main_objectTracker.cpp

#include <opencv2/opencv.hpp>
#include <opencv2/opencv_lib.hpp>
#include <iostream>
#include "ObjectTracker.h"
#include "predictor.h"

using namespace std;
CvPoint VertexOne,VertexThree;//長方形的左上點和右下點

enum state{
  BOTTOM,
  BOTTOM_TO_TOP,
  TOP,
  TOP_TO_BOTTOM
};

void onMouse(int event,int x,int y,int flag,void* param){
	if(event==CV_EVENT_LBUTTONDOWN||event==CV_EVENT_RBUTTONDOWN){//得到左上角座標
		VertexOne=cvPoint(x,y);
		cout <<"set point one at " << x << " " << y << endl;
	}
	if(event==CV_EVENT_LBUTTONUP||event==CV_EVENT_RBUTTONUP){//得到右下角座標
		VertexThree=cvPoint(x,y);
		cout <<"set point three at " << x << " " << y << endl;
	}
}

using namespace cv;
using namespace std;

int main()
{
  VideoCapture cap("aus2.avi");
  //VideoCapture cap("australia.avi");
  if ( !cap.isOpened() )  // if not success, exit program
  {
    cout << "Cannot open the video file" << endl;
    getchar();
    return -1;
  }
  cap.set(CV_CAP_PROP_POS_MSEC, 3700); //start the video at 300ms
  double fps = cap.get(CV_CAP_PROP_FPS); //get the frames per seconds of the video
  cout << "Frame per seconds : " << fps << endl;
  namedWindow("MyVideo",CV_WINDOW_AUTOSIZE); //create a window called "MyVideo"
  //namedWindow("MyVideo2",CV_WINDOW_AUTOSIZE); //create a window called "MyVideo"

  /*get initial pos by clicking mouse*/
  VertexOne=cvPoint(0,0);
  VertexThree=cvPoint(0,0);
  cvSetMouseCallback("MyVideo",onMouse);//設定滑鼠callback函式

  /*background substractor*/
  Mat fgMaskMOG2; //fg mask fg mask generated by MOG2 method
  Ptr< BackgroundSubtractor> pMOG2; //MOG2 Background subtractor
  pMOG2 = new BackgroundSubtractorMOG2(100,625);

  Mat firstFrame;
  if(!cap.read(firstFrame))
  {
    cout << "Cannot read the frame from video file" << endl;
    return 0;
  }
  pMOG2->operator()(firstFrame, fgMaskMOG2,0.5);
  cap.read(firstFrame);
  pMOG2->operator()(firstFrame, fgMaskMOG2,0.5);
  Mat cropTarget = fgMaskMOG2;
    CObjectTracker *m_pObjectTracker = new CObjectTracker(firstFrame.cols,firstFrame.rows,IMAGE_TYPE(0));

    /*get first object*/
    imshow("MyVideo", firstFrame); //show the frame in "MyVideo" window
    waitKey(0);
    cout << "object1 detected" << endl;
    int iCenterX = (VertexThree.x+VertexOne.x)/2;
    int iCentery = (VertexThree.y+VertexOne.y)/2;
    int iWidth1 = VertexThree.x-VertexOne.x;
    int iHeight1 = VertexThree.y-VertexOne.y;
    m_pObjectTracker->ObjectTrackerInitObjectParameters(iCenterX,iCentery,iWidth1,iHeight1);
    rectangle(firstFrame,VertexOne,VertexThree,cv::Scalar( 0, 0, 255 ));
    imshow("MyVideo", firstFrame);

    /*get second object*/
    waitKey(0);
    cout << "object2 detected" << endl;
    iCenterX = (VertexThree.x+VertexOne.x)/2;
    iCentery = (VertexThree.y+VertexOne.y)/2;
    int iWidth2 = VertexThree.x-VertexOne.x;
    int iHeight2 = VertexThree.y-VertexOne.y;
    m_pObjectTracker->ObjectTrackerInitObjectParameters(iCenterX,iCentery,iWidth2,iHeight2);
    rectangle(firstFrame,VertexOne,VertexThree,cv::Scalar( 0, 255, 0 ));
    imshow("MyVideo", firstFrame);
    waitKey(500);

