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CVTracker.cpp
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// Copyright (c) 2008-2019 OpenShot Studios, LLC
//
// SPDX-License-Identifier: LGPL-3.0-or-later
#include <fstream>
#include <iomanip>
#include <iostream>
#include <google/protobuf/util/time_util.h>
#include "OpenCVUtilities.h"
#include "CVTracker.h"
#include "trackerdata.pb.h"
#include "Exceptions.h"
using namespace openshot;
using google::protobuf::util::TimeUtil;
// Constructor
CVTracker::CVTracker(std::string processInfoJson, ProcessingController &processingController)
: processingController(&processingController), json_interval(false){
SetJson(processInfoJson);
start = 1;
end = 1;
}
// Set desirable tracker method
cv::Ptr<OPENCV_TRACKER_TYPE> CVTracker::selectTracker(std::string trackerType){
if (trackerType == "BOOSTING")
return OPENCV_TRACKER_NS::TrackerBoosting::create();
if (trackerType == "MIL")
return OPENCV_TRACKER_NS::TrackerMIL::create();
if (trackerType == "KCF")
return OPENCV_TRACKER_NS::TrackerKCF::create();
if (trackerType == "TLD")
return OPENCV_TRACKER_NS::TrackerTLD::create();
if (trackerType == "MEDIANFLOW")
return OPENCV_TRACKER_NS::TrackerMedianFlow::create();
if (trackerType == "MOSSE")
return OPENCV_TRACKER_NS::TrackerMOSSE::create();
if (trackerType == "CSRT")
return OPENCV_TRACKER_NS::TrackerCSRT::create();
return nullptr;
}
// Track object in the hole clip or in a given interval
void CVTracker::trackClip(openshot::Clip& video, size_t _start, size_t _end, bool process_interval){
video.Open();
if(!json_interval){
start = _start; end = _end;
if(!process_interval || end <= 1 || end-start == 0){
// Get total number of frames in video
start = (int)(video.Start() * video.Reader()->info.fps.ToFloat()) + 1;
end = (int)(video.End() * video.Reader()->info.fps.ToFloat()) + 1;
}
}
else{
start = (int)(start + video.Start() * video.Reader()->info.fps.ToFloat()) + 1;
end = (int)(video.End() * video.Reader()->info.fps.ToFloat()) + 1;
}
if(error){
return;
}
processingController->SetError(false, "");
bool trackerInit = false;
size_t frame;
// Loop through video
for (frame = start; frame <= end; frame++)
{
// Stop the feature tracker process
if(processingController->ShouldStop()){
return;
}
size_t frame_number = frame;
// Get current frame
std::shared_ptr<openshot::Frame> f = video.GetFrame(frame_number);
// Grab OpenCV Mat image
cv::Mat cvimage = f->GetImageCV();
if(frame == start){
// Take the normalized inital bounding box and multiply to the current video shape
bbox = cv::Rect2d(int(bbox.x*cvimage.cols), int(bbox.y*cvimage.rows),
int(bbox.width*cvimage.cols), int(bbox.height*cvimage.rows));
}
// Pass the first frame to initialize the tracker
if(!trackerInit){
// Initialize the tracker
initTracker(cvimage, frame_number);
trackerInit = true;
}
else{
// Update the object tracker according to frame
trackerInit = trackFrame(cvimage, frame_number);
// Draw box on image
FrameData fd = GetTrackedData(frame_number);
}
// Update progress
processingController->SetProgress(uint(100*(frame_number-start)/(end-start)));
}
}
// Initialize the tracker
bool CVTracker::initTracker(cv::Mat &frame, size_t frameId){
// Create new tracker object
tracker = selectTracker(trackerType);
// Correct if bounding box contains negative proportions (width and/or height < 0)
if(bbox.width < 0){
bbox.x = bbox.x - abs(bbox.width);
bbox.width = abs(bbox.width);
}
if(bbox.height < 0){
bbox.y = bbox.y - abs(bbox.height);
bbox.height = abs(bbox.height);
}
// Initialize tracker
tracker->init(frame, bbox);
float fw = frame.size().width;
float fh = frame.size().height;
// Add new frame data
trackedDataById[frameId] = FrameData(frameId, 0, (bbox.x)/fw,
(bbox.y)/fh,
(bbox.x+bbox.width)/fw,
(bbox.y+bbox.height)/fh);
return true;
}
// Update the object tracker according to frame
bool CVTracker::trackFrame(cv::Mat &frame, size_t frameId){
// Update the tracking result
bool ok = tracker->update(frame, bbox);
// Add frame number and box coords if tracker finds the object
// Otherwise add only frame number
if (ok)
{
float fw = frame.size().width;
float fh = frame.size().height;
cv::Rect2d filtered_box = filter_box_jitter(frameId);
// Add new frame data
