├── CMakeLists.txt ├── LICENSE ├── README.md ├── TrackingLib ├── CMakeLists.txt ├── include │ └── tracking.hpp └── src │ ├── KalmanFilter.cpp │ ├── MeanShift.cpp │ └── RANSAC.cpp ├── calibration_camera ├── .gitignore ├── checkerboard.jpg ├── imgs │ ├── .gitignore │ ├── calibration │ └── imagelist_creator ├── out_camera_data.yml ├── sample │ ├── .gitignore │ ├── checkerboard │ │ ├── .gitignore │ │ ├── 1.jpg │ │ ├── 10.jpg │ │ ├── 11.jpg │ │ ├── 12.jpg │ │ ├── 13.jpg │ │ ├── 14.jpg │ │ ├── 15.jpg │ │ ├── 16.jpg │ │ ├── 17.jpg │ │ ├── 18.jpg │ │ ├── 19.jpg │ │ ├── 2.jpg │ │ ├── 20.jpg │ │ ├── 3.jpg │ │ ├── 4.jpg │ │ ├── 5.jpg │ │ ├── 6.jpg │ │ ├── 7.jpg │ │ ├── 8.jpg │ │ └── 9.jpg │ └── correcte │ │ ├── .gitignore │ │ └── corrected.png └── src │ ├── .gitignore │ ├── calibration_camera.sh │ ├── demo │ ├── demo_source │ ├── .gitignore │ ├── CMakeLists.txt │ └── demo.cpp │ └── getCheker.py ├── icon ├── .gitignore ├── RANSAC.png ├── icon.jpg ├── icon_big.jpg ├── kalman.gif └── meanshift.gif ├── test_camera.cpp └── utils ├── camera.hpp ├── clock.hpp └── future.hpp /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | 2 | cmake_minimum_required(VERSION 2.8) 3 | SET(CMAKE_BUILD_TYPE "Release") 4 | SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O2 -DNDEBUG -pthread -fopenmp -pipe") 5 | add_definitions(-std=c++11) 6 | # Define project name 7 | project(tracking) 8 | 9 | find_package(OpenCV REQUIRED) 10 | #find_package(CUDA REQUIRED) 11 | 12 | include_directories(${OpenCV_INCLUDE_DIRS} 13 | ${PROJECT_SOURCE_DIR}/TrackingLib/include 14 | ${PROJECT_SOURCE_DIR}/utils) 15 | 16 | add_subdirectory(TrackingLib) 17 | 18 | # Declare the executable target built from your sources 19 | add_executable(tracker 20 | test_camera.cpp 21 | ) 22 | # Link your application with OpenCV libraries 23 | target_link_libraries(tracker ${OpenCV_LIBS} TRACKING_SRCS) 24 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. We, the Free Software Foundation, use the 18 | GNU General Public License for most of our software; it applies also to 19 | any other work released this way by its authors. You can apply it to 20 | your programs, too. 21 | 22 | When we speak of free software, we are referring to freedom, not 23 | price. Our General Public Licenses are designed to make sure that you 24 | have the freedom to distribute copies of free software (and charge for 25 | them if you wish), that you receive source code or can get it if you 26 | want it, that you can change the software or use pieces of it in new 27 | free programs, and that you know you can do these things. 28 | 29 | To protect your rights, we need to prevent others from denying you 30 | these rights or asking you to surrender the rights. Therefore, you have 31 | certain responsibilities if you distribute copies of the software, or if 32 | you modify it: responsibilities to respect the freedom of others. 33 | 34 | For example, if you distribute copies of such a program, whether 35 | gratis or for a fee, you must pass on to the recipients the same 36 | freedoms that you received. You must make sure that they, too, receive 37 | or can get the source code. And you must show them these terms so they 38 | know their rights. 39 | 40 | Developers that use the GNU GPL protect your rights with two steps: 41 | (1) assert copyright on the software, and (2) offer you this License 42 | giving you legal permission to copy, distribute and/or modify it. 43 | 44 | For the developers' and authors' protection, the GPL clearly explains 45 | that there is no warranty for this free software. For both users' and 46 | authors' sake, the GPL requires that modified versions be marked as 47 | changed, so that their problems will not be attributed erroneously to 48 | authors of previous versions. 49 | 50 | Some devices are designed to deny users access to install or run 51 | modified versions of the software inside them, although the manufacturer 52 | can do so. This is fundamentally incompatible with the aim of 53 | protecting users' freedom to change the software. The systematic 54 | pattern of such abuse occurs in the area of products for individuals to 55 | use, which is precisely where it is most unacceptable. Therefore, we 56 | have designed this version of the GPL to prohibit the practice for those 57 | products. If such problems arise substantially in other domains, we 58 | stand ready to extend this provision to those domains in future versions 59 | of the GPL, as needed to protect the freedom of users. 60 | 61 | Finally, every program is threatened constantly by software patents. 62 | States should not allow patents to restrict development and use of 63 | software on general-purpose computers, but in those that do, we wish to 64 | avoid the special danger that patents applied to a free program could 65 | make it effectively proprietary. To prevent this, the GPL assures that 66 | patents cannot be used to render the program non-free. 67 | 68 | The precise terms and conditions for copying, distribution and 69 | modification follow. 70 | 71 | TERMS AND CONDITIONS 72 | 73 | 0. Definitions. 74 | 75 | "This License" refers to version 3 of the GNU General Public License. 76 | 77 | "Copyright" also means copyright-like laws that apply to other kinds of 78 | works, such as semiconductor masks. 79 | 80 | "The Program" refers to any copyrightable work licensed under this 81 | License. Each licensee is addressed as "you". "Licensees" and 82 | "recipients" may be individuals or organizations. 83 | 84 | To "modify" a work means to copy from or adapt all or part of the work 85 | in a fashion requiring copyright permission, other than the making of an 86 | exact copy. The resulting work is called a "modified version" of the 87 | earlier work or a work "based on" the earlier work. 88 | 89 | A "covered work" means either the unmodified Program or a work based 90 | on the Program. 91 | 92 | To "propagate" a work means to do anything with it that, without 93 | permission, would make you directly or secondarily liable for 94 | infringement under applicable copyright law, except executing it on a 95 | computer or modifying a private copy. Propagation includes copying, 96 | distribution (with or without modification), making available to the 97 | public, and in some countries other activities as well. 98 | 99 | To "convey" a work means any kind of propagation that enables other 100 | parties to make or receive copies. Mere interaction with a user through 101 | a computer network, with no transfer of a copy, is not conveying. 102 | 103 | An interactive user interface displays "Appropriate Legal Notices" 104 | to the extent that it includes a convenient and prominently visible 105 | feature that (1) displays an appropriate copyright notice, and (2) 106 | tells the user that there is no warranty for the work (except to the 107 | extent that warranties are provided), that licensees may convey the 108 | work under this License, and how to view a copy of this License. If 109 | the interface presents a list of user commands or options, such as a 110 | menu, a prominent item in the list meets this criterion. 111 | 112 | 1. Source Code. 113 | 114 | The "source code" for a work means the preferred form of the work 115 | for making modifications to it. "Object code" means any non-source 116 | form of a work. 117 | 118 | A "Standard Interface" means an interface that either is an official 119 | standard defined by a recognized standards body, or, in the case of 120 | interfaces specified for a particular programming language, one that 121 | is widely used among developers working in that language. 122 | 123 | The "System Libraries" of an executable work include anything, other 124 | than the work as a whole, that (a) is included in the normal form of 125 | packaging a Major Component, but which is not part of that Major 126 | Component, and (b) serves only to enable use of the work with that 127 | Major Component, or to implement a Standard Interface for which an 128 | implementation is available to the public in source code form. A 129 | "Major Component", in this context, means a major essential component 130 | (kernel, window system, and so on) of the specific operating system 131 | (if any) on which the executable work runs, or a compiler used to 132 | produce the work, or an object code interpreter used to run it. 133 | 134 | The "Corresponding Source" for a work in object code form means all 135 | the source code needed to generate, install, and (for an executable 136 | work) run the object code and to modify the work, including scripts to 137 | control those activities. However, it does not include the work's 138 | System Libraries, or general-purpose tools or generally available free 139 | programs which are used unmodified in performing those activities but 140 | which are not part of the work. For example, Corresponding Source 141 | includes interface definition files associated with source files for 142 | the work, and the source code for shared libraries and dynamically 143 | linked subprograms that the work is specifically designed to require, 144 | such as by intimate data communication or control flow between those 145 | subprograms and other parts of the work. 146 | 147 | The Corresponding Source need not include anything that users 148 | can regenerate automatically from other parts of the Corresponding 149 | Source. 150 | 151 | The Corresponding Source for a work in source code form is that 152 | same work. 153 | 154 | 2. Basic Permissions. 155 | 156 | All rights granted under this License are granted for the term of 157 | copyright on the Program, and are irrevocable provided the stated 158 | conditions are met. This License explicitly affirms your unlimited 159 | permission to run the unmodified Program. The output from running a 160 | covered work is covered by this License only if the output, given its 161 | content, constitutes a covered work. This License acknowledges your 162 | rights of fair use or other equivalent, as provided by copyright law. 163 | 164 | You may make, run and propagate covered works that you do not 165 | convey, without conditions so long as your license otherwise remains 166 | in force. You may convey covered works to others for the sole purpose 167 | of having them make modifications exclusively for you, or provide you 168 | with facilities for running those works, provided that you comply with 169 | the terms of this License in conveying all material for which you do 170 | not control copyright. Those thus making or running the covered works 171 | for you must do so exclusively on your behalf, under your direction 172 | and control, on terms that prohibit them from making any copies of 173 | your copyrighted material outside their relationship with you. 174 | 175 | Conveying under any other circumstances is permitted solely under 176 | the conditions stated below. Sublicensing is not allowed; section 10 177 | makes it unnecessary. 178 | 179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 180 | 181 | No covered work shall be deemed part of an effective technological 182 | measure under any applicable law fulfilling obligations under article 183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or 184 | similar laws prohibiting or restricting circumvention of such 185 | measures. 