vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e
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#include "opencv2/optflow.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/videoio.hpp"
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#include "opencv2/highgui.hpp"
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#include <time.h>
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#include <stdio.h>
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#include <ctype.h>
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using namespace cv;
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using namespace std;
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using namespace cv::motempl;
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static void help(void)
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{
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printf(
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"\nThis program demonstrated the use of motion templates -- basically using the gradients\n"
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"of thresholded layers of decaying frame differencing. New movements are stamped on top with floating system\n"
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"time code and motions too old are thresholded away. This is the 'motion history file'. The program reads from the camera of your choice or from\n"
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"a file. Gradients of motion history are used to detect direction of motion etc\n"
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"Usage :\n"
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"./motempl [camera number 0-n or file name, default is camera 0]\n"
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);
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}
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// various tracking parameters (in seconds)
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const double MHI_DURATION = 5;
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const double MAX_TIME_DELTA = 0.5;
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const double MIN_TIME_DELTA = 0.05;
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// number of cyclic frame buffer used for motion detection
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// (should, probably, depend on FPS)
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// ring image buffer
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vector<Mat> buf;
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int last = 0;
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// temporary images
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Mat mhi, orient, mask, segmask, zplane;
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vector<Rect> regions;
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// parameters:
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// img - input video frame
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// dst - resultant motion picture
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// args - optional parameters
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static void update_mhi(const Mat& img, Mat& dst, int diff_threshold)
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{
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double timestamp = (double)clock() / CLOCKS_PER_SEC; // get current time in seconds
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Size size = img.size();
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int i, idx1 = last;
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Rect comp_rect;
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double count;
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double angle;
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Point center;
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double magnitude;
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Scalar color;
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// allocate images at the beginning or
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// reallocate them if the frame size is changed
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if (mhi.size() != size)
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{
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mhi = Mat::zeros(size, CV_32F);
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zplane = Mat::zeros(size, CV_8U);
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buf[0] = Mat::zeros(size, CV_8U);
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buf[1] = Mat::zeros(size, CV_8U);
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}
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cvtColor(img, buf[last], COLOR_BGR2GRAY); // convert frame to grayscale
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int idx2 = (last + 1) % 2; // index of (last - (N-1))th frame
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last = idx2;
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Mat silh = buf[idx2];
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absdiff(buf[idx1], buf[idx2], silh); // get difference between frames
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threshold(silh, silh, diff_threshold, 1, THRESH_BINARY); // and threshold it
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updateMotionHistory(silh, mhi, timestamp, MHI_DURATION); // update MHI
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// convert MHI to blue 8u image
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mhi.convertTo(mask, CV_8U, 255. / MHI_DURATION, (MHI_DURATION - timestamp)*255. / MHI_DURATION);
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Mat planes[] = { mask, zplane, zplane };
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merge(planes, 3, dst);
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// calculate motion gradient orientation and valid orientation mask
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calcMotionGradient(mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3);
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// segment motion: get sequence of motion components
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// segmask is marked motion components map. It is not used further
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regions.clear();
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segmentMotion(mhi, segmask, regions, timestamp, MAX_TIME_DELTA);
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// iterate through the motion components,
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// One more iteration (i == -1) corresponds to the whole image (global motion)
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for (i = -1; i < (int)regions.size(); i++) {
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if (i < 0) { // case of the whole image
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comp_rect = Rect(0, 0, size.width, size.height);
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color = Scalar(255, 255, 255);
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magnitude = 100;
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}
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else { // i-th motion component
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comp_rect = regions[i];
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if (comp_rect.width + comp_rect.height < 100) // reject very small components
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continue;
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color = Scalar(0, 0, 255);
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magnitude = 30;
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}
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// select component ROI
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Mat silh_roi = silh(comp_rect);
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Mat mhi_roi = mhi(comp_rect);
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Mat orient_roi = orient(comp_rect);
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Mat mask_roi = mask(comp_rect);
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// calculate orientation
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angle = calcGlobalOrientation(orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION);
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angle = 360.0 - angle; // adjust for images with top-left origin
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count = norm(silh_roi, NORM_L1);; // calculate number of points within silhouette ROI
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// check for the case of little motion
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if (count < comp_rect.width*comp_rect.height * 0.05)
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continue;
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// draw a clock with arrow indicating the direction
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center = Point((comp_rect.x + comp_rect.width / 2),
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(comp_rect.y + comp_rect.height / 2));
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circle(img, center, cvRound(magnitude*1.2), color, 3, 16, 0);
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line(img, center, Point(cvRound(center.x + magnitude*cos(angle*CV_PI / 180)),
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cvRound(center.y - magnitude*sin(angle*CV_PI / 180))), color, 3, 16, 0);
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}
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}
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int main(int argc, char** argv)
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{
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VideoCapture cap;
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help();
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if (argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
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cap.open(argc == 2 ? argv[1][0] - '0' : 0);
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else if (argc == 2)
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cap.open(argv[1]);
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if (!cap.isOpened())
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{
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printf("Could not initialize video capture\n");
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return 0;
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}
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buf.resize(2);
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Mat image, motion;
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for (;;)
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{
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cap >> image;
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if (image.empty())
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break;
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update_mhi(image, motion, 30);
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imshow("Image", image);
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imshow("Motion", motion);
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if (waitKey(10) >= 0)
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break;
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}
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return 0;
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}
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