trackedDataById[frameId] = FrameData(frameId, 0, (filtered_box.x)/fw,
(filtered_box.y)/fh,
(filtered_box.x+filtered_box.width)/fw,
(filtered_box.y+filtered_box.height)/fh);
}
else
{
// Copy the last frame data if the tracker get lost
trackedDataById[frameId] = trackedDataById[frameId-1];
}
return ok;
}
cv::Rect2d CVTracker::filter_box_jitter(size_t frameId){
// get tracked data for the previous frame
float last_box_width = trackedDataById[frameId-1].x2 - trackedDataById[frameId-1].x1;
float last_box_height = trackedDataById[frameId-1].y2 - trackedDataById[frameId-1].y1;
float curr_box_width = bbox.width;
float curr_box_height = bbox.height;
// keep the last width and height if the difference is less than 1%
float threshold = 0.01;
cv::Rect2d filtered_box = bbox;
if(std::abs(1-(curr_box_width/last_box_width)) <= threshold){
filtered_box.width = last_box_width;
}
if(std::abs(1-(curr_box_height/last_box_height)) <= threshold){
filtered_box.height = last_box_height;
}
return filtered_box;
}
bool CVTracker::SaveTrackedData(){
using std::ios;
// Create tracker message
pb_tracker::Tracker trackerMessage;
// Iterate over all frames data and save in protobuf message
for(std::map<size_t,FrameData>::iterator it=trackedDataById.begin(); it!=trackedDataById.end(); ++it){
FrameData fData = it->second;
pb_tracker::Frame* pbFrameData;
AddFrameDataToProto(trackerMessage.add_frame(), fData);
}
// Add timestamp
*trackerMessage.mutable_last_updated() = TimeUtil::SecondsToTimestamp(time(NULL));
{
// Write the new message to disk.
std::fstream output(protobuf_data_path, ios::out | ios::trunc | ios::binary);
if (!trackerMessage.SerializeToOstream(&output)) {
std::cerr << "Failed to write protobuf message." << std::endl;
return false;
}
}
// Delete all global objects allocated by libprotobuf.
google::protobuf::ShutdownProtobufLibrary();
return true;
}
// Add frame tracked data into protobuf message.
void CVTracker::AddFrameDataToProto(pb_tracker::Frame* pbFrameData, FrameData& fData) {
// Save frame number and rotation
pbFrameData->set_id(fData.frame_id);
pbFrameData->set_rotation(0);
pb_tracker::Frame::Box* box = pbFrameData->mutable_bounding_box();
// Save bounding box data
box->set_x1(fData.x1);
box->set_y1(fData.y1);
box->set_x2(fData.x2);
box->set_y2(fData.y2);
}
// Get tracker info for the desired frame
FrameData CVTracker::GetTrackedData(size_t frameId){
// Check if the tracker info for the requested frame exists
if ( trackedDataById.find(frameId) == trackedDataById.end() ) {
return FrameData();
} else {
return trackedDataById[frameId];
}
}
// Load JSON string into this object
void CVTracker::SetJson(const std::string value) {
// Parse JSON string into JSON objects
try
{
const Json::Value root = openshot::stringToJson(value);
// Set all values that match
SetJsonValue(root);
}
catch (const std::exception& e)
{
// Error parsing JSON (or missing keys)
throw openshot::InvalidJSON("JSON is invalid (missing keys or invalid data types)");
}
}
// Load Json::Value into this object
void CVTracker::SetJsonValue(const Json::Value root) {
// Set data from Json (if key is found)
if (!root["protobuf_data_path"].isNull()){
protobuf_data_path = (root["protobuf_data_path"].asString());
}
if (!root["tracker-type"].isNull()){
trackerType = (root["tracker-type"].asString());
}
if (!root["region"].isNull()){
double x = root["region"]["normalized_x"].asDouble();
double y = root["region"]["normalized_y"].asDouble();
double w = root["region"]["normalized_width"].asDouble();
double h = root["region"]["normalized_height"].asDouble();
cv::Rect2d prev_bbox(x,y,w,h);
bbox = prev_bbox;
if (!root["region"]["first-frame"].isNull()){
start = root["region"]["first-frame"].asInt64();
json_interval = true;
}
else{
processingController->SetError(true, "No first-frame");
error = true;
}
}
else{
processingController->SetError(true, "No initial bounding box selected");
error = true;
}
}
/*
||||||||||||||||||||||||||||||||||||||||||||||||||
ONLY FOR MAKE TEST
||||||||||||||||||||||||||||||||||||||||||||||||||
*/
// Load protobuf data file
bool CVTracker::_LoadTrackedData(){
using std::ios;
// Create tracker message
pb_tracker::Tracker trackerMessage;
{
// Read the existing tracker message.