186 | 187 | When you convey a covered work, you waive any legal power to forbid 188 | circumvention of technological measures to the extent such circumvention 189 | is effected by exercising rights under this License with respect to 190 | the covered work, and you disclaim any intention to limit operation or 191 | modification of the work as a means of enforcing, against the work's 192 | users, your or third parties' legal rights to forbid circumvention of 193 | technological measures. 194 | 195 | 4. Conveying Verbatim Copies. 196 | 197 | You may convey verbatim copies of the Program's source code as you 198 | receive it, in any medium, provided that you conspicuously and 199 | appropriately publish on each copy an appropriate copyright notice; 200 | keep intact all notices stating that this License and any 201 | non-permissive terms added in accord with section 7 apply to the code; 202 | keep intact all notices of the absence of any warranty; and give all 203 | recipients a copy of this License along with the Program. 204 | 205 | You may charge any price or no price for each copy that you convey, 206 | and you may offer support or warranty protection for a fee. 207 | 208 | 5. Conveying Modified Source Versions. 209 | 210 | You may convey a work based on the Program, or the modifications to 211 | produce it from the Program, in the form of source code under the 212 | terms of section 4, provided that you also meet all of these conditions: 213 | 214 | a) The work must carry prominent notices stating that you modified 215 | it, and giving a relevant date. 216 | 217 | b) The work must carry prominent notices stating that it is 218 | released under this License and any conditions added under section 219 | 7. This requirement modifies the requirement in section 4 to 220 | "keep intact all notices". 221 | 222 | c) You must license the entire work, as a whole, under this 223 | License to anyone who comes into possession of a copy. This 224 | License will therefore apply, along with any applicable section 7 225 | additional terms, to the whole of the work, and all its parts, 226 | regardless of how they are packaged. This License gives no 227 | permission to license the work in any other way, but it does not 228 | invalidate such permission if you have separately received it. 229 | 230 | d) If the work has interactive user interfaces, each must display 231 | Appropriate Legal Notices; however, if the Program has interactive 232 | interfaces that do not display Appropriate Legal Notices, your 233 | work need not make them do so. 234 | 235 | A compilation of a covered work with other separate and independent 236 | works, which are not by their nature extensions of the covered work, 237 | and which are not combined with it such as to form a larger program, 238 | in or on a volume of a storage or distribution medium, is called an 239 | "aggregate" if the compilation and its resulting copyright are not 240 | used to limit the access or legal rights of the compilation's users 241 | beyond what the individual works permit. Inclusion of a covered work 242 | in an aggregate does not cause this License to apply to the other 243 | parts of the aggregate. 244 | 245 | 6. Conveying Non-Source Forms. 246 | 247 | You may convey a covered work in object code form under the terms 248 | of sections 4 and 5, provided that you also convey the 249 | machine-readable Corresponding Source under the terms of this License, 250 | in one of these ways: 251 | 252 | a) Convey the object code in, or embodied in, a physical product 253 | (including a physical distribution medium), accompanied by the 254 | Corresponding Source fixed on a durable physical medium 255 | customarily used for software interchange. 256 | 257 | b) Convey the object code in, or embodied in, a physical product 258 | (including a physical distribution medium), accompanied by a 259 | written offer, valid for at least three years and valid for as 260 | long as you offer spare parts or customer support for that product 261 | model, to give anyone who possesses the object code either (1) a 262 | copy of the Corresponding Source for all the software in the 263 | product that is covered by this License, on a durable physical 264 | medium customarily used for software interchange, for a price no 265 | more than your reasonable cost of physically performing this 266 | conveying of source, or (2) access to copy the 267 | Corresponding Source from a network server at no charge. 268 | 269 | c) Convey individual copies of the object code with a copy of the 270 | written offer to provide the Corresponding Source. This 271 | alternative is allowed only occasionally and noncommercially, and 272 | only if you received the object code with such an offer, in accord 273 | with subsection 6b. 274 | 275 | d) Convey the object code by offering access from a designated 276 | place (gratis or for a charge), and offer equivalent access to the 277 | Corresponding Source in the same way through the same place at no 278 | further charge. You need not require recipients to copy the 279 | Corresponding Source along with the object code. If the place to 280 | copy the object code is a network server, the Corresponding Source 281 | may be on a different server (operated by you or a third party) 282 | that supports equivalent copying facilities, provided you maintain 283 | clear directions next to the object code saying where to find the 284 | Corresponding Source. Regardless of what server hosts the 285 | Corresponding Source, you remain obligated to ensure that it is 286 | available for as long as needed to satisfy these requirements. 287 | 288 | e) Convey the object code using peer-to-peer transmission, provided 289 | you inform other peers where the object code and Corresponding 290 | Source of the work are being offered to the general public at no 291 | charge under subsection 6d. 292 | 293 | A separable portion of the object code, whose source code is excluded 294 | from the Corresponding Source as a System Library, need not be 295 | included in conveying the object code work. 296 | 297 | A "User Product" is either (1) a "consumer product", which means any 298 | tangible personal property which is normally used for personal, family, 299 | or household purposes, or (2) anything designed or sold for incorporation 300 | into a dwelling. In determining whether a product is a consumer product, 301 | doubtful cases shall be resolved in favor of coverage. For a particular 302 | product received by a particular user, "normally used" refers to a 303 | typical or common use of that class of product, regardless of the status 304 | of the particular user or of the way in which the particular user 305 | actually uses, or expects or is expected to use, the product. A product 306 | is a consumer product regardless of whether the product has substantial 307 | commercial, industrial or non-consumer uses, unless such uses represent 308 | the only significant mode of use of the product. 309 | 310 | "Installation Information" for a User Product means any methods, 311 | procedures, authorization keys, or other information required to install 312 | and execute modified versions of a covered work in that User Product from 313 | a modified version of its Corresponding Source. The information must 314 | suffice to ensure that the continued functioning of the modified object 315 | code is in no case prevented or interfered with solely because 316 | modification has been made. 317 | 318 | If you convey an object code work under this section in, or with, or 319 | specifically for use in, a User Product, and the conveying occurs as 320 | part of a transaction in which the right of possession and use of the 321 | User Product is transferred to the recipient in perpetuity or for a 322 | fixed term (regardless of how the transaction is characterized), the 323 | Corresponding Source conveyed under this section must be accompanied 324 | by the Installation Information. But this requirement does not apply 325 | if neither you nor any third party retains the ability to install 326 | modified object code on the User Product (for example, the work has 327 | been installed in ROM). 328 | 329 | The requirement to provide Installation Information does not include a 330 | requirement to continue to provide support service, warranty, or updates 331 | for a work that has been modified or installed by the recipient, or for 332 | the User Product in which it has been modified or installed. Access to a 333 | network may be denied when the modification itself materially and 334 | adversely affects the operation of the network or violates the rules and 335 | protocols for communication across the network. 336 | 337 | Corresponding Source conveyed, and Installation Information provided, 338 | in accord with this section must be in a format that is publicly 339 | documented (and with an implementation available to the public in 340 | source code form), and must require no special password or key for 341 | unpacking, reading or copying. 342 | 343 | 7. Additional Terms. 344 | 345 | "Additional permissions" are terms that supplement the terms of this 346 | License by making exceptions from one or more of its conditions. 347 | Additional permissions that are applicable to the entire Program shall 348 | be treated as though they were included in this License, to the extent 349 | that they are valid under applicable law. If additional permissions 350 | apply only to part of the Program, that part may be used separately 351 | under those permissions, but the entire Program remains governed by 352 | this License without regard to the additional permissions. 353 | 354 | When you convey a copy of a covered work, you may at your option 355 | remove any additional permissions from that copy, or from any part of 356 | it. (Additional permissions may be written to require their own 357 | removal in certain cases when you modify the work.) You may place 358 | additional permissions on material, added by you to a covered work, 359 | for which you have or can give appropriate copyright permission. 360 | 361 | Notwithstanding any other provision of this License, for material you 362 | add to a covered work, you may (if authorized by the copyright holders of 363 | that material) supplement the terms of this License with terms: 364 | 365 | a) Disclaiming warranty or limiting liability differently from the 366 | terms of sections 15 and 16 of this License; or 367 | 368 | b) Requiring preservation of specified reasonable legal notices or 369 | author attributions in that material or in the Appropriate Legal 370 | Notices displayed by works containing it; or 371 | 372 | c) Prohibiting misrepresentation of the origin of that material, or 373 | requiring that modified versions of such material be marked in 374 | reasonable ways as different from the original version; or 375 | 376 | d) Limiting the use for publicity purposes of names of licensors or 377 | authors of the material; or 378 | 379 | e) Declining to grant rights under trademark law for use of some 380 | trade names, trademarks, or service marks; or 381 | 382 | f) Requiring indemnification of licensors and authors of that 383 | material by anyone who conveys the material (or modified versions of 384 | it) with contractual assumptions of liability to the recipient, for 385 | any liability that these contractual assumptions directly impose on 386 | those licensors and authors. 