Simple Python example with Motion detection and tracking

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.9)
 
-project(MTTracking VERSION 1.0.2)
+project(MTTracking VERSION 1.1.0)
 
 unset(CMAKE_C_FLAGS CACHE)
 unset(CMAKE_CXX_FLAGS CACHE)

README.md

@@ -3,9 +3,9 @@
 
 # Last changes
 
-* Robust tracking a small and fast objects with background subtraction algorithm
+* Works Python example with Motion detector
 
-* TensorRT 8 for YOLO detectors
+* Robust tracking a small and fast objects with background subtraction algorithm
 
 # New videos!
 

demo.py

@@ -10,15 +10,20 @@
 
 def draw_regions(img, regions, color):
     for reg in regions:
-        cv.rectangle(img, (reg.x(), reg.y(), reg.width(), reg.height()), color, 2)
+        brect = reg.brect
+        cv.rectangle(img, (brect.x, brect.y, brect.width, brect.height), color, 2)
 
 
 def draw_tracks(img, tracks, fps):
     for track in tracks:
+        brect = track.GetBoundingRect()
         if track.isStatic:
-            cv.rectangle(img, (track.x(), track.y(), track.width(), track.height()), (255, 0, 255), 2)
-        elif track.IsRobust(int(fps / 4), 0.7, 0.1, 10.):
-            cv.rectangle(img, (track.x(), track.y(), track.width(), track.height()), (0, 255, 0), 2)
+            cv.rectangle(img, (brect.x, brect.y, brect.width, brect.height), (255, 0, 255), 2)
+        elif track.IsRobust(int(fps / 4), 0.7, (0.1, 10.)):
+            cv.rectangle(img, (brect.x, brect.y, brect.width, brect.height), (0, 255, 0), 2)
+            trajectory = track.GetTrajectory()
+            for i in range(0, len(trajectory) - 1):
+                cv.line(img, trajectory[i], trajectory[i+1], (0, 255, 0), 1)
 
 
 def main():
@@ -32,57 +37,62 @@ def main():
     cam = cv.VideoCapture(video_src)
 
     _ret, img = cam.read()
+    print("cam.read res = ", _ret, ", im size = ", img.shape)
 
     fps = cam.get(cv.CAP_PROP_FPS)
-
-    configBGFG = mt.MapStringString()
-    configBGFG['samples'] = '20'
-    configBGFG["pixelNeighbor"] = "3"
-    configBGFG["distanceThreshold"] = "18"
-    configBGFG["matchingThreshold"] = "3"
-    configBGFG["updateFactor"] = "16"
-    mdetector = mt.BaseDetector(mt.BaseDetector.Detectors.VIBE, configBGFG, img)
-    mdetector.Init(configBGFG)
-    mdetector.SetMinObjectSize(int(img.shape[0] / 100), int(img.shape[0] / 100))
-    print(mdetector.CanGrayProcessing())
+    print(video_src, " fps = ", fps)
+
+    configBGFG = mt.KeyVal()
+    configBGFG.Add('useRotatedRect', '20')
+    configBGFG.Add('history', '1000')
+    configBGFG.Add("nmixtures", "3")
+    configBGFG.Add("backgroundRatio", "0.7")
+    configBGFG.Add("noiseSigma", "0")
+    print("configBGFG = ", configBGFG)
+    mdetector = mt.BaseDetector(mt.BaseDetector.Detectors.MOG, configBGFG, img)
+    print("CanGrayProcessing: ", mdetector.CanGrayProcessing())
+    mdetector.SetMinObjectSize((1, 1))
 
     tracker_settings = mt.TrackerSettings()
 
     tracker_settings.SetDistance(mt.MTracker.DistRects)
     tracker_settings.kalmanType = mt.MTracker.KalmanLinear
     tracker_settings.filterGoal = mt.MTracker.FilterCenter
-    tracker_settings.lostTrackType = mt.MTracker.TrackCSRT
+    tracker_settings.lostTrackType = mt.MTracker.TrackNone
     tracker_settings.matchType = mt.MTracker.MatchHungrian
     tracker_settings.useAcceleration = False
-    tracker_settings.dt = 0.2
-    tracker_settings.accelNoiseMag = 0.2
+    tracker_settings.dt = 0.5
+    tracker_settings.accelNoiseMag = 0.1
     tracker_settings.distThres = 0.95
-    tracker_settings.minAreaRadiusPix = -1.
+    tracker_settings.minAreaRadiusPix = img.shape[0] / 5.
     tracker_settings.minAreaRadiusK = 0.8
-    tracker_settings.useAbandonedDetection = True
-    tracker_settings.minStaticTime = 3
-    tracker_settings.maxStaticTime = 3 * tracker_settings.minStaticTime
-    tracker_settings.maximumAllowedSkippedFrames = int(tracker_settings.minStaticTime * fps)
-    tracker_settings.maxTraceLength = 2 * tracker_settings.maximumAllowedSkippedFrames
+    tracker_settings.useAbandonedDetection = False
+    tracker_settings.maximumAllowedSkippedFrames = int(2 * fps)
+    tracker_settings.maxTraceLength = int(2 * fps)
 
     mtracker = mt.MTracker(tracker_settings)
 
     while True:
         _ret, img = cam.read()
+        if _ret:
+            print("cam.read res = ", _ret, ", im size = ", img.shape, ", fps = ", fps)
+        else:
+            break
 
         mdetector.Detect(img)
         regions = mdetector.GetDetects()
+        print("mdetector.Detect:", len(regions))
 
         mtracker.Update(regions, img, fps)
         tracks = mtracker.GetTracks()
-        print("detects:", len(regions), ", tracks:", len(tracks))
+        print("mtracker.Update:", len(tracks))
 
         vis = img.copy()
-        # draw_regions(vis, rects, (255, 0, 255))
+        # draw_regions(vis, regions, (255, 0, 255))
         draw_tracks(vis, tracks, fps)
         cv.imshow('detect', vis)
 
-        if cv.waitKey(1) == 27:
+        if cv.waitKey(int(1000 / fps)) == 27:
             break
 
     print('Done')