std::fstream input(protobuf_data_path, ios::in | ios::binary);
if (!trackerMessage.ParseFromIstream(&input)) {
std::cerr << "Failed to parse protobuf message." << std::endl;
return false;
}
}
// Make sure the trackedData is empty
trackedDataById.clear();
// Iterate over all frames of the saved message
for (size_t i = 0; i < trackerMessage.frame_size(); i++) {
const pb_tracker::Frame& pbFrameData = trackerMessage.frame(i);
// Load frame and rotation data
size_t id = pbFrameData.id();
float rotation = pbFrameData.rotation();
// Load bounding box data
const pb_tracker::Frame::Box& box = pbFrameData.bounding_box();
float x1 = box.x1();
float y1 = box.y1();
float x2 = box.x2();
float y2 = box.y2();
// Assign data to tracker map
trackedDataById[id] = FrameData(id, rotation, x1, y1, x2, y2);
}
// Delete all global objects allocated by libprotobuf.
google::protobuf::ShutdownProtobufLibrary();
return true;
}
CVTracker.h
Track an object selected by the user.
Exceptions.h
Header file for all Exception classes.
OpenCVUtilities.h
Header file for OpenCVUtilities (set some common macros)
ProcessingController
Definition ProcessingController.h:20
ProcessingController::SetProgress
void SetProgress(uint p)
Definition ProcessingController.h:52
ProcessingController::ShouldStop
bool ShouldStop()
Definition ProcessingController.h:68
ProcessingController::SetError
void SetError(bool err, std::string message)
Definition ProcessingController.h:74
openshot::CVTracker::trackClip
void trackClip(openshot::Clip &video, size_t _start=0, size_t _end=0, bool process_interval=false)
Definition CVTracker.cpp:58
openshot::CVTracker::CVTracker
CVTracker(std::string processInfoJson, ProcessingController &processingController)
Definition CVTracker.cpp:29
openshot::CVTracker::SaveTrackedData
bool SaveTrackedData()
Save protobuf file.
Definition CVTracker.cpp:205
openshot::CVTracker::_LoadTrackedData
bool _LoadTrackedData()
Definition CVTracker.cpp:326
openshot::CVTracker::SetJsonValue
void SetJsonValue(const Json::Value root)
Load Json::Value into this object.
Definition CVTracker.cpp:284
openshot::CVTracker::SetJson
void SetJson(const std::string value)
Load JSON string into this object.
Definition CVTracker.cpp:267
openshot::CVTracker::filter_box_jitter
cv::Rect2d filter_box_jitter(size_t frameId)
Filter current bounding box jitter.
Definition CVTracker.cpp:185
openshot::CVTracker::AddFrameDataToProto
void AddFrameDataToProto(pb_tracker::Frame *pbFrameData, FrameData &fData)
Add frame tracked data into protobuf message.
Definition CVTracker.cpp:238
openshot::CVTracker::GetTrackedData
FrameData GetTrackedData(size_t frameId)
Get tracked data for a given frame.
Definition CVTracker.cpp:253
openshot::CVTracker::selectTracker
cv::Ptr< OPENCV_TRACKER_TYPE > selectTracker(std::string trackerType)
Definition CVTracker.cpp:37
openshot::ClipBase::Start
float Start() const
Get start position (in seconds) of clip (trim start of video)
Definition ClipBase.h:88
openshot::Clip
This class represents a clip (used to arrange readers on the timeline)
Definition Clip.h:89
openshot::Clip::Open
void Open() override
Open the internal reader.
Definition Clip.cpp:318
openshot::Clip::End
float End() const override
Get end position (in seconds) of clip (trim end of video), which can be affected by the time curve.
Definition Clip.cpp:354
openshot::Clip::GetFrame
std::shared_ptr< openshot::Frame > GetFrame(int64_t clip_frame_number) override
Get an openshot::Frame object for a specific frame number of this clip. The image size and number of ...
Definition Clip.cpp:389
openshot::Clip::Reader
void Reader(openshot::ReaderBase *new_reader)
Set the current reader.
Definition Clip.cpp:272
openshot::InvalidJSON
Exception for invalid JSON.
Definition Exceptions.h:218
openshot
This namespace is the default namespace for all code in the openshot library.
Definition Compressor.h:29
openshot::stringToJson
const Json::Value stringToJson(const std::string value)
Definition Json.cpp:16
openshot::FrameData
Definition CVTracker.h:45
openshot::FrameData::x2
float x2
Definition CVTracker.h:50
openshot::FrameData::y1
float y1
Definition CVTracker.h:49
openshot::FrameData::x1
float x1
Definition CVTracker.h:48
openshot::FrameData::frame_id
size_t frame_id
Definition CVTracker.h:46
openshot::FrameData::y2
float y2
Definition CVTracker.h:51