387 | 388 | All other non-permissive additional terms are considered "further 389 | restrictions" within the meaning of section 10. If the Program as you 390 | received it, or any part of it, contains a notice stating that it is 391 | governed by this License along with a term that is a further 392 | restriction, you may remove that term. If a license document contains 393 | a further restriction but permits relicensing or conveying under this 394 | License, you may add to a covered work material governed by the terms 395 | of that license document, provided that the further restriction does 396 | not survive such relicensing or conveying. 397 | 398 | If you add terms to a covered work in accord with this section, you 399 | must place, in the relevant source files, a statement of the 400 | additional terms that apply to those files, or a notice indicating 401 | where to find the applicable terms. 402 | 403 | Additional terms, permissive or non-permissive, may be stated in the 404 | form of a separately written license, or stated as exceptions; 405 | the above requirements apply either way. 406 | 407 | 8. Termination. 408 | 409 | You may not propagate or modify a covered work except as expressly 410 | provided under this License. Any attempt otherwise to propagate or 411 | modify it is void, and will automatically terminate your rights under 412 | this License (including any patent licenses granted under the third 413 | paragraph of section 11). 414 | 415 | However, if you cease all violation of this License, then your 416 | license from a particular copyright holder is reinstated (a) 417 | provisionally, unless and until the copyright holder explicitly and 418 | finally terminates your license, and (b) permanently, if the copyright 419 | holder fails to notify you of the violation by some reasonable means 420 | prior to 60 days after the cessation. 421 | 422 | Moreover, your license from a particular copyright holder is 423 | reinstated permanently if the copyright holder notifies you of the 424 | violation by some reasonable means, this is the first time you have 425 | received notice of violation of this License (for any work) from that 426 | copyright holder, and you cure the violation prior to 30 days after 427 | your receipt of the notice. 428 | 429 | Termination of your rights under this section does not terminate the 430 | licenses of parties who have received copies or rights from you under 431 | this License. If your rights have been terminated and not permanently 432 | reinstated, you do not qualify to receive new licenses for the same 433 | material under section 10. 434 | 435 | 9. Acceptance Not Required for Having Copies. 436 | 437 | You are not required to accept this License in order to receive or 438 | run a copy of the Program. Ancillary propagation of a covered work 439 | occurring solely as a consequence of using peer-to-peer transmission 440 | to receive a copy likewise does not require acceptance. However, 441 | nothing other than this License grants you permission to propagate or 442 | modify any covered work. These actions infringe copyright if you do 443 | not accept this License. Therefore, by modifying or propagating a 444 | covered work, you indicate your acceptance of this License to do so. 445 | 446 | 10. Automatic Licensing of Downstream Recipients. 447 | 448 | Each time you convey a covered work, the recipient automatically 449 | receives a license from the original licensors, to run, modify and 450 | propagate that work, subject to this License. You are not responsible 451 | for enforcing compliance by third parties with this License. 452 | 453 | An "entity transaction" is a transaction transferring control of an 454 | organization, or substantially all assets of one, or subdividing an 455 | organization, or merging organizations. If propagation of a covered 456 | work results from an entity transaction, each party to that 457 | transaction who receives a copy of the work also receives whatever 458 | licenses to the work the party's predecessor in interest had or could 459 | give under the previous paragraph, plus a right to possession of the 460 | Corresponding Source of the work from the predecessor in interest, if 461 | the predecessor has it or can get it with reasonable efforts. 462 | 463 | You may not impose any further restrictions on the exercise of the 464 | rights granted or affirmed under this License. For example, you may 465 | not impose a license fee, royalty, or other charge for exercise of 466 | rights granted under this License, and you may not initiate litigation 467 | (including a cross-claim or counterclaim in a lawsuit) alleging that 468 | any patent claim is infringed by making, using, selling, offering for 469 | sale, or importing the Program or any portion of it. 470 | 471 | 11. Patents. 472 | 473 | A "contributor" is a copyright holder who authorizes use under this 474 | License of the Program or a work on which the Program is based. The 475 | work thus licensed is called the contributor's "contributor version". 476 | 477 | A contributor's "essential patent claims" are all patent claims 478 | owned or controlled by the contributor, whether already acquired or 479 | hereafter acquired, that would be infringed by some manner, permitted 480 | by this License, of making, using, or selling its contributor version, 481 | but do not include claims that would be infringed only as a 482 | consequence of further modification of the contributor version. For 483 | purposes of this definition, "control" includes the right to grant 484 | patent sublicenses in a manner consistent with the requirements of 485 | this License. 486 | 487 | Each contributor grants you a non-exclusive, worldwide, royalty-free 488 | patent license under the contributor's essential patent claims, to 489 | make, use, sell, offer for sale, import and otherwise run, modify and 490 | propagate the contents of its contributor version. 491 | 492 | In the following three paragraphs, a "patent license" is any express 493 | agreement or commitment, however denominated, not to enforce a patent 494 | (such as an express permission to practice a patent or covenant not to 495 | sue for patent infringement). To "grant" such a patent license to a 496 | party means to make such an agreement or commitment not to enforce a 497 | patent against the party. 498 | 499 | If you convey a covered work, knowingly relying on a patent license, 500 | and the Corresponding Source of the work is not available for anyone 501 | to copy, free of charge and under the terms of this License, through a 502 | publicly available network server or other readily accessible means, 503 | then you must either (1) cause the Corresponding Source to be so 504 | available, or (2) arrange to deprive yourself of the benefit of the 505 | patent license for this particular work, or (3) arrange, in a manner 506 | consistent with the requirements of this License, to extend the patent 507 | license to downstream recipients. "Knowingly relying" means you have 508 | actual knowledge that, but for the patent license, your conveying the 509 | covered work in a country, or your recipient's use of the covered work 510 | in a country, would infringe one or more identifiable patents in that 511 | country that you have reason to believe are valid. 512 | 513 | If, pursuant to or in connection with a single transaction or 514 | arrangement, you convey, or propagate by procuring conveyance of, a 515 | covered work, and grant a patent license to some of the parties 516 | receiving the covered work authorizing them to use, propagate, modify 517 | or convey a specific copy of the covered work, then the patent license 518 | you grant is automatically extended to all recipients of the covered 519 | work and works based on it. 520 | 521 | A patent license is "discriminatory" if it does not include within 522 | the scope of its coverage, prohibits the exercise of, or is 523 | conditioned on the non-exercise of one or more of the rights that are 524 | specifically granted under this License. You may not convey a covered 525 | work if you are a party to an arrangement with a third party that is 526 | in the business of distributing software, under which you make payment 527 | to the third party based on the extent of your activity of conveying 528 | the work, and under which the third party grants, to any of the 529 | parties who would receive the covered work from you, a discriminatory 530 | patent license (a) in connection with copies of the covered work 531 | conveyed by you (or copies made from those copies), or (b) primarily 532 | for and in connection with specific products or compilations that 533 | contain the covered work, unless you entered into that arrangement, 534 | or that patent license was granted, prior to 28 March 2007. 535 | 536 | Nothing in this License shall be construed as excluding or limiting 537 | any implied license or other defenses to infringement that may 538 | otherwise be available to you under applicable patent law. 539 | 540 | 12. No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ![image](https://github.com/DasudaRunner/Object-Tracking/blob/master/icon/icon_big.jpg)
2 | ___ 3 | # Object-Tracking
4 |  [![author Haibo](https://img.shields.io/badge/author-Haibo%20Wong-blue.svg?style=flat)](https://github.com/DasudaRunner/Object-Tracking)     5 | [![contributions welcome](https://img.shields.io/badge/contributions-welcome-brightgreen.svg?style=flat)](https://github.com/dwyl/esta/issues)
6 | ## This object tracking library is optimized by using Eigen3 and openMP 7 | -  ***Author**: Haibo Wang*
8 | -  ***Email**: dasuda2015@163.com* 9 | -  *This is an open source Object-Tracking library, The development language is C++, The classic and mainstream object tracking algorithms and related algorithms are reproduced(For example, RANSAC, least squares and so on). Of course, these are optimized by Eigen3 and openMP.* 10 | ## Hardware platform: 11 | -  ***CPU**: intel i5 7500*
12 | -  ***Memory**: 8G x 2 DDR4*
13 | -  ***GPU**: GTX 1070 8GHz* 14 | ## Performance: 15 | - **RANSAC**:
16 | *Linear Fitting, 600 sample point, 500 iteration, Time consuming: **70-100us***
17 | 18 |              `The least-square method`          `RANSAC` 19 | #
20 | 21 | - **Kalman Filter**:
22 | *Two dimensional coordinate tracking, System state variable is [x,y,dx,dy], prediction+update. Mean time consuming: **8us***
23 | 24 | #
25 | 26 | - **MeanShift**:
27 | *Using kernel function,refactoring with Eigen3 and openMP, Test images's size is 640x480, using RGB color space. Mean time consuming:**100-2000us***
28 | 29 | #
30 | 31 | ___ 32 | ## 1. Camera calibration
33 | - Using opencv's own calibration tool to calculate the internal parameters of the camera, the chessboard picture has been given, fool-style operation, take a look. 34 | ### Location:
35 | DasudaRunner/Object-Tracking/calibration_camera 36 | ### Requirments:
37 | opencv:>=3.3.0 or >=3.0.0 38 | python:>=2.7 39 | python-opencv: 40 | ### Quick Start:
41 | ####  Step 1. Connecte Camera, get images containing checkerboard. 42 | ./src$ python getChecker.py # press 's' to save image 43 | ####  Step 2. I encapsulated these commands into a script file, and you can run the following command. 44 | ./src$ sudo sh calibration_camera.sh 45 |    Now you can get out_camera_data.yml , this is a file that contains your camera's internal reference. 46 | ####  Step 3. You can run ./demo, and get corrected images. 47 | ./src$ ./demo ../out_camera_data.yml 48 | ![calibration image](https://github.com/DasudaRunner/Object-Tracking/blob/master/calibration_camera/sample/correcte/corrected.png)

49 |    Actually, it call the function remap_image() in tracking.hpp.
