98 lines
3.6 KiB
Python
Executable File
98 lines
3.6 KiB
Python
Executable File
#!/usr/bin/env python
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import numpy as np
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import cv2 as cv
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MHI_DURATION = 0.5
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DEFAULT_THRESHOLD = 32
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MAX_TIME_DELTA = 0.25
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MIN_TIME_DELTA = 0.05
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# (empty) trackbar callback
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def nothing(dummy):
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pass
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def draw_motion_comp(vis, rect, angle, color):
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x, y, w, h = rect
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cv.rectangle(vis, (x, y), (x+w, y+h), (0, 255, 0))
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r = min(w//2, h//2)
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cx, cy = x+w//2, y+h//2
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angle = angle*np.pi/180
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cv.circle(vis, (cx, cy), r, color, 3)
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cv.line(vis, (cx, cy), (int(cx+np.cos(angle)*r), int(cy+np.sin(angle)*r)), color, 3)
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if __name__ == '__main__':
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import sys
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try:
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video_src = sys.argv[1]
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except:
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video_src = 0
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cv.namedWindow('motempl')
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visuals = ['input', 'frame_diff', 'motion_hist', 'grad_orient']
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cv.createTrackbar('visual', 'motempl', 2, len(visuals)-1, nothing)
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cv.createTrackbar('threshold', 'motempl', DEFAULT_THRESHOLD, 255, nothing)
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cam = cv.VideoCapture(video_src)
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if not cam.isOpened():
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print("could not open video_src " + str(video_src) + " !\n")
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sys.exit(1)
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ret, frame = cam.read()
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if ret == False:
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print("could not read from " + str(video_src) + " !\n")
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sys.exit(1)
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h, w = frame.shape[:2]
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prev_frame = frame.copy()
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motion_history = np.zeros((h, w), np.float32)
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hsv = np.zeros((h, w, 3), np.uint8)
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hsv[:,:,1] = 255
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while True:
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ret, frame = cam.read()
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if ret == False:
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break
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frame_diff = cv.absdiff(frame, prev_frame)
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gray_diff = cv.cvtColor(frame_diff, cv.COLOR_BGR2GRAY)
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thrs = cv.getTrackbarPos('threshold', 'motempl')
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ret, motion_mask = cv.threshold(gray_diff, thrs, 1, cv.THRESH_BINARY)
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timestamp = cv.getTickCount() / cv.getTickFrequency()
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cv.motempl.updateMotionHistory(motion_mask, motion_history, timestamp, MHI_DURATION)
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mg_mask, mg_orient = cv.motempl.calcMotionGradient( motion_history, MAX_TIME_DELTA, MIN_TIME_DELTA, apertureSize=5 )
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seg_mask, seg_bounds = cv.motempl.segmentMotion(motion_history, timestamp, MAX_TIME_DELTA)
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visual_name = visuals[cv.getTrackbarPos('visual', 'motempl')]
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if visual_name == 'input':
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vis = frame.copy()
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elif visual_name == 'frame_diff':
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vis = frame_diff.copy()
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elif visual_name == 'motion_hist':
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vis = np.uint8(np.clip((motion_history-(timestamp-MHI_DURATION)) / MHI_DURATION, 0, 1)*255)
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vis = cv.cvtColor(vis, cv.COLOR_GRAY2BGR)
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elif visual_name == 'grad_orient':
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hsv[:,:,0] = mg_orient/2
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hsv[:,:,2] = mg_mask*255
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vis = cv.cvtColor(hsv, cv.COLOR_HSV2BGR)
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for i, rect in enumerate([(0, 0, w, h)] + list(seg_bounds)):
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x, y, rw, rh = rect
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area = rw*rh
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if area < 64**2:
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continue
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silh_roi = motion_mask [y:y+rh,x:x+rw]
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orient_roi = mg_orient [y:y+rh,x:x+rw]
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mask_roi = mg_mask [y:y+rh,x:x+rw]
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mhi_roi = motion_history[y:y+rh,x:x+rw]
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if cv.norm(silh_roi, cv.NORM_L1) < area*0.05:
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continue
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angle = cv.motempl.calcGlobalOrientation(orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION)
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color = ((255, 0, 0), (0, 0, 255))[i == 0]
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draw_motion_comp(vis, rect, angle, color)
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cv.putText(vis, visual_name, (20, 20), cv.FONT_HERSHEY_PLAIN, 1.0, (200,0,0))
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cv.imshow('motempl', vis)
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prev_frame = frame.copy()
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if 0xFF & cv.waitKey(5) == 27:
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break
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# cleanup the camera and close any open windows
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cam.release()
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cv.destroyAllWindows()
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