    /*get ball*/
    waitKey(0);
    cout << "ball detected" << endl;
    iCenterX = (VertexThree.x+VertexOne.x)/2;
    iCentery = (VertexThree.y+VertexOne.y)/2;
    int iWidth = VertexThree.x-VertexOne.x;
    int iHeight = VertexThree.y-VertexOne.y;
    rectangle(firstFrame,VertexOne,VertexThree,cv::Scalar( 255, 0, 0 ));
    imshow("MyVideo", firstFrame);
    waitKey(500);
    Point prevBall = VertexOne;
    Point prevVec = Point(0,0);
    Rect myROI(VertexOne.x, VertexOne.y, VertexThree.x - VertexOne.x, VertexThree.y - VertexOne.y);
    Mat croppedImage = cropTarget(myROI);


    waitKey(0);
    cout << "field detected" << endl;
    rectangle(firstFrame,VertexOne,VertexThree,cv::Scalar( 255, 255, 255 ));
    imshow("MyVideo", firstFrame);
    waitKey(500);

    Rect field(VertexOne.x, VertexOne.y, VertexThree.x - VertexOne.x, VertexThree.y - VertexOne.y);

    m_pObjectTracker->ObjeckTrackerHandlerByUser(firstFrame.data);


    state ball_state = BOTTOM;

    Point lastOpponentPos,lastBallPos,lastPlayerPos;
    predictor playerPredictor;


	/*saving video frames*/
	double dWidth = cap.get(CV_CAP_PROP_FRAME_WIDTH); //get the width of frames of the video
	double dHeight = cap.get(CV_CAP_PROP_FRAME_HEIGHT); //get the height of frames of the video
	cout << "Frame Size = " << dWidth << "x" << dHeight << endl;
	Size frameSize(static_cast<int>(dWidth), static_cast<int>(dHeight));
	VideoWriter oVideoWriter("D:/MyVideo.avi", CV_FOURCC('P','I','M','1'), fps, frameSize, true); //initialize the VideoWriter object 
	if ( !oVideoWriter.isOpened() ) //if not initialize the VideoWriter successfully, exit the program
	{
		cout << "ERROR: Failed to write the video" << endl;
		return -1;
	}


    while(1)
    {
      Mat frame;
      bool bSuccess = cap.read(frame); // read a new frame from video	
      if (!bSuccess) //if not success, break loop
      {
        cout << "Cannot read the frame from video file" << endl;
        break;
      }
      pMOG2->operator()(frame, fgMaskMOG2, 0.5);
        m_pObjectTracker->ObjeckTrackerHandlerByUser(frame.data);
//         double dUserSize = 2;
//         int iUser1X = m_pObjectTracker->getTrackerCenter(0).x - iWidth1*dUserSize/2;
//         int iUser1Y = m_pObjectTracker->getTrackerCenter(0).y - iHeight1*dUserSize/2 ;
//         int iUser2X = m_pObjectTracker->getTrackerCenter(1).x - iWidth2*dUserSize/2;
//         int iUser2Y = m_pObjectTracker->getTrackerCenter(1).y - iHeight2*dUserSize/2;
//         
//         Mat user1 = fgMaskMOG2(Rect(iUser1X,iUser1Y,iWidth1*dUserSize,iHeight1*dUserSize));
//         user1.setTo(0);
//         Mat user2 = fgMaskMOG2(Rect(iUser2X,iUser2Y,iWidth2*dUserSize,iHeight2*dUserSize));
//         user2.setTo(0);

        Mat result;
        matchTemplate(fgMaskMOG2, croppedImage, result, CV_TM_SQDIFF);
        double min_val; 
        double max_val; 
        Point min_loc; 
        Point max_loc;
        

        Mat roiResult = result(field);
        minMaxLoc(roiResult, &min_val, &max_val, &min_loc, &max_loc);
        max_loc.x += field.x;
        max_loc.y += field.y;
        if(max_val < 5000){
          max_loc = prevBall;
        }
        prevBall = max_loc;
        //imshow("result", result);
        
        imshow("target", fgMaskMOG2); 

        int threshold = 5;
        switch(ball_state){
          case BOTTOM:
            if(abs(max_loc.y-(field.y+field.height)) > threshold){
              ball_state = BOTTOM_TO_TOP;
            }
            break;
          case BOTTOM_TO_TOP:
            rectangle(frame, max_loc, Point(max_loc.x + iWidth, max_loc.y + iHeight), 255);
            if(abs(max_loc.y-field.y) < threshold){
              ball_state = TOP;

              // calculate angle
              double angle;
              if(max_loc.x == lastBallPos.x) angle = 3.14159265/2.0;
              else angle = (double)atan((float)(abs(lastBallPos.y - max_loc.y))/abs(max_loc.x-lastBallPos.x));
              cerr << "Current Info:\n";
              cerr << "Last position: " << lastBallPos.x << "\t" << lastBallPos.y << endl;
              cerr << "Current position: " << max_loc.x << "\t" << max_loc.y << endl;

              angle = angle*180/3.14159265;
              if(max_loc.x > lastBallPos.x) angle = 180 - angle;
              cerr << angle << endl;