50 | ```cpp 51 | #include 52 | #include 53 | #include 54 | #include 55 | #include 56 | #include "../../../tracking.hpp" 57 | using namespace std; 58 | int main(int argc, char* argv[]) 59 | { 60 | cv::VideoCapture cap; 61 | cap.open(0); 62 | wong::calibration_camera camera(argv[1]); 63 | cv::Mat frame,out; 64 | cout<<"Press any key to exit the program !"<> frame; 67 | camera.remap_image(frame,out); 68 | cv::imshow("source",frame); 69 | cv::imshow("corrected",out); 70 | if(cv::waitKey(5)>=0) 71 | break; 72 | } 73 | } 74 | ``` 75 | -------------------------------------------------------------------------------- /TrackingLib/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | AUX_SOURCE_DIRECTORY(src DIR_TRACKING_SRCS) 2 | ADD_LIBRARY(TRACKING_SRCS ${DIR_TRACKING_SRCS}) -------------------------------------------------------------------------------- /TrackingLib/include/tracking.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by irim on 18-8-2. 3 | // 4 | 5 | #ifndef TRACKING_HPP 6 | #define TRACKING_HPP 7 | 8 | #include "opencv2/core.hpp" 9 | #include "opencv2/imgcodecs.hpp" 10 | #include "opencv2/highgui.hpp" 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | 21 | namespace wong { 22 | 23 | using namespace std; 24 | using Eigen::MatrixXd; 25 | using namespace Eigen; 26 | 27 | class utils{ 28 | private: 29 | 30 | public: 31 | 32 | static void prepareBackProject(cv::Mat& image,const cv::Rect selections,const int mode,cv::Mat& hist,const int bins,bool enable_normalize){ 33 | assert(mode>=0 && mode<=1); 34 | 35 | cv::Mat color_model,single_channel; 36 | std::vector split_src; 37 | float range[2] = {0,float(bins)}; 38 | const float * histRange = {range}; 39 | cv::Mat roi_image = image(selections); 40 | 41 | if(mode==0){ 42 | cv::cvtColor(roi_image,color_model,CV_BGR2HSV); 43 | cv::split(color_model,split_src); 44 | single_channel = split_src.at(0); 45 | }else { 46 | cv::cvtColor(roi_image, color_model, CV_BGR2YCrCb); 47 | cv::split(color_model, split_src); 48 | single_channel = split_src.at(1); 49 | } 50 | 51 | cv::calcHist(&single_channel,1,0,cv::Mat(),hist,1,&bins,&histRange,true,false); 52 | 53 | if(enable_normalize){ 54 | cv::normalize(hist, hist, 0, 255, cv::NORM_MINMAX, -1, cv::Mat()); 55 | } 56 | } 57 | 58 | static void getBackProject(const cv::Mat& src, const cv::Mat& hist,const int bins, cv::Mat& backProjectImage, const int mode){ 59 | assert(mode>=0 && mode<=1); 60 | 61 | cv::Mat color_model,single_channel; 62 | std::vector split_src; 63 | float range[2] = {0,float(bins)}; 64 | const float * histRange = {range}; 65 | 66 | if(mode==0){ 67 | cv::cvtColor(src,color_model,CV_BGR2HSV); 68 | cv::split(color_model,split_src); 69 | single_channel = split_src.at(0); 70 | }else { 71 | cv::cvtColor(src, color_model, CV_BGR2YCrCb); 72 | cv::split(color_model, split_src); 73 | single_channel = split_src.at(1); 74 | } 75 | 76 | cv::calcBackProject(&single_channel,1,0,hist,backProjectImage,&histRange,1,true); 77 | } 78 | 79 | template 80 | static void ArrayToMatrix(T1& array,T2& matrix,int h,int w){ 81 | matrix = Map(array,h,w); 82 | } 83 | 84 | //按列展开 85 | template 86 | static void MatrixToArray(T1& matrix,T2& array){ 87 | array = matrix.data(); 88 | } 89 | 90 | }; 91 | 92 | class MeanShift{ 93 | 94 | private: 95 | //画出矩形框 96 | void drawRect(cv::Mat& src,cv::Rect rec); 97 | //带有安全检查的方框移动 98 | cv::Point2d safeUpdate(cv::Point2d ori,cv::Point2d update,cv::Rect track_window,const int img_width,const int img_height); 99 | 100 | //计算直方图 返回为hist 101 | // int histBin = 16; //直方图中bin的个数 102 | // int allBins = histBin*histBin*histBin; 103 | // float range[2] = {0,float(histBin)}; 104 | // const float * histRange = {range}; 105 | // 106 | // void getHist(const cv::Mat& src,cv::Mat& hist){ 107 | // cv::calcHist(&src,1,0,cv::Mat(),hist,1,&histBin,&histRange,true,false); 108 | // } 109 | // 110 | // //计算直方图的相关性 111 | // double histCorrelation(cv::Mat& src,cv::Mat& pattern){ 112 | // cv::Mat srcHSV,patternHSV; 113 | // cv::cvtColor(src,srcHSV,CV_BGR2HSV); 114 | // cv::cvtColor(pattern,patternHSV,CV_BGR2HSV); 115 | // 116 | // std::vector srcChannels,patternChannels; 117 | // cv::split(srcHSV,srcChannels); 118 | // cv::split(patternHSV,patternChannels); 119 | // 120 | // cv::Mat srcHist,patternHist; 121 | // getHist(srcChannels[0],srcHist); 122 | // getHist(patternChannels[0],patternHist); 123 | // 124 | // cv::normalize(srcHist,srcHist,0,1,cv::NORM_MINMAX); 125 | // cv::normalize(patternHist,patternHist,0,1,cv::NORM_MINMAX); 126 | // 127 | // /* 128 | // * CV_COMP_CORREL:相关性性 1相关性最大 129 | // * CV_COMP_CHISQR：卡方法 0相关性最大 130 | // * CV_COMP_INTERSECT：交集法 值越大相关性越大 131 | // * CV_COMP_BHATTACHARYYA: BHATTACHARYYA距离法 0相关性最大 132 | // */ 133 | // return cv::compareHist(srcHist,patternHist,CV_COMP_CORREL); 134 | // } 135 | 136 | const int bin = 16; 137 | const int allBins = bin*bin*bin; 138 | 139 | //------------------tracking_withoutKernel-------------------- 140 | int t_x,t_y,t_w,t_h; //追踪框的参数 141 | int band_width; //带宽 142 | 143 | double *m_wei = (double* )malloc(sizeof(double)*50*50); //权值矩阵 144 | double C_ = 0.0; //归一化系数 145 | double *hist1 = (double* )malloc(sizeof(double)*bin*bin*bin); //模板的直方图 146 | double *hist2 = (double* )malloc(sizeof(double)*bin*bin*bin); //候选区的直方图 147 | double *w = (double* )malloc(sizeof(double)*bin*bin*bin);//权值 148 | //------------------tracking_withoutKernel-------------------- 149 | 150 | //计算巴氏相关系数 151 | double Bhattacharyya(cv::Mat& Pu,cv::Mat& qu); 152 | 153 | //核函数相关的参数 154 | double *K; 155 | double *Gx; 156 | double *Gy; 157 | 158 | void EpanechnikovKernelF(const int H,const int W); 159 | 160 | //获得概率密度矩阵 计算模板和匹配区域的特征 161 | void getPu(cv::Mat& roi_image,cv::Mat& Mat_Pu); 162 | 163 | //权值矩阵 164 | void getWi(cv::Mat& roi_image,cv::Mat& pu, cv::Mat& qu ,cv::Mat& Mat_Wi); 165 | 166 | //更新Yi,追踪框的新位置 167 | cv::Point2d updateYi(const cv::Mat& roi_image,cv::Mat& Mat_Wi); 168 | 169 | cv::Rect trackWindow;//保存追踪框 170 | cv::Point2d point_Y0,point_Y1;//保存追踪框的原始点和候选框的点 171 | cv::Mat qu_hist,pu_hist; //追踪框和候选框的特征 172 | 173 | cv::Mat Mat_wi; //权值矩阵 174 | 175 | 176 | public: 177 | 178 | void initTracker_withoutKernel(const cv::Mat & src,cv::Rect tracking_window); 179 | 180 | //跟踪函数 181 | void tracking_withoutKernel(cv::Mat& frame); 182 | 183 | void initTracker_withKernel(const cv::Mat& src,cv::Rect rec); 184 | 185 | const double update_step = 1.4; //更新的步长 186 | double lastCorrelation=0.0; 187 | 188 | bool tracking_withKernel(cv::Mat& src); 189 | }; 190 | 191 | 192 | 193 | class KF{ 194 | 195 | private: 196 | const int dim_status = 4; //系统状态的维数 197 | 198 | const int dim_measure = 2; //系统观测的维数 199 | 200 | // const int dim_control = 1; //系统控制输入的维数 201 | const double time_step=0.1; //时间周期 202 | 203 | MatrixXd Xhat = MatrixXd::Constant(dim_status,1,0); //k-1时刻系统状态的最优估计 ok n*1 204 | MatrixXd Phat = MatrixXd::Constant(dim_status,dim_status,0); //k-1时刻最优估计的协方差 ok n*n 205 | 206 | MatrixXd Xhat_minus = MatrixXd::Constant(dim_status,1,0); //k-1时刻的预测值 ok n*1 207 | MatrixXd Phat_minus = MatrixXd::Constant(dim_status,dim_status,0); //k-1时刻最优估计的协方差 ok n*n 208 | 209 | MatrixXd A = MatrixXd::Constant(dim_status,dim_status,0); //上一时刻的最优估计 ok n*n 210 | // MatrixXd B = MatrixXd::Constant(dim_control,dim_control,0); //控制->状态空间转换矩阵 211 | MatrixXd H = MatrixXd::Constant(dim_measure,dim_status,0); //测量矩阵 n*m 212 | 213 | MatrixXd Q = MatrixXd::Identity(dim_status,dim_status); //系统预测噪声 ok n*n 214 | MatrixXd R = MatrixXd::Identity(dim_measure,dim_measure); //系统测量噪声 ok m*m 215 | 216 | MatrixXd K = MatrixXd::Constant(dim_status,dim_measure,0);; //卡尔曼增益 ok 217 | 218 | MatrixXd I = MatrixXd::Identity(dim_status,dim_status); //对角矩阵 ok 219 | 220 | public: 221 | KF(); 222 | cv::Point predict(double* measurement,int len); 223 | }; 224 | 225 | class RANSAC{ 226 | 227 | private: 228 | 229 | inline double getDistanceP2L(cv::Point2d a,double* K){ 230 | return abs(K[0]*a.x+K[1]*a.y+K[2])/(sqrt(K[0]*K[0]+K[1]*K[1])); 231 | } 232 | 233 | void getDistanceP2L_Matrix(MatrixXd& points,double* K,MatrixXd& dis); 234 | 235 | template 236 | inline double getDistanceP2P(const T ax, const T ay,const T bx,const T by){ 237 | return sqrt(pow(ax-bx,2)+pow(ay-by,2)); 238 | } 239 | 240 | public: 241 | RANSAC(){ 242 | srand((unsigned)time(NULL)); 243 | } 244 | const double inlier_error=2.99;//判断时候是否为内点的阈值 245 | //最小二乘法拟合直线 246 | void LeastSquares(std::vector points,double* result); 247 | //两点确定一条直线 248 | void getLine(double ax,double ay,double bx, double by,double* K); 249 | 250 | //随机获得两个点 251 | bool getSamples(const int max,int* sam_id); 252 | 253 | //判断两个点的距离 254 | void fit(std::vector points,double K_coefficient[2]); 255 | 256 | void getTestSamples(std::vector& points,const int max_iter); 257 | 258 | }; 259 | 260 | } 261 | 262 | #endif //TRACKING_HPP 263 | -------------------------------------------------------------------------------- /TrackingLib/src/KalmanFilter.