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update camshift #141

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update camshift #141

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f71802e
enable to set tracking rectangle from dynamic reconfigure
k-okada Nov 22, 2022
320229f
opencv_apps/camshift: publish confidence of tracking
k-okada Nov 22, 2022
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5 changes: 5 additions & 0 deletions cfg/CamShift.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -43,4 +43,9 @@ gen.add("vmin", int_t, 0, "Vmin", 10, 1, 256)
gen.add("vmax", int_t, 0, "Vmax", 256, 1, 256)
gen.add("smin", int_t, 0, "Smin", 30, 1, 256)

gen.add("x", int_t, 0, "Selected object x (left)", 310, 1, 2048)
gen.add("y", int_t, 0, "Selected object y (top)", 230, 1, 1536)
gen.add("width", int_t, 0, "Selected object width", 20, 1, 2048)
gen.add("height", int_t, 0, "Selected object height", 20, 1, 1536)

exit(gen.generate(PACKAGE, "camshift", "CamShift"))
48 changes: 46 additions & 2 deletions src/nodelet/camshift_nodelet.cpp
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Expand Up @@ -53,6 +53,7 @@
#include <opencv2/imgproc/imgproc.hpp>

#include <dynamic_reconfigure/server.h>
#include <std_msgs/Float64.h>
#include "opencv_apps/CamShiftConfig.h"
#include "opencv_apps/RotatedRectStamped.h"

Expand All @@ -63,7 +64,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
image_transport::Publisher img_pub_, bproj_pub_;
image_transport::Subscriber img_sub_;
image_transport::CameraSubscriber cam_sub_;
ros::Publisher msg_pub_;
ros::Publisher msg_pub_, conf_pub_;

boost::shared_ptr<image_transport::ImageTransport> it_;

Expand All @@ -72,6 +73,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
Config config_;
boost::shared_ptr<ReconfigureServer> reconfigure_server_;

boost::mutex mutex_;
int queue_size_;
bool debug_view_;
ros::Time prev_stamp_;
Expand All @@ -86,6 +88,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
int vmin_, vmax_, smin_;
bool backprojMode;
bool selectObject;
int showSelected;
int trackObject;
bool showHist;
cv::Point origin;
Expand All @@ -109,10 +112,18 @@ class CamShiftNodelet : public opencv_apps::Nodelet

void reconfigureCallback(Config& new_config, uint32_t level)
{
boost::mutex::scoped_lock lock(mutex_);
config_ = new_config;
vmin_ = config_.vmin;
vmax_ = config_.vmax;
smin_ = config_.smin;

selection.x = config_.x;
selection.y = config_.y;
selection.width = config_.width;
selection.height = config_.height;
selectObject = false;
trackObject = -1;
}

const std::string& frameWithDefault(const std::string& frame, const std::string& image_frame)
Expand All @@ -139,6 +150,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet

void doWork(const sensor_msgs::ImageConstPtr& msg, const std::string& input_frame_from_msg)
{
boost::mutex::scoped_lock lock(mutex_);
// Work on the image.
try
{
Expand Down Expand Up @@ -187,6 +199,12 @@ class CamShiftNodelet : public opencv_apps::Nodelet
selection.height = std::abs(y - origin.y);

selection &= cv::Rect(0, 0, frame.cols, frame.rows);

config_.x = selection.x;
config_.y = selection.y;
config_.width = selection.width;
config_.height = selection.height;
reconfigure_server_->updateConfig(config_);
}

switch (event)
Expand Down Expand Up @@ -234,6 +252,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet

trackWindow = selection;
trackObject = 1;
showSelected = 10;

histimg = cv::Scalar::all(0);
int bin_w = histimg.cols / hsize;
Expand Down Expand Up @@ -284,11 +303,12 @@ class CamShiftNodelet : public opencv_apps::Nodelet
else if (trackObject < 0)
paused = false;

if (selectObject && selection.width > 0 && selection.height > 0)
if ((showSelected > 0 || selectObject) && selection.width > 0 && selection.height > 0)
{
cv::Mat roi(frame, selection);
bitwise_not(roi, roi);
}
if ( showSelected > 0 ) showSelected--;

if (debug_view_)
{
Expand Down Expand Up @@ -329,6 +349,28 @@ class CamShiftNodelet : public opencv_apps::Nodelet
bproj_pub_.publish(out_img2);
if (trackObject)
msg_pub_.publish(rect_msg);
// publish cnofidence
{
cv::RotatedRect track_box;
track_box.angle = rect_msg.rect.angle;
track_box.center.x = rect_msg.rect.center.x;
track_box.center.y = rect_msg.rect.center.y;
track_box.size.width = rect_msg.rect.size.width;
track_box.size.height = rect_msg.rect.size.height;
cv::Mat mask = backproj.clone();
mask.setTo(cv::Scalar(0));
#ifndef CV_VERSION_EPOCH
cv::ellipse(mask, track_box, 255, -1, cv::LINE_AA);
#else
cv::ellipse(mask, track_box, 255, -1, CV_AA);
#endif
cv::bitwise_and(backproj, mask, backproj);
double confidence = cv::countNonZero(mask);
if ( confidence > 0 ) { confidence = cv::countNonZero(backproj) / confidence; }
std_msgs::Float64 msg; msg.data = confidence;
conf_pub_.publish(msg);
NODELET_DEBUG("Confidence of tracking %f", confidence);
}
}
catch (cv::Exception& e)
{
Expand Down Expand Up @@ -376,6 +418,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet
smin_ = 30;
backprojMode = false;
selectObject = false;
showSelected = 0;
trackObject = 0;
showHist = true;
paused = false;
Expand All @@ -393,6 +436,7 @@ class CamShiftNodelet : public opencv_apps::Nodelet

img_pub_ = advertiseImage(*pnh_, "image", 1);
bproj_pub_ = advertiseImage(*pnh_, "back_project", 1);
conf_pub_ = advertise<std_msgs::Float64>(*pnh_, "confidence", 1);
msg_pub_ = advertise<opencv_apps::RotatedRectStamped>(*pnh_, "track_box", 1);

NODELET_INFO("Hot keys: ");
Expand Down