              //cin.get();

              // feed info
              objectInfo player(lastPlayerPos.x , lastPlayerPos.y);
              objectInfo opponent(lastOpponentPos.x , lastOpponentPos.y);
              objectInfo ball(max_loc.x , max_loc.y);
              playerPredictor.feedInformation(ball,opponent,player,angle);

             // playerPredictor.showLearningStatus();
             // cin.get();
            }
            break;
          case TOP:
            if(abs(max_loc.y - field.y)>threshold){
              ball_state = TOP_TO_BOTTOM;
            }
            break;
          case TOP_TO_BOTTOM:
            rectangle(frame, max_loc, Point(max_loc.x + iWidth, max_loc.y + iHeight), 255);
            if(abs(max_loc.y - (field.y+field.height)) < threshold){
               ball_state = BOTTOM;
               // record opponent, ball, player position
               lastPlayerPos = m_pObjectTracker->getTrackerCenter(0);
               lastOpponentPos = m_pObjectTracker->getTrackerCenter(1);
               lastBallPos = max_loc;

               // predict
               objectInfo player(lastPlayerPos.x , lastPlayerPos.y);
               objectInfo opponent(lastOpponentPos.x , lastOpponentPos.y);
               objectInfo ball(max_loc.x , max_loc.y);

               double prob;
               int angle;

               // draw predicted lines
               playerPredictor.predictNthBestDirections(ball,opponent,player,0,prob,angle);
               cerr << "Predict angle: " << angle << " prob: " << prob << endl;
               int scalar = 100;

               Point p1 = Point(lastPlayerPos.x - scalar*prob*cos(angle*3.14/180),lastPlayerPos.y - scalar*prob*sin(angle*3.14/180));
               line(frame, lastPlayerPos, p1, cv::Scalar( 255, 0, 0 ),5);
// 
//                playerPredictor.predictNthBestDirections(ball,opponent,player,1,prob,angle);
//                //cerr << "Predict angle: " << angle << " prob: " << prob << endl;
// 
//                Point p2 = Point(lastPlayerPos.x - scalar*prob*cos(angle*3.14/180),lastPlayerPos.y - scalar*prob*sin(angle*3.14/180));
//                line(frame, lastPlayerPos, p2, cv::Scalar( 0, 255, 0 ),4);
// 
//                playerPredictor.predictNthBestDirections(ball,opponent,player,0,prob,angle);
//                //cerr << "Predict angle: " << angle << " prob: " << prob << endl;
// 
//                Point p3 = Point(lastPlayerPos.x - scalar*prob*cos(angle*3.14/180),lastPlayerPos.y - scalar*prob*sin(angle*3.14/180));
//                line(frame, lastPlayerPos, p3, cv::Scalar( 0, 0, 255 ),3);
			   int stop_frame_count = 50;
			   while(stop_frame_count--)
			   {
				   oVideoWriter.write(frame);
			   }
               //waitKey(0);

            }
            break;
          default:
            break;
        }
        /*isAtBottom = (max_loc.y == field.y+field.height);
        if(isAtBottom){
          // record opponent, ball, player position
          lastPlayerPos = m_pObjectTracker->getTrackerCenter(0);
          lastOpponentPos = m_pObjectTracker->getTrackerCenter(1);
          lastBallPos = max_loc;

          // predict

        }
        isAtTop = (max_loc.y == field.y);
        if(isAtTop){
          // calculate angle
          double angle = (double)atan((float)(abs(lastBallPos.y - max_loc.y))/(abs(lastBallPos.x - max_loc.x)));
          cerr << angle << endl;
          cin.get();

          // feed info
        }*/


        //show the frame in "MyVideo" window
        //		tracker1Center_pre = tracker1Center_current;
        //		tracker1Center_current = m_pObjectTracker->getTrackerCenter(0);
        //		line(frame, tracker1Center_current, tracker1Center_pre, cv::Scalar( 0, 0, 255 ));
		oVideoWriter.write(frame); //writer the frame into the file
        imshow("MyVideo", frame); //show the frame in "MyVideo" window
        if(waitKey(5) == 27) //wait for 'esc' key press for 30 ms. If 'esc' key is pressed, break loop
        {
          cout << "esc key is pressed by user" << endl;
          break;
        }
        //waitKey(0);

    }	
    delete m_pObjectTracker, m_pObjectTracker = 0;

    return 0;
}