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by dasuda on 18-10-26. 3 | // 4 | 5 | #include "../include/tracking.hpp" 6 | 7 | wong::KF::KF(){ 8 | 9 | //转换矩阵 10 | A << 1,0,1,0, 11 | 0,1,0,1, 12 | 0,0,1,0, 13 | 0,0,0,1; 14 | H << 1,0,0,0, 15 | 0,1,0,0; 16 | //先确定R再去调节Q 17 | Q *= 1e-2; 18 | R *= 0.1; 19 | 20 | } 21 | 22 | cv::Point wong::KF::predict(double* measurement,int len){ 23 | 24 | MatrixXd measure; 25 | double* prediction; 26 | 27 | utils::ArrayToMatrix(measurement,measure,len,1); //将测量值转换为matrix 28 | 29 | Xhat_minus = A * Xhat; //状态预测 公式1 30 | Phat_minus = A * Phat * A.transpose() + Q; //系统预测的协方差矩阵 公式2 31 | 32 | MatrixXd temp(dim_measure,dim_measure); 33 | temp = H * Phat_minus * H.transpose() + R; 34 | K = Phat_minus * H.transpose() * temp.inverse(); //求出卡尔曼增益 公式3 35 | 36 | Xhat = Xhat_minus + K * (measure - H * Xhat_minus); //更新系统状态 公式4 37 | 38 | Phat = (I - K * H) * Phat_minus; //更新估计值的协方差矩阵 公式5 39 | 40 | utils::MatrixToArray(Xhat_minus,prediction); 41 | 42 | return cv::Point(prediction[0],prediction[1]); 43 | } -------------------------------------------------------------------------------- /TrackingLib/src/MeanShift.cpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by dasuda on 18-10-26. 3 | // 4 | 5 | #include "../include/tracking.hpp" 6 | 7 | void wong::MeanShift::drawRect(cv::Mat& src,cv::Rect rec) 8 | { 9 | cv::rectangle(src,rec.tl(),rec.br(),cv::Scalar(0,255,0),2); 10 | } 11 | 12 | cv::Point2d wong::MeanShift::safeUpdate(cv::Point2d ori, 13 | cv::Point2d update, 14 | cv::Rect track_window, 15 | const int img_width, 16 | const int img_height) 17 | { 18 | ori.x += update.x* update_step; 19 | ori.y += update.y* update_step; 20 | 21 | if(round(ori.x) +track_window.width >= img_width){ 22 | ori.x = img_width - track_window.width-1; 23 | }else if(ori.x < 0){ 24 | ori.x = 0; 25 | } 26 | 27 | if(round(ori.y)+track_window.height>=img_height){ 28 | ori.y = img_height - track_window.height-1; 29 | }else if(ori.y < 0){ 30 | ori.y=0; 31 | } 32 | 33 | return ori; 34 | } 35 | 36 | double wong::MeanShift::Bhattacharyya(cv::Mat& Pu,cv::Mat& qu) 37 | { 38 | assert(Pu.rows==1 && qu.rows==1); //保证是行向量 39 | assert(Pu.rows==qu.rows); //保证尺寸是一样的 40 | 41 | double Bhatta=0; 42 | const double* data_Pu = Pu.ptr(0); 43 | const double* data_q = qu.ptr(0); 44 | for (int i = 0; i < Pu.cols; ++i) { 45 | Bhatta += sqrt(data_Pu[i]*data_q[i]); 46 | } 47 | 48 | return Bhatta; 49 | } 50 | 51 | void wong::MeanShift::EpanechnikovKernelF(const int H,const int W){ 52 | 53 | int radWidth = (int)sqrt(pow((double)W,2)+pow((double)H,2)); 54 | int radHeight = radWidth; 55 | double pi = 3.141596; 56 | int d = 2;//当前维度 57 | double Cd = pi; //d维空间下单位球体的体积 58 | double kx=0,ky=0; //kernel funciton 的梯度 59 | 60 | K = new double[W*H]; 61 | Gx = new double[W*H]; 62 | Gy = new double[W*H]; 63 | 64 | for (int i = 0; i < W*H; ++i) { //初始化 65 | K[i]=0; 66 | Gx[i]=0; 67 | Gy[i]=0; 68 | } 69 | 70 | //计算函数值 保存在K中，但它只与位置有关 71 | for (int i = 0; i < H; ++i) { 72 | for (int j = 0; j < W; ++j) { 73 | kx = pow(double(i-0.5*H)/(double)radWidth,2); 74 | ky = pow(double(j-0.5*W)/(double)radHeight,2); 75 | if((kx+ky)<1){ 76 | K[i*W+j] = (0.5*(d+2)*(1-(kx+ky)))/Cd; 77 | }else{ 78 | K[i*W+j] = 0; 79 | } 80 | } 81 | } 82 | 83 | //接下来计算密度 84 | for (int x = 0; x < W; ++x) { 85 | for (int y = 0; y < H; ++y) { 86 | //x方向的密度 87 | if(x==0) 88 | Gx[y*W+x] = -(K[y*W+x+1]-K[y*W+x]); 89 | else if(x==(W-1)) 90 | Gx[y*W+x] = -(K[y*W+x]-K[y*W+x-1]); 91 | else 92 | Gx[y*W+x] = -(K[y*W+x+1]-K[y*W+x-1])/2.0; 93 | //y方向的密度 94 | if(y==0) 95 | Gy[y*W+x] = -(K[(y+1)*W+x]-K[y*W+x]); 96 | else if(y==(H-1)) 97 | Gy[y*W+x] = -(K[y*W+x]-K[(y-1)*W+x]); 98 | else 99 | Gy[y*W+x] = -(K[(y+1)*W+x]-K[(y-1)*W+x])/2.0; 100 | } 101 | } 102 | 103 | } 104 | 105 | //获得概率密度矩阵 计算模板和匹配区域的特征 106 | void wong::MeanShift::getPu(cv::Mat& roi_image,cv::Mat& Mat_Pu){ 107 | double *pu = new double[allBins]; 108 | 109 | for (int i = 0; i < allBins; ++i) { 110 | pu[i]=0.0; 111 | } 112 | 113 | //求出了qu特征矩阵 114 | int bxi=0; 115 | double sum_pu = 0.0; 116 | for (int i = 0; i < roi_image.rows; ++i) { 117 | const uchar* data = roi_image.ptr(i); 118 | for (int j = 0; j < roi_image.cols; j+=3) { 119 | bxi = ((int)data[j+2]>>5)*bin*bin + 120 | ((int)data[j+1]>>5)*bin + 121 | ((int)data[j]>>5); 122 | pu[bxi] += K[i*roi_image.cols+j];//有可能出错 它类似一个直方图 123 | sum_pu += K[i*roi_image.cols+j]; 124 | } 125 | } 126 | 127 | //归一化的pu 128 | double sumQu=0; 129 | for (int i = 0; i < allBins; ++i) { 130 | pu[i] /= sum_pu; 131 | sumQu += pu[i]; //这个sumQu不是1吗？ 132 | } 133 | 134 | cv::Mat pu_mat(1,allBins,CV_64FC1,pu); 135 | Mat_Pu.release(); 136 | pu_mat.copyTo(Mat_Pu); 137 | } 138 | 139 | //权值矩阵 140 | void wong::MeanShift::getWi(cv::Mat& roi_image,cv::Mat& pu, cv::Mat& qu ,cv::Mat& Mat_Wi){ 141 | 142 | double* Wi = new double[roi_image.rows*roi_image.cols]; 143 | 144 | for (int i = 0; i < roi_image.rows*roi_image.cols; ++i) { 145 | Wi[i]=0.0; 146 | } 147 | 148 | //计算得到权值矩阵 149 | int bxi = 0; 150 | const double* data_pu = pu.ptr(0); 151 | const double* data_qu = qu.ptr(0); 152 | // #pragma omp parallel for 153 | for (int i = 0; i < roi_image.rows; ++i) { 154 | const uchar* data_image = roi_image.ptr(i); 155 | for (int j = 0; j < roi_image.cols; j+=3) { 156 | bxi = ((int)data_image[j+2]>>5)*bin*bin+ 157 | ((int)data_image[j+1]>>5)*bin+ 158 | ((int)data_image[j]>>5); 159 | if(data_pu[bxi] != 0){ 160 | Wi[i*roi_image.cols+j] = sqrt(data_qu[bxi]/data_pu[bxi]); 161 | }else{ 162 | Wi[i*roi_image.cols+j] = 0; 163 | } 164 | } 165 | } 166 | 167 | cv::Mat W_Mat(roi_image.rows,roi_image.cols,CV_64FC1,Wi); 168 | Mat_Wi.release(); 169 | W_Mat.copyTo(Mat_Wi); 170 | } 171 | 172 | //更新Yi,追踪框的新位置 173 | cv::Point2d wong::MeanShift::updateYi(const cv::Mat& roi_image,cv::Mat& Mat_Wi){ 174 | 175 | double wi,g_x=0,g_y=0,g_xy=0,sum_wig=0; 176 | double yi_x=0,yi_y=0; 177 | double yi_dx=0,yi_dy=0; 178 | for (int i = 0; i < roi_image.rows; ++i) { 179 | for (int j = 0; j < roi_image.cols; ++j) { 180 | wi = Mat_Wi.at(i,j); 181 | g_x = Gx[i*roi_image.cols+j]; 182 | g_y = Gy[i*roi_image.cols+j]; 183 | g_xy = sqrt(g_x*g_x+g_y*g_y); 184 | 185 | yi_dx += (i+1)*wi*g_x; 186 | yi_dy += (j+1)*wi*g_y; 187 | 188 | sum_wig += wi*g_xy; 189 | 190 | // cout<<"-----------inner variable-------------"<(i); 255 | for (int j = 0; j < t_w; j+=3) { 256 | 257 | q_b = data[j]/bin; 258 | q_g = data[j+1]/bin; 259 | q_r = data[j+2]/bin; 260 | 261 | q_temp = q_r*256+q_g*16+q_b; 262 | hist1[q_temp] += m_wei[i*t_w+j]; 263 | } 264 | } 265 | cout<<"q_g: "<0.8) && (num < 20)){ 283 | //控制迭代次数 284 | ++num; 285 | 286 | memset(q_temp,0,sizeof(int)*t_w*t_h); 287 | 288 | for (int i = 0; i < 4096; ++i) { 289 | hist2[i]=0.0; 290 | w[i]=0.0; 291 | } 292 | 293 | //获得当前追踪框的roi图像 294 | roi_frame = temp_frame(cv::Rect(t_x,t_y,t_w,t_h)); 295 | 296 | //画出跟踪框 297 | drawRect(frame,cv::Rect(t_x,t_y,t_w,t_h)); 298 | 299 | 300 | for (int i = 0; i < t_h; ++i) { 301 | uchar* data = roi_frame.ptr(i); 302 | for (int j = 0; j < t_w; j+=3) { 303 | q_b = data[j]/bin; 304 | q_g = data[j+1]/bin; 305 | q_r = data[j+2]/bin; 306 | q_temp[i*t_w+j] = q_r*256+q_g*16+q_b; 307 | hist2[q_temp[i*t_w+j]] += m_wei[i*t_w+j]; 308 | 309 | } 310 | } 311 | 312 | for (int i = 0; i < bin*bin*bin; ++i) { 313 | hist2[i] /= C_; 314 | 315 | if (hist2[i] != 0) 316 | { 317 | w[i] = sqrt(hist1[i]/hist2[i]); 318 | if(isnan(w[i])){ 319 | cout<<"w[i] is nan:" < eps && iter_count < 20){ 397 | 398 | ++iter_count; 399 | 400 | roi_image = draw_mat(trackWindow); 401 | 402 | getPu(roi_image,pu_hist); //获得候选区域的特征 403 | 404 | getWi(roi_image,pu_hist,qu_hist,Mat_wi); //获得权值矩阵 405 | 406 | bhattacharyyaK = Bhattacharyya(pu_hist,qu_hist); 407 | 408 | Yi_bias = updateYi(roi_image,Mat_wi); 409 | 410 | if(isnan(Yi_bias.x) || isnan(Yi_bias.y)){ 411 | continue; 412 | } 413 | 414 | if(lastCorrelation > bhattacharyyaK){ 415 | Yi_bias = Yi_bias / 2.0; 416 | } 417 | 418 | point_Y0 = safeUpdate(point_Y0,Yi_bias,trackWindow,draw_mat.cols,draw_mat.rows); 419 | 420 | trackWindow.x = (int)round(point_Y0.x); 421 | trackWindow.y = (int)round(point_Y0.y); 422 | 423 | error = sqrt(pow((double)Yi_bias.x,2) + pow((double)Yi_bias.y,2)); 