commit 448af341a8e1c564431600535d7dd4532c8636af Author: cosmin Date: Mon Nov 11 16:36:33 2024 +0300 POC diff --git a/README.md b/README.md new file mode 100644 index 0000000..5c7db41 --- /dev/null +++ b/README.md @@ -0,0 +1,17 @@ +# Foobar + +Foobar is a Python library for dealing with word pluralization. + +## Installation + +Use the package manager [pip](https://pip.pypa.io/en/stable/) to install foobar. + +```bash +python3 -m venv venv3 +source venv3/bin/activate +pip install -r requirements.txt +# adapt paths inside feature_matching.py +python feature_matching.py +``` + + diff --git a/acquire-camera.py b/acquire-camera.py new file mode 100644 index 0000000..81853ca --- /dev/null +++ b/acquire-camera.py @@ -0,0 +1,100 @@ +import cv2 +import dlib +import time # To measure time for FPS calculation + +# GStreamer pipeline to acquire video from the CSI camera (Jetson Nano) +def gstreamer_pipeline( + sensor_id=0, + capture_width=1280, + capture_height=720, + display_width=640, + display_height=360, + framerate=15, + flip_method=0, +): + return ( + f"nvarguscamerasrc sensor-id={sensor_id} ! " + f"video/x-raw(memory:NVMM), width=(int){capture_width}, height=(int){capture_height}, " + f"format=(string)NV12, framerate=(fraction){framerate}/1 ! " + f"nvvidconv flip-method={flip_method} ! " + f"video/x-raw, width=(int){display_width}, height=(int){display_height}, format=(string)BGRx ! " + f"videoconvert ! video/x-raw, format=(string)BGR ! appsink" + ) + +# Capture from the camera using OpenCV and start tracking +cap = cv2.VideoCapture(gstreamer_pipeline(), cv2.CAP_GSTREAMER) + +if not cap.isOpened(): + print("Unable to open camera") +else: + # Read the first frame to allow user to draw a bounding box + ret, frame = cap.read() + if not ret: + print("Failed to grab the initial frame") + cap.release() + + # Let the user draw the initial bounding box + bbox = cv2.selectROI("Select ROI", frame, fromCenter=False, showCrosshair=True) + + # Initialize Dlib correlation tracker + tracker = dlib.correlation_tracker() + tracker.start_track(frame, dlib.rectangle(bbox[0], bbox[1], bbox[0] + bbox[2], bbox[1] + bbox[3])) + + img_counter = 0 # To count frames and name images + frame_counter = 0 # To track the number of frames + start_time = time.time() # Start time for FPS calculation + + try: + while True: + ret, frame = cap.read() + if not ret: + print("Failed to grab frame") + break + + # Start measuring time per frame + frame_start_time = time.time() + + # Update the tracker with the current frame + tracker.update(frame) + pos = tracker.get_position() + + # Extract the bounding box from the tracker + x1, y1, x2, y2 = int(pos.left()), int(pos.top()), int(pos.right()), int(pos.bottom()) + + # Draw the updated tracking bounding box on the frame + cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 255, 0), 2) + + # Show the frame with the tracking rectangle + cv2.imshow("Tracking", frame) + + # Save every 10th frame + if frame_counter % 10 == 0: + img_name = f"tracked_frame_{img_counter}.jpg" + cv2.imwrite(img_name, frame) + print(f"Saved {img_name}") + img_counter += 1 + + # Calculate and print FPS + frame_time = time.time() - frame_start_time + fps = 1.0 / frame_time + print(f"FPS: {fps:.2f}") + + frame_counter += 1 + + # Exit if 'q' is pressed + if cv2.waitKey(1) & 0xFF == ord('q'): + break + + except KeyboardInterrupt: + print("Tracking interrupted by user") + + cap.release() + cv2.destroyAllWindows() + +# Calculate and print average FPS over all frames +end_time = time.time() +total_time = end_time - start_time +average_fps = frame_counter / total_time +print(f"Average FPS: {average_fps:.2f}") + +print("Finished tracking") diff --git a/extracted_frames/frame_0000.png b/extracted_frames/frame_0000.png new file mode 100644 index 0000000..d45531a Binary files /dev/null and b/extracted_frames/frame_0000.png differ diff --git a/extracted_frames/frame_0001.png b/extracted_frames/frame_0001.png new file mode 100644 index 0000000..4f2d92c Binary files /dev/null and b/extracted_frames/frame_0001.png differ diff --git a/extracted_frames/frame_0002.png b/extracted_frames/frame_0002.png new file mode 100644 index 0000000..30b7e37 Binary files /dev/null and b/extracted_frames/frame_0002.png differ diff --git a/extracted_frames/frame_0003.png b/extracted_frames/frame_0003.png new file mode 100644 index 0000000..daa87c1 Binary files /dev/null and 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--git a/feature_matching.py b/feature_matching.py new file mode 100644 index 0000000..05d7921 --- /dev/null +++ b/feature_matching.py @@ -0,0 +1,116 @@ +import cv2 as cv +import dlib +import numpy as np +import os + +def match_feature_find_object(query_img, train_img, min_matches, results_file_name): + # Create an ORB object + orb = cv.ORB_create(nfeatures=100000) + + features1, des1 = orb.detectAndCompute(query_img, None) + features2, des2 = orb.detectAndCompute(train_img, None) + + # Create Brute-Force matcher object + bf = cv.BFMatcher(cv.NORM_HAMMING) + matches = bf.knnMatch(des1, des2, k=2) + + # Nearest neighbour ratio test to find good matches + good = [] + good_without_lists = [] + matches = [match for match in matches if len(match) == 2] + for m, n in matches: + if m.distance < 0.8 * n.distance: + good.append([m]) + good_without_lists.append(m) + + if len(good) >= min_matches: + print(f"good: {len(good)}, {results_file_name}") + # Draw a polygon around the recognized object + src_pts = np.float32([features1[m.queryIdx].pt for m in good_without_lists]).reshape(-1, 1, 2) + dst_pts = np.float32([features2[m.trainIdx].pt for m in good_without_lists]).reshape(-1, 1, 2) + + # Get the transformation matrix + M, _ = cv.findHomography(src_pts, dst_pts, cv.RANSAC, 5.0) + + # Find the perspective transformation to get the corresponding points + h, w = query_img.shape[:2] + pts = np.float32([[0, 0], [0, h - 1], [w - 1, h - 1], [w - 1, 0]]).reshape(-1, 1, 2) + dst = cv.perspectiveTransform(pts, M) + + train_img = cv.polylines(train_img, [np.int32(dst)], True, (0, 255, 0), 2, cv.LINE_AA) + + # Return the bounding box of the detected object + x, y, w, h = cv.boundingRect(np.int32(dst)) + return (x, y, w, h), train_img # Return bounding box and modified image + + else: + print("Not enough good matches are found - {}/{}".format(len(good), min_matches)) + return None, train_img # No detection, return None + + +def main(): + input_folder = "extracted_frames/" + output_folder = "results_extracted_frames/" + new_object_size = (300, 300) + + os.makedirs(input_folder, exist_ok=True) + os.makedirs(output_folder, exist_ok=True) + + orb = cv.ORB_create() + query_img = cv.imread("img/drone.png") + query_img = cv.resize(query_img, new_object_size) + features = orb.detect(query_img, None) + f_img = cv.drawKeypoints(query_img, features, None, color=(0, 255, 0), flags=0) + # cv.imwrite(os.path.join(output_folder, "drone.png"), f_img) # Save the image with keypoints + + # Initialize dlib correlation tracker + tracker = dlib.correlation_tracker() + is_tracking = False # Flag to indicate if we are tracking + + # Sort the filenames to process them in sequence + filenames = sorted([f for f in os.listdir(input_folder) if f.endswith("png")]) + + # Previous bounding box (if the object is detected) + prev_bbox = None + + for filename in filenames: + img = cv.imread(os.path.join(input_folder, filename)) + + if not is_tracking: # Try to detect using feature matching + bbox, modified_img = match_feature_find_object(query_img, img, 100, os.path.join(output_folder, filename)) + + if bbox is not None: + # Object detected, initialize the dlib tracker + x, y, w, h = bbox + tracker.start_track(img, dlib.rectangle(x, y, x + w, y + h)) + is_tracking = True + prev_bbox = bbox + else: + # No detection, use the image as is + modified_img = img + + else: # If we are tracking + # Update the tracker and get the new position + tracker.update(img) + pos = tracker.get_position() + x1, y1, x2, y2 = int(pos.left()), int(pos.top()), int(pos.right()), int(pos.bottom()) + print(x1, y1, x2, y2) + + # Draw the tracking bounding box + cv.rectangle(img, (x1, y1), (x2, y2), (0, 255, 0), 2) + + # If the bounding box is valid, keep tracking + if (x2 - x1) > 0 and (y2 - y1) > 0: + prev_bbox = (x1, y1, x2 - x1, y2 - y1) + modified_img = img + else: + # If tracking fails, stop tracking and try detection again in the next frame + is_tracking = False + modified_img = img + + # Save the 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+import random +import os +import numpy as np + +RANDOM_SEED = 42 +random.seed(RANDOM_SEED) + +def resize_image(image, target_size): + original_width, original_height = image.size + target_width, target_height = target_size + + # Calculate the aspect ratios + width_ratio = target_width / original_width + height_ratio = target_height / original_height + + # Use the smaller ratio to ensure the image fits within the target dimensions + scaling_factor = min(width_ratio, height_ratio) + + # Calculate new dimensions + new_width = int(original_width * scaling_factor) + new_height = int(original_height * scaling_factor) + + # Resize the image + return image.resize((new_width, new_height), Image.LANCZOS) + +def rotate_image(image, angle): + return image.rotate(angle, expand=True, resample=Image.Resampling.BICUBIC) + +def tilt_image(image, max_tilt_angle=10): + width, height = image.size + + # Simulate tilting by applying an affine transformation + tilt_angle = random.uniform(-max_tilt_angle, max_tilt_angle) + x_shift = width * np.sin(np.radians(tilt_angle)) + + # Affine transformation matrix + if tilt_angle > 0: + transform_matrix = (1, x_shift / height, -x_shift / 2, 0, 1, 0) + else: + transform_matrix = (1, x_shift / height, x_shift / 2, 0, 1, 0) + + return image.transform(image.size, Image.AFFINE, transform_matrix, resample=Image.Resampling.BICUBIC) + +def generate_images(object_image, output_folder, background_image_path, + background_width=960, background_height=720, num_images=50, + max_rotation_angle=45, max_tilt_angle=10): + + background_image = Image.open(background_image_path).convert("RGB") + background_image = background_image.resize((background_width, background_height)) + + for i in range(num_images): + # Create a copy of the background image + background = background_image.copy() + + # Randomly rotate the object image + rotation_angle = random.uniform(-max_rotation_angle, max_rotation_angle) + rotated_image = rotate_image(object_image, rotation_angle) + + # Apply random tilt to the object image + tilted_image = tilt_image(rotated_image, max_tilt_angle) + + # Random position for the object + max_x = background_width - tilted_image.width + max_y = background_height - tilted_image.height + x = random.randint(0, max_x) + y = random.randint(0, max_y) + + # Paste the object image onto the background + background.paste(tilted_image, (x, y), tilted_image) + + # Save the new image + background.save(f"{output_folder}/variation_{i + 1}.png") + +def main(): + background_width = 960 + background_height = 720 + new_object_size = (300, 300) + + os.makedirs("gen_data", exist_ok=True) + output_folder = "gen_data/" + + # Load the object image (with transparency) + object_image = Image.open("img/drone.png").convert("RGBA") + object_image = resize_image(object_image, new_object_size) + + # Load the background image from a second source + background_image_path = "img/background.jpg" + + # Generate images with object placed on top of the background + generate_images(object_image, output_folder, background_image_path, + background_width, background_height, num_images=50) + +if __name__ == "__main__": + main() diff --git a/img/.DS_Store b/img/.DS_Store new file mode 100644 index 0000000..2ae5568 Binary files /dev/null and b/img/.DS_Store differ diff --git a/img/IMG_6451.MOV b/img/IMG_6451.MOV new file mode 100644 index 0000000..4d7b4e1 Binary files /dev/null and b/img/IMG_6451.MOV differ diff --git a/img/background.jpg b/img/background.jpg new file mode 100644 index 0000000..8c73aae Binary files /dev/null and b/img/background.jpg differ diff --git a/img/drone.png b/img/drone.png new file mode 100644 index 0000000..83ffb53 Binary files /dev/null and b/img/drone.png differ diff --git a/mov_to_png.py b/mov_to_png.py new file mode 100644 index 0000000..7e94ecb --- /dev/null +++ b/mov_to_png.py @@ -0,0 +1,47 @@ +import cv2 +import os + +def extract_frames_from_video(video_path, output_folder, frame_interval=30): + # Create the output folder if it doesn't exist + os.makedirs(output_folder, exist_ok=True) + + # Capture the video from the file + video_capture = cv2.VideoCapture(video_path) + + if not video_capture.isOpened(): + print(f"Error: Could not open video {video_path}") + return + + frame_count = 0 + saved_count = 0 + + while True: + # Read the next frame from the video + success, frame = video_capture.read() + + if not success: + print("Finished extracting frames.") + break + + # Save every 'frame_interval' frame as a PNG file + if frame_count % frame_interval == 0: + frame_file_path = os.path.join(output_folder, f"frame_{saved_count:04d}.png") + cv2.imwrite(frame_file_path, frame) + print(f"Saved {frame_file_path}") + saved_count += 1 + + frame_count += 1 + + # Release the video capture object + video_capture.release() + +def main(): + video_path = "img/drone.MOV" # Path to your .MOV video file + output_folder = "extracted_frames" # Folder to save PNG frames + frame_interval = 1 # Save one frame every 30 frames + + # Extract frames from the video + extract_frames_from_video(video_path, output_folder, frame_interval) + +if __name__ == "__main__": + main() diff --git a/output_video.mp4 b/output_video.mp4 new file mode 100644 index 0000000..32a0300 Binary files /dev/null and b/output_video.mp4 differ diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..e075dae --- /dev/null +++ b/requirements.txt @@ -0,0 +1,4 @@ +pillow==10.4.0 +opencv-python==4.10.0.84 +numpy==2.1.1 +matplotlib==3.9.2 diff --git a/results/drone.png b/results/drone.png new file mode 100644 index 0000000..c475af6 Binary files /dev/null and b/results/drone.png differ diff --git a/results/variation_1.png b/results/variation_1.png new file mode 100644 index 0000000..905a610 Binary files /dev/null and b/results/variation_1.png differ diff --git a/results/variation_10.png b/results/variation_10.png new file mode 100644 index 0000000..396d720 Binary files /dev/null and b/results/variation_10.png 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