asr_vosk: Allow to handle keyword and command in one sentence
[ros_wild_thumper.git] / scripts / camshift.py
1 #!/usr/bin/env python
2
3 '''
4 Camshift tracker
5 ================
6
7 This is a demo that shows mean-shift based tracking
8 You select a color objects such as your face and it tracks it.
9 This reads from video camera (0 by default, or the camera number the user enters)
10
11 http://www.robinhewitt.com/research/track/camshift.html
12
13 Usage:
14 ------
15         camshift.py [<video source>]
16
17         To initialize tracking, select the object with mouse
18
19 Keys:
20 -----
21         ESC   - exit
22         b        - toggle back-projected probability visualization
23 '''
24
25 import rospy
26 from sensor_msgs.msg import Image
27 import numpy as np
28 import cv2
29 from cv_bridge import CvBridge, CvBridgeError
30
31 class App:
32         def __init__(self):
33                 rospy.init_node('camshift')
34                 rospy.Subscriber("/usb_cam/image_raw", Image, self.cmdImageReceived)
35                 self.bridge = CvBridge()
36
37                 self.first_run = True
38                 self.selection = None
39                 self.drag_start = None
40                 self.tracking_state = 0
41                 self.show_backproj = False
42         
43         def onmouse(self, event, x, y, flags, param):
44                 x, y = np.int16([x, y]) # BUG
45                 if event == cv2.EVENT_LBUTTONDOWN:
46                         self.drag_start = (x, y)
47                         self.tracking_state = 0
48                 if self.drag_start:
49                         if event == cv2.EVENT_LBUTTONUP:
50                                 self.drag_start = None
51                                 if self.selection is not None:
52                                         self.tracking_state = 1
53                         elif flags & cv2.EVENT_FLAG_LBUTTON:
54                                 h, w = self.frame.shape[:2]
55                                 xo, yo = self.drag_start
56                                 x0, y0 = np.maximum(0, np.minimum([xo, yo], [x, y]))
57                                 x1, y1 = np.minimum([w, h], np.maximum([xo, yo], [x, y]))
58                                 self.selection = None
59                                 if x1-x0 > 0 and y1-y0 > 0:
60                                         self.selection = (x0, y0, x1, y1)
61
62         def show_hist(self):
63                 bin_count = self.hist.shape[0]
64                 bin_w = 24
65                 img = np.zeros((256, bin_count*bin_w, 3), np.uint8)
66                 for i in xrange(bin_count):
67                         h = int(self.hist[i])
68                         cv2.rectangle(img, (i*bin_w+2, 255), ((i+1)*bin_w-2, 255-h), (int(180.0*i/bin_count), 255, 255), -1)
69                 img = cv2.cvtColor(img, cv2.COLOR_HSV2BGR)
70                 cv2.imshow('hist', img)
71
72         def run(self):
73                 rospy.spin()
74                 cv2.destroyAllWindows()
75         
76         def cmdImageReceived(self, msg):
77                 if self.first_run:
78                         cv2.namedWindow('camshift')
79                         cv2.namedWindow('hist')
80                         cv2.setMouseCallback('camshift', self.onmouse)
81                         self.first_run = False
82
83                 self.frame = self.bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")
84                 vis = self.frame.copy()
85                 hsv = cv2.cvtColor(self.frame, cv2.COLOR_BGR2HSV)
86                 mask = cv2.inRange(hsv, np.array((0., 60., 32.)), np.array((180., 255., 255.)))
87
88                 if self.selection:
89                         x0, y0, x1, y1 = self.selection
90                         self.track_window = (x0, y0, x1-x0, y1-y0)
91                         hsv_roi = hsv[y0:y1, x0:x1]
92                         mask_roi = mask[y0:y1, x0:x1]
93                         hist = cv2.calcHist( [hsv_roi], [0], mask_roi, [16], [0, 180] )
94                         cv2.normalize(hist, hist, 0, 255, cv2.NORM_MINMAX);
95                         self.hist = hist.reshape(-1)
96                         self.show_hist()
97
98                         vis_roi = vis[y0:y1, x0:x1]
99                         cv2.bitwise_not(vis_roi, vis_roi)
100                         vis[mask == 0] = 0
101
102                 if self.tracking_state == 1 and self.track_window != (0, 0, 0, 0):
103                         self.selection = None
104                         prob = cv2.calcBackProject([hsv], [0], self.hist, [0, 180], 1)
105                         prob &= mask
106                         term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 )
107                         track_box, self.track_window = cv2.CamShift(prob, self.track_window, term_crit)
108
109                         if self.show_backproj:
110                                 vis[:] = prob[...,np.newaxis]
111                         try: cv2.ellipse(vis, track_box, (0, 0, 255), 2)
112                         except: print track_box
113
114                 cv2.imshow('camshift', vis)
115
116                 ch = 0xFF & cv2.waitKey(5)
117                 if ch == 27:
118                         rospy.signal_shutdown("Exit from keyboard")
119                 if ch == ord('b'):
120                         self.show_backproj = not self.show_backproj
121
122
123 if __name__ == '__main__':
124         App().run()