424 | 425 | cout<<"-------track_windows-------"< points,double* result){ 25 | double sumX_pow=0,sumX=0,sumXY=0,sumY=0; 26 | unsigned long N_points = points.size(); 27 | 28 | // #pragma omp parallel for reduction(+:sumX_pow,sumX,sumXY,sumY) 29 | for (int i = 0; i < N_points; ++i) { 30 | sumX_pow += points[i].x * points[i].x; 31 | sumX += points[i].x; 32 | sumXY += points[i].x*points[i].y; 33 | sumY += points[i].y; 34 | } 35 | 36 | double temp; 37 | temp = N_points*sumX_pow-sumX*sumX; 38 | if(temp==0){ 39 | result[0] = 1; 40 | result[1] = 0; 41 | }else{ 42 | result[0] = (N_points*sumXY-sumX*sumY)/temp; 43 | result[1] = (sumX_pow*sumY-sumX*sumXY)/temp; 44 | } 45 | // cout< points,double K_coefficient[2]){ 72 | unsigned long num_points; 73 | num_points = points.size(); 74 | MatrixXd m_points = MatrixXd::Constant(num_points,3,1); 75 | // #pragma omp parallel for 76 | for (int i = 0; i < num_points; ++i) { 77 | m_points(i,0) = points[i].x; 78 | m_points(i,1) = points[i].y; 79 | } 80 | int N = 500,sample_count=0,sample_id[2],max_inlier_counter=0; 81 | bool stop_flag=false; 82 | 83 | double K_abc[3];//由两点确定的直线参数 84 | int inlier_counter=0;//内点的个数 85 | 86 | std::vector final_inlier_points; 87 | while(N > sample_count && !stop_flag){ 88 | //获取两个样本 89 | if(!getSamples(num_points,sample_id)){ 90 | stop_flag = true; 91 | continue; 92 | } 93 | //两个点之间的距离不能太小 94 | if(getDistanceP2P(m_points(sample_id[0],0),m_points(sample_id[0],1), 95 | m_points(sample_id[1],0),m_points(sample_id[1],1))<5.0) 96 | { 97 | ++sample_count; 98 | continue; 99 | } 100 | //通过选取的两个点计算出确定的直线方程 101 | getLine(m_points(sample_id[0],0),m_points(sample_id[0],1), 102 | m_points(sample_id[1],0),m_points(sample_id[1],1),K_abc); 103 | //找出内点 104 | MatrixXd error_; 105 | getDistanceP2L_Matrix(m_points,K_abc,error_); 106 | 107 | std::vector inlierPoints; 108 | 109 | for (int i = 0; i < num_points; ++i) { 110 | if(error_(i,0) <= inlier_error){ 111 | inlierPoints.push_back(cv::Point2d(m_points(i,1),m_points(i,0))); 112 | } 113 | } 114 | inlier_counter = inlierPoints.size(); 115 | 116 | if(inlier_counter > max_inlier_counter){ 117 | max_inlier_counter = inlier_counter; 118 | final_inlier_points = inlierPoints; 119 | } 120 | 121 | if(inlier_counter == 0) 122 | { 123 | N=500; 124 | }else{ 125 | double epsilon = double(inlier_counter)/(double)num_points; 126 | double p = 0.99; 127 | double s = 2.0; 128 | N = int(log(1.0-p)/log(1.0-pow(epsilon,s))); 129 | } 130 | ++sample_count; 131 | 132 | } 133 | double KKKK[2]; 134 | LeastSquares(final_inlier_points,K_coefficient); 135 | } 136 | 137 | void wong::RANSAC::getTestSamples(std::vector& points,const int max_iter){ 138 | // for (int i = 0; i < max_iter; i+=5) { 139 | // points.push_back(cv::Point2d(i,i*0.85+7+(rand()/double(RAND_MAX))*40)); 140 | // } 141 | // for (int i = 0; i < max_iter; i+=50) { 142 | // points.push_back(cv::Point2d(i,i*0.85+((rand()-RAND_MAX)/double(RAND_MAX))*400)); 143 | // } 144 | for (int i = 1; i < max_iter; i+=10) { 145 | points.push_back(cv::Point2d(i,i*0.85+7+((rand()-RAND_MAX)/double(RAND_MAX))*50)); 146 | } 147 | 148 | for (int i = 1; i < max_iter; i+=2) { 149 | points.push_back(cv::Point2d(i,i*0.85+7+((rand()-RAND_MAX)/double(RAND_MAX))*10)); 150 | } 151 | } -------------------------------------------------------------------------------- /calibration_camera/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /calibration_camera/checkerboard.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/checkerboard.jpg -------------------------------------------------------------------------------- /calibration_camera/imgs/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /calibration_camera/imgs/calibration: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/imgs/calibration -------------------------------------------------------------------------------- /calibration_camera/imgs/imagelist_creator: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/imgs/imagelist_creator -------------------------------------------------------------------------------- /calibration_camera/out_camera_data.yml: -------------------------------------------------------------------------------- 1 | %YAML:1.0 2 | --- 3 | calibration_time: "2018年08月20日 星期一 17时52分04秒" 4 | image_width: 640 5 | image_height: 480 6 | board_width: 7 7 | board_height: 7 8 | square_size: 1. 9 | aspectRatio: 1. 10 | flags: 2 11 | camera_matrix: !!opencv-matrix 12 | rows: 3 13 | cols: 3 14 | dt: d 15 | data: [ 5.3101564559463623e+02, 0., 3.0668324727632807e+02, 0., 16 | 5.3101564559463623e+02, 2.3741958427982166e+02, 0., 0., 1. ] 17 | distortion_coefficients: !!opencv-matrix 18 | rows: 5 19 | cols: 1 20 | dt: d 21 | data: [ -1.3957980991568589e-01, 1.6706476438511100e-01, 22 | 6.4065444407492998e-04, 1.6858992065452159e-03, 23 | 7.2474287140812044e-01 ] 24 | avg_reprojection_error: 2.8814763752004585e-01 25 | -------------------------------------------------------------------------------- /calibration_camera/sample/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/1.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/1.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/10.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/10.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/11.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/11.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/12.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/12.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/13.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/13.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/14.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/14.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/15.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/15.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/16.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/16.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/17.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/17.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/18.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/18.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/19.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/19.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/2.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/2.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/20.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/20.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/3.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/3.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/4.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/4.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/5.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/5.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/6.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/6.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/7.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/7.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/8.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/8.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/checkerboard/9.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/checkerboard/9.jpg -------------------------------------------------------------------------------- /calibration_camera/sample/correcte/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /calibration_camera/sample/correcte/corrected.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/sample/correcte/corrected.png -------------------------------------------------------------------------------- /calibration_camera/src/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /calibration_camera/src/calibration_camera.sh: -------------------------------------------------------------------------------- 1 | #!