Ptr<Tracker>> algorithms;
	for (size_t i = 0; i < ROIs.size(); i++) {
		algorithms.push_back(createTrackerByName(trackingAlg));
		objects.push_back(ROIs[i]);
	}
	trackers.add(algorithms, img, objects);

	for (int i = 0; i < max_frame - 1; i++) {
		cap >> img;

		// update
		trackers.update(img);

		//// draw mat
		for (unsigned i = 0; i < trackers.getObjects().size(); i++)
			rectangle(img, trackers.getObjects()[i], Scalar(255, 0, 0), 2, 1);

		imshow("tracker", img);
		int key = cv::waitKey(10);
		if (key == 'q')
			break;
	}
	return 0;
}

opencv3_tracking_sample.cpp

#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/tracking/tracker.hpp>

const cv::Size MAX_DETECT_SIZE = cv::Size(100, 200);
const int MAX_MISS_FRAME = 10;
const double MIN_NEW_DETECT_INTERSECTION_RATE = 0.5;

// cv::Trackerのラッパー。
class MyTracker {
private:
	static int next_id;
	int id;
	int n_miss_frame = 0;
	cv::Rect2d rect;
	cv::Ptr<cv::Tracker> cv_tracker;
public:
	// フレーム画像と追跡対象(Rect)で初期化
	MyTracker(const cv::Mat& _frame, const cv::Rect2d& _rect)
		: id(next_id++), rect(_rect) {
		cv_tracker = cv::TrackerBoosting::create(); //  or "MIL"
		cv_tracker->init(_frame, _rect);
	}
	// 次フレームを入力にして、追跡対象の追跡(true)
	// MAX_MISS_FRAME以上検出が登録されていない場合は追跡失敗(false)
	bool update(const cv::Mat& _frame) {
		n_miss_frame++;
		return cv_tracker->update(_frame, rect) && n_miss_frame < MAX_MISS_FRAME;
	}
	// 新しい検出(Rect)を登録。現在位置と近ければ受理してn_miss_frameをリセット(true)
	// そうでなければ(false)
	bool registerNewDetect(const cv::Rect2d& _new_detect) {
		double intersection_rate = 1.0 * (_new_detect & rect).area() / (_new_detect | rect).area();
		bool is_registered = intersection_rate > MIN_NEW_DETECT_INTERSECTION_RATE;
		if (is_registered) n_miss_frame = 0;
		return is_registered;
	}
	// trackerの現在地を_imageに書き込む
	void draw(cv::Mat& _image) const {
		cv::rectangle(_image, rect, cv::Scalar(255, 0, 0), 2, 1);
		cv::putText(_image, cv::format("%03d", id), cv::Point(rect.x + 5, rect.y + 17),
			cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 0, 0), 1, CV_AA);
	}
};
int MyTracker::next_id = 0;


int main(int argc, char* argv[]) {
	// フレーム画像列のパスを取得
	cv::VideoCapture cap("C:/opencv/samples/data/vtest.avi"); //Macの場合
	// detector, trackerの宣言
	cv::HOGDescriptor detector;
	detector.setSVMDetector(cv::HOGDescriptor::getDefaultPeopleDetector());
	std::vector<MyTracker> trackers;
	// 1フレームずつループ
	for (;;) {
		cv::Mat frame;
		cap >> frame;
		// 人物検出
		std::vector<cv::Rect> detections;
		detector.detectMultiScale(frame, detections);
		// trackerの更新(追跡に失敗したら削除)
		for (auto t_it = trackers.begin(); t_it != trackers.end();) {
			t_it = (t_it->update(frame)) ? std::next(t_it) : trackers.erase(t_it);
		}
		// 新しい検出があればそれを起点にtrackerを作成。(既存Trackerに重なる検出は無視)
		for (auto& d_rect : detections) {
			if (d_rect.size().area() > MAX_DETECT_SIZE.area()) continue;
			bool is_exsisting = std::any_of(trackers.begin(), trackers.end(),
				[&d_rect](MyTracker& t) {return t.registerNewDetect(d_rect); });
			if (!is_exsisting) trackers.push_back(MyTracker(frame, d_rect));
		}
		// 人物追跡と人物検出の結果を表示
		cv::Mat image = frame.clone();
		for (auto& t : trackers) t.draw(image);
		for (auto& d_rect : detections) cv::rectangle(image, d_rect, cv::Scalar(0, 255, 0), 2, 1);
		cv::imshow("demo", image);
		cv::waitKey(1);
	}
	return 0;
}

sample_utility.hpp

#pragma once

#include <opencv2/tracking.hpp>

inline cv::Ptr<cv::Tracker> createTrackerByName(cv::String name)
{
	cv::Ptr<cv::Tracker> tracker;

	if (name == "KCF")
		tracker = cv::TrackerKCF::create();
	else if (name == "TLD")
		tracker = cv::TrackerTLD::create();
	else if (name == "BOOSTING")
		tracker = cv::TrackerBoosting::create();
	else if (name == "MEDIAN_FLOW")
		tracker = cv::TrackerMedianFlow::create();
	else if (name == "MIL")
		tracker = cv::TrackerMIL::create();
	else if (name == "GOTURN")
		tracker = cv::TrackerGOTURN::create();
	else if (name == "MOSSE")
		tracker = cv::TrackerMOSSE::create();
	else
		CV_Error(cv::Error::StsBadArg, "Invalid tracking algorithm name\n");

	return tracker;
}