/bin/sh 2 | sudo chmod 777 demo 3 | cd ../imgs 4 | sudo chmod 777 imagelist_creator calibration 5 | ./imagelist_creator imagelist.yaml *.jpg 6 | ./calibration -w=7 -h=7 imagelist.yaml 7 | sudo mv out_camera_data.yml ../ 8 | sudo rm -rf imagelist.yaml 9 | -------------------------------------------------------------------------------- /calibration_camera/src/demo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/calibration_camera/src/demo -------------------------------------------------------------------------------- /calibration_camera/src/demo_source/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /calibration_camera/src/demo_source/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # cmake needs this line 2 | cmake_minimum_required(VERSION 2.8) 3 | SET(CMAKE_BUILD_TYPE "Release") 4 | SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O2 -DNDEBUG -pthread -fopenmp -pipe") 5 | add_definitions(-std=c++11) 6 | # Define project name 7 | project(demo) 8 | 9 | find_package(OpenCV REQUIRED) 10 | 11 | include_directories(${OpenCV_INCLUDE_DIRS}) 12 | 13 | # Declare the executable target built from your sources 14 | add_executable(demo 15 | demo.cpp 16 | ../../../TrackingLib/include/tracking.hpp 17 | ) 18 | # Link your application with OpenCV libraries 19 | target_link_libraries(demo ${OpenCV_LIBS}) 20 | -------------------------------------------------------------------------------- /calibration_camera/src/demo_source/demo.cpp: -------------------------------------------------------------------------------- 1 | #include "opencv2/core.hpp" 2 | #include "opencv2/imgcodecs.hpp" 3 | #include "opencv2/highgui.hpp" 4 | #include 5 | #include "../../../TrackingLib/include/tracking.hpp" 6 | #include 7 | using namespace std; 8 | int main(int argc, char* argv[]) 9 | { 10 | cv::VideoCapture cap; 11 | cap.open(0); 12 | wong::calibration_camera camera(argv[1]); 13 | cv::Mat frame,out; 14 | cout<<"Press any key to exit the program !"<> frame; 17 | camera.remap_image(frame,out); 18 | cv::imshow("src",frame); 19 | cv::imshow("corrected",out); 20 | if(cv::waitKey(5)>=0) 21 | break; 22 | } 23 | 24 | } 25 | -------------------------------------------------------------------------------- /calibration_camera/src/getCheker.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import numpy 3 | import os 4 | cap = cv2.VideoCapture(0) 5 | cnt=0 6 | print('Perss q to exit the program !') 7 | print('Perss s to save image !') 8 | for i in os.listdir('../imgs'): 9 | if i[-4:]=='.jpg': 10 | os.remove('../imgs/'+i) 11 | while True: 12 | ret,frame = cap.read() 13 | cv2.imshow('out',frame) 14 | key=cv2.waitKey(5) 15 | if (key & 0xff)==ord('s'): 16 | cnt+=1 17 | cv2.imwrite('../imgs/'+str(cnt)+'.jpg',frame) 18 | print('image has been saved in imgs/'+str(cnt)+'.jpg') 19 | if key & 0xff==ord('q'): 20 | break 21 | -------------------------------------------------------------------------------- /icon/.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | -------------------------------------------------------------------------------- /icon/RANSAC.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/icon/RANSAC.png -------------------------------------------------------------------------------- /icon/icon.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/icon/icon.jpg -------------------------------------------------------------------------------- /icon/icon_big.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/icon/icon_big.jpg -------------------------------------------------------------------------------- /icon/kalman.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/icon/kalman.gif -------------------------------------------------------------------------------- /icon/meanshift.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/DasudaRunner/Object-Tracking/da43ea4f6bca990e2e07cdc6c630b4d0c4a43a6f/icon/meanshift.gif -------------------------------------------------------------------------------- /test_camera.cpp: -------------------------------------------------------------------------------- 1 | //#include 2 | //#include 3 | //#include 4 | //#include "opencv2/core.hpp" 5 | //#include "opencv2/imgcodecs.hpp" 6 | //#include "opencv2/highgui.hpp" 7 | //#include "tracking.hpp" 8 | //#include 9 | //#include 10 | //#include 11 | //#include 12 | //#include 13 | //#include "tracking.hpp" 14 | //#include "KCFlib/kcftracker.hpp" 15 | //using namespace std; 16 | //using Eigen::MatrixXd; 17 | //cv::Rect selection; 18 | //bool selectObject = false; 19 | //cv::Point origin; 20 | //cv::Mat frame,img,out,rect_image; 21 | //bool flag = false; 22 | //bool tpause = false; 23 | // 24 | //static void onMouse(int event, int x, int y, int, void*) 25 | //{ 26 | // if (!flag&&tpause) 27 | // { 28 | // if (selectObject) 29 | // { 30 | // selection.x = MIN(x, origin.x); 31 | // selection.y = MIN(y, origin.y); 32 | // selection.width = std::abs(x - origin.x); 33 | // selection.height = std::abs(y - origin.y); 34 | // selection &= cv::Rect(0, 0, frame.cols, frame.rows); 35 | // } 36 | // 37 | // switch (event) 38 | // { 39 | // case CV_EVENT_LBUTTONDOWN: 40 | // origin = cv::Point(x, y); 41 | // selection = cv::Rect(x, y, 0, 0); 42 | // selectObject = true; 43 | // break; 44 | // case CV_EVENT_LBUTTONUP: 45 | // selectObject = false; 46 | // if (selection.width > 0 && selection.height > 0) 47 | // cv::rectangle(img, selection, cv::Scalar(0, 255, 255)); 48 | // flag = true; 49 | // break; 50 | // } 51 | // } 52 | //} 53 | // 54 | //int main(int argc, char* argv[]) 55 | //{ 56 | // 57 | // haibo::MeanShift tracker; 58 | // cv::VideoCapture cap; 59 | // 60 | // cap.open(0); 61 | // MatrixXd A(2,2); 62 | // haibo::KF kf; 63 | // kf.initKF(); 64 | // 65 | // cv::namedWindow("Image", 2); 66 | // cv::setMouseCallback("Image", onMouse, 0); 67 | // haibo::calibration_camera camera("/home/irim/david/camera/cpp_src/test/out_camera_data.yml"); 68 | // 69 | // int nFrames = 0; 70 | // for (;;) 71 | // { 72 | // if (!tpause) 73 | // { 74 | // cap >> out; 75 | // camera.remap_image(out,frame); 76 | // if (frame.empty()) 77 | // break; 78 | // frame.copyTo(img); 79 | // if (flag) 80 | // { 81 | //// result = tracker.update(img); 82 | // cout<<"-----------------------------------------"< // Include RealSense Cross Platform API 123 | //#include 124 | //#include "opencv2/core.hpp" 125 | //#include "opencv2/imgcodecs.hpp" 126 | //#include "opencv2/highgui.hpp" 127 | //#include 128 | //#include "cv-helpers.hpp" 129 | //using namespace std; 130 | //int main(int argc, char * argv[]) 131 | //{ 132 | ////// Create a Pipeline - this serves as a top-level API for streaming and processing frames 133 | // rs2::pipeline p; 134 | // rs2::colorizer colorize; 135 | // 136 | // colorize.set_option(RS2_OPTION_COLOR_SCHEME,2); 137 | //// Configure and start the pipeline 138 | // rs2::pipeline_profile profile = p.start(); 139 | // 140 | // rs2::align align_to(RS2_STREAM_COLOR); 141 | // 142 | // auto gen_element = [](int erosion_size) 143 | // { 144 | // return cv::getStructuringElement(cv::MORPH_RECT, 145 | // cv::Size(erosion_size + 1, erosion_size + 1), 146 | // cv::Point(erosion_size, erosion_size)); 147 | // }; 148 | // 149 | // const int erosion_size = 3; 150 | // auto erode_less = gen_element(erosion_size); 151 | // auto erode_more = gen_element(erosion_size * 2); 152 | // auto create_mask_from_depth = [&](cv::Mat& depth, int thresh, cv::ThresholdTypes type) 153 | // { 154 | // cv::threshold(depth, depth, thresh, 255, type); 155 | // cv::dilate(depth, depth, erode_less); 156 | // cv::erode(depth, depth, erode_more); 157 | // }; 158 | // 159 | // while (true) 160 | // { 161 | // // Block program until frames arrive 162 | // rs2::frameset frames = p.wait_for_frames(); 163 | // 164 | // rs2::frameset aligned_set = align_to.process(frames); 165 | // rs2::frame depth = aligned_set.get_depth_frame(); 166 | // auto color_mat = frame_to_mat(aligned_set.get_color_frame()); 167 | // 168 | // rs2::frame bw_depth = colorize(depth); 169 | // 170 | // auto depth_mat = frame_to_mat(bw_depth); 171 | // cv::cvtColor(depth_mat, depth_mat, CV_BGR2GRAY); 172 | // create_mask_from_depth(depth_mat, 180, cv::THRESH_BINARY); 173 | // 174 | // auto far = frame_to_mat(bw_depth); 175 | // cv::cvtColor(far, far, CV_BGR2GRAY); 176 | // far.setTo(255, far == 0); 177 | // create_mask_from_depth(far, 100, cv::THRESH_BINARY_INV); 178 | // 179 | // cv::Mat mask; 180 | // mask.create(depth_mat.size(), CV_8UC1); 181 | // mask.setTo(cv::Scalar::all(cv::GC_BGD)); 182 | // mask.setTo(cv::GC_PR_BGD, far == 0); 183 | // mask.setTo(cv::GC_FGD, depth_mat == 255); 184 | // 185 | // cv::Mat bgModel, fgModel; 186 | // cv::grabCut(color_mat, mask, cv::Rect(), bgModel, fgModel, 1, cv::GC_INIT_WITH_MASK); 187 | // cv::Mat3b foreground = cv::Mat3b::zeros(color_mat.rows, color_mat.cols); 188 | // color_mat.copyTo(foreground, (mask == cv::GC_FGD) | (mask == cv::GC_PR_FGD)); 189 | // 190 | //// cout< 206 | #include 207 | #include 208 | #include "opencv2/core.hpp" 209 | #include "opencv2/imgcodecs.hpp" 210 | #include "opencv2/highgui.hpp" 211 | #include 212 | #include 213 | #include 214 | #include 215 | #include 216 | #include 217 | #include 218 | #include 219 | #include "tracking.hpp" 220 | #include "clock.hpp" 221 | 222 | using namespace std; 223 | using Eigen::MatrixXd; 224 | using namespace Eigen; 225 | cv::Rect selection; 226 | cv::Point origin; 227 | cv::Mat frame; 228 | cv::Mat hist; 229 | int flag=0; 230 | // 231 | //cv::Mat srcHSV,H_hist,H_channel; 232 | //std::vector srcChannels; 233 | //cv::MatND backProjection; 234 | //int histBin = 180; //直方图中bin的个数 235 | //// int allBins = histBin*histBin*histBin; 236 | //float range[2] = {0,float(histBin)}; 237 | //const float * histRange = {range}; 238 | //haibo::utils util; 239 | //static void onMouse(int event, int x, int y, int, void*) 240 | //{ 241 | // switch (event) 242 | // { 243 | // case CV_EVENT_LBUTTONDOWN: 244 | // origin = cv::Point(x, y); 245 | // selection = cv::Rect(x, y, 0, 0); 246 | // break; 247 | // case CV_EVENT_LBUTTONUP: 248 | // selection.x = MIN(x, origin.x); 249 | // selection.y = MIN(y, origin.y); 250 | // selection.width = std::abs(x - origin.x); 251 | // selection.height = std::abs(y - origin.y); 252 | // selection &= cv::Rect(0, 0, frame.cols, frame.rows); 253 | // if (selection.width > 0 && selection.height > 0) 254 | // cv::rectangle(frame, selection, cv::Scalar(0, 255, 255)); 255 | // 256 | ////// cv::cvtColor(frame,srcHSV,CV_BGR2HSV); 257 | //// cv::cvtColor(frame,srcHSV,CV_BGR2YCrCb); 258 | //// cv::split(srcHSV,srcChannels); 259 | //// 260 | ////// H_channel = srcChannels.at(0); 261 | //// H_channel = srcChannels.at(1); 262 | //// cv::Mat roi_frame = H_channel(selection); 263 | //// 264 | //// cv::calcHist(&roi_frame,1,0,cv::Mat(),H_hist,1,&histBin,&histRange,true,false); 265 | //// 266 | //// cv::normalize(H_hist, H_hist, 0, 255, cv::NORM_MINMAX, -1, cv::Mat()); 267 | // util.prepareBackProject(frame,selection,0,H_hist,histBin,true); 268 | // flag=1; 269 | // break; 270 | // } 271 | //} 272 | double mouse_point[2]; 273 | static void onMouse(int event, int x, int y, int, void*) 274 | { 275 | if(event==CV_EVENT_MOUSEMOVE){ 276 | mouse_point[0]=x; 277 | mouse_point[1]=y; 278 | } 279 | 280 | } 281 | 282 | int main(int argc, char * argv[]) 283 | { 284 | // cv::VideoCapture cap; 285 | // cap.open(0); 286 | // 287 | // cv::namedWindow("Image"); 288 | // cv::setMouseCallback("Image", onMouse, 0); 289 | // 290 | // haibo::KF kf; 291 | // cv::Point pre_point; 292 | // while(true){ 293 | // cap>>frame; 294 | // pre_point = kf.predict(mouse_point,2); 295 | // 296 | // cv::circle(frame,cv::Point(int(mouse_point[0]),int(mouse_point[1])),5,cv::Scalar(0,255,0),3); 297 | // cv::circle(frame,pre_point,5,cv::Scalar(255,0,0),3); 298 | // 299 | // cv::imshow("Image",frame); 300 | // if(cv::waitKey(5)>0) 301 | // { 302 | // break; 303 | // } 304 | // 305 | // } 306 | // double sum=0,sum_f; 307 | 308 | // for (int i = 0; i < 10; ++i) { 309 | // sum+=i; 310 | // sum_f+=2*i; 311 | // } 312 | // cout< a; 316 | a.push_back(cv::Point2d(35.3,10.98)); 317 | a.push_back(cv::Point2d(29.7,11.13)); 318 | a.push_back(cv::Point2d(30.8,12.51)); 319 | a.push_back(cv::Point2d(58.8,8.4)); 320 | a.push_back(cv::Point2d(61.4,9.27)); 321 | 322 | a.push_back(cv::Point2d(71.3,8.73)); 323 | a.push_back(cv::Point2d(74.4,6.36)); 324 | a.push_back(cv::Point2d(76.6,8.5)); 325 | a.push_back(cv::Point2d(70.7,7.82)); 326 | a.push_back(cv::Point2d(57.5,9.17)); 327 | 328 | a.push_back(cv::Point2d(46.4,8.24)); 329 | a.push_back(cv::Point2d(28.9,12.19)); 330 | a.push_back(cv::Point2d(28.1,11.88)); 331 | a.push_back(cv::Point2d(39.1,9.57)); 332 | a.push_back(cv::Point2d(46.8,10.94)); 333 | 334 | a.push_back(cv::Point2d(48.5,9.58)); 335 | a.push_back(cv::Point2d(59.3,10.09)); 336 | a.push_back(cv::Point2d(70.0,8.11)); 337 | a.push_back(cv::Point2d(70.0,6.83)); 338 | a.push_back(cv::Point2d(74.5,8.88)); 339 | 340 | a.push_back(cv::Point2d(72.1,7.68)); 341 | a.push_back(cv::Point2d(58.1,8.47)); 342 | a.push_back(cv::Point2d(44.6,8.86)); 343 | a.push_back(cv::Point2d(33.4,10.38)); 344 | a.push_back(cv::Point2d(28.6,11.08)); 345 | 346 | 347 | wong::clocker clocker; 348 | wong::RANSAC line; 349 | 350 | cv::Mat image = cv::Mat::zeros(480,640,CV_8UC3); 351 | image.setTo(cv::Scalar(100,0,0)); 352 | 353 | std::vector points; 354 | line.getTestSamples(points,1000); 355 | for (int i = 0; i < points.size(); ++i) { 356 | cv::circle(image, points[i], 1, cv::Scalar(0, 0, 255), 1, 8, 0); 357 | } 358 | 359 | double K[2]; 360 | for (int j = 0; j < 10; ++j) { 361 | clocker.clock_start(); 362 | line.fit(points,K); 363 | clocker.print_time_us("01"); 364 | } 365 | 366 | cv::line(image,cv::Point(0,-K[1]/K[0]),cv::Point(1800,(1800-K[1])/K[0]),cv::Scalar(0,255,0),3); 367 | // cout< 9 | #include 10 | #include 11 | #include 12 | 13 | /* 14 | ***************测试代码**************** 15 | #include "opencv2/core.hpp" 16 | #include "opencv2/imgcodecs.hpp" 17 | #include "opencv2/highgui.hpp" 18 | #include 19 | #include "utils/Camera.hpp" 20 | 21 | using namespace std; 22 | 23 | int main() 24 | { 25 | calibration_camera camera("-----/out_camera_data.yml"); 26 | cv::VideoCapture cap(0); 27 | cv::Mat frame,remape_frame; 28 | while(true){ 29 | cap>>frame; 30 | 31 | cv::imshow("src",frame); 32 | 33 | camera.remap_image(frame,remape_frame); 34 | 35 | cv::imshow("remape",remape_frame); 36 | 37 | if(cv::waitKey(5)>0) 38 | { 39 | break; 40 | } 41 | } 42 | } 43 | 44 | */ 45 | 46 | namespace wong{ 47 | class calibration_camera{ 48 | private: 49 | cv::Mat cameraMatrix = cv::Mat::eye(3, 3, CV_64F); 50 | cv::Mat distCoeffs = cv::Mat::zeros(5, 1, CV_64F); 51 | cv::Size imageSize; 52 | public: 53 | //构造函数读取标定的参数文件 54 | calibration_camera(std::string filename){ 55 | fprintf(stderr, "loadParams.\n"); 56 | cv::FileStorage fs(filename, cv::FileStorage::READ); 57 | if (!fs.isOpened()) { 58 | fprintf(stderr, "%s:%d:loadParams falied. 'camera.yml' does not exist\n", __FILE__, __LINE__); 59 | } 60 | char buf1[100]; 61 | sprintf(buf1, "camera_matrix"); 62 | char buf2[100]; 63 | sprintf(buf2, "distortion_coefficients"); 64 | fs[buf1] >> cameraMatrix; 65 | fs[buf2] >> distCoeffs; 66 | fs.release(); 67 | } 68 | //对摄像头读取的每一帧进行校正 69 | void remap_image(cv::Mat &src,cv::Mat &out){ 70 | cv::Mat view, rview, map1, map2; 71 | imageSize = src.size(); 72 | cv::initUndistortRectifyMap(cameraMatrix, distCoeffs, cv::Mat(), 73 | getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0), 74 | imageSize, CV_16SC2, map1, map2); 75 | cv::remap(src, out, map1, map2, cv::INTER_LINEAR); 76 | } 77 | }; 78 | } 79 | #endif //TRACKING_CAMERA_HPP 80 | -------------------------------------------------------------------------------- /utils/clock.hpp: -------------------------------------------------------------------------------- 1 | // 2 | // Created by dasuda on 18-10-26. 3 | // 4 | 5 | #ifndef TRACKING_CLOCK_HPP 6 | #define TRACKING_CLOCK_HPP 7 | #include 8 | #include 9 | #include 10 | 11 | namespace wong { 12 | using namespace std; 13 | 14 | class clocker { 15 | 16 | private: 17 | clock_t last_time; 18 | 19 | public: 20 | void clock_start(){ 21 | last_time = clock(); 22 | } 23 | 24 | void print_time_us(string ID){ 25 | cout<<"Total time["< 9 | #include 10 | #include 11 | #include 12 | 13 | namespace wong{ 14 | class GetTensorflowNet{ 15 | using namespace std; 16 | using namespace cv; 17 | private: 18 | dnn::Net net; 19 | String _modelName,_inputBLobName,_outputBlobName; 20 | Size _imgSize; 21 | 22 | void getMaxClass_n(const Mat &probBlob, int *classId, double *classProb); 23 | public: 24 | //初始化模型 25 | GetTensorflowNet(String modelName,String inputBlobName, String outputBlobName, Size imgSize); 26 | //进行预测 27 | bool predict(const std::vector & imgs, int nClass, int *classId, double *classProb_n); 28 | 29 | }; 30 | /* 31 | * @details init the tensorflow model 32 | * @param modelName the model file path 33 | * @param inputBlobName the input tensor's name 34 | * @param outputBlobName the output tensor's name 35 | * @param imgSize input images's size 36 | * */ 37 | GetTensorflowNet::GetTensorflowNet(String modelName, String inputBlobName, String outputBlobName, Size imgSize) { 38 | _modelName = modelName; 39 | _inputBLobName = inputBlobName; 40 | _outputBlobName = outputBlobName; 41 | _imgSize = imgSize; 42 | 43 | net = dnn::readNetFromTensorflow(_modelName); 44 | if(net.empty()){ 45 | cerr<<"Plase Check the model path: "< &imgs, int nClass, int *classId, double *classProb_n) { 50 | 51 | if(imgs.size()!=nClass){ 52 | cerr<<"input images size is wrong "<