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Python实现 多目标跟踪+画出轨迹 - OpenCV函数调用测试_目标追踪和轨迹绘制

作者：不正经 | 2024-03-24 02:16:30

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目标追踪和轨迹绘制

       在我之前的博客，”C++实现 多目标跟踪+画出轨迹 - OpenCV函数调用测试“ 中用C++实现了多目标跟踪并画出轨迹，贴上标签的功能，现在将他移植到python上面去。文章末贴上我的代码。

 

环境：pycharm professional 2019.1 + opencv-python 4.2.0.32 + opencv-contrib-python 4.2.0.32 + python 3.7.0 + anaconda

 

       之前只是学过一小段时间python，但是没怎么搞过python，这次差不多是重新来了，因此遇到了很多小儿科问题，比如：

  • 我的pycharm过期了......找到了永久破解的办法懒得弄了，找了个激活码。
  • tracker = cv2.TrackerBoosting_create() 等这些create的方法上出现提示，cannot find reference 'TrackingBoosting_create' in '__ini__.py' ，本以为这个是报错，百度了才知道这并不是报错，只是在ini.py中看不到罢了，好像是因为安装时候的原因？懒得继续弄了，就继续了。
  • python的opencv有些方法跟C++的不一样，最直观的区别就是video >> frame，在python就不这么用。
  • 慢慢去熟练python吧......

       别的没啥可解释的了，要看详细解释，去看我C++实现的博客吧。

包含功能：
       1. 按帧选取视频追踪起始点
       2. 鼠标框选目标
       3. 支持本地视频和摄像头两种方式
       4. 给每个目标贴上标签
       5. 画出轨迹
       6. 将有轨迹的视频和没有轨迹的视频保存到本地

最新完整代码：

  1. from __future__ import print_function
  2. import sys
  3. import cv2
  4. from random import randint
  5. import time
  6. import os
  7.  
  8. trackerTypes = ['BOOSTING', 'MIL', 'KCF', 'TLD', 'MEDIANFLOW', 'MOSSE', 'CSRT']
  9.  
  10.  
  11. def createTrackerByName(trackerType):
  12.     # Create a tracker based on tracker name
  13.     if trackerType == trackerTypes[0]:
  14.         tracker = cv2.TrackerBoosting_create()
  15.     elif trackerType == trackerTypes[1]:
  16.         tracker = cv2.TrackerMIL_create()
  17.     elif trackerType == trackerTypes[2]:
  18.         tracker = cv2.TrackerKCF_create()
  19.     elif trackerType == trackerTypes[3]:
  20.         tracker = cv2.TrackerTLD_create()
  21.     elif trackerType == trackerTypes[4]:
  22.         tracker = cv2.TrackerMedianFlow_create()
  23.     elif trackerType == trackerTypes[5]:
  24.         tracker = cv2.TrackerMOSSE_create()
  25.     elif trackerType == trackerTypes[6]:
  26.         tracker = cv2.TrackerCSRT_create()
  27.     else:
  28.         tracker = None
  29.         print('Incorrect tracker name')
  30.         print('Available trackers are:')
  31.         for t in trackerTypes:
  32.             print(t)
  33.  
  34.     return tracker
  35.  
  36.  
  37. No = 0
  38. if __name__ == '__main__':
  39.  
  40.     vecPoints = []
  41.  
  42.     while True:
  43.  
  44.         vecPoints.clear()
  45.  
  46.         while True:
  47.             print('\n------------------------------------------------------------------\n'
  48.                   '\n>> 可测试算法有  BOOSTING  MIL  KCF  TLD  MEDIANFLOW  MOSSE  CSRT'
  49.                   '\n>> 请输入要测试的算法并按回车，如需退出请输入exit。')
  50.  
  51.             tType = input('>> ')
  52.  
  53.             if tType == 'exit':
  54.                 sys.exit(0)
  55.             if tType == 'BOOSTING':
  56.                 print('>> 选择BOOSTING成功！')
  57.                 break
  58.             elif tType == 'MIL':
  59.                 print('>> 选择MIL成功！')
  60.                 break
  61.             elif tType == 'KCF':
  62.                 print('>> 选择KCF成功！')
  63.                 break
  64.             elif tType == 'TLD':
  65.                 print('>> 选择TLD成功！')
  66.                 break
  67.             elif tType == 'MEDIANFLOW':
  68.                 print('>> 选择MEDIANFLOW成功！')
  69.                 break
  70.             elif tType == 'MOSSE':
  71.                 print('>> 选择MOSSE成功！')
  72.                 break
  73.             elif tType == 'CSRT':
  74.                 print('>> 选择CSRT成功！')
  75.                 break
  76.             else:
  77.                 print('>> 选择失败!')
  78.                 continue
  79.  
  80.         print('>> 输入1选择本地视频进行播放'
  81.               '\n>> 输入2选择实时摄像头播放')
  82.  
  83.         judgement = input('>> ')
  84.  
  85.         if judgement == '1':
  86.             while True:
  87.                 print('\n+----------------+'
  88.                       '\n|  1.步行的人_1  |'
  89.                       '\n|  2.步行的人_2  |'
  90.                       '\n|  3.步行的人_3  |'
  91.                       '\n|  4.车          |'
  92.                       '\n|  5.超车        |'
  93.                       '\n|  6.大卫        |'
  94.                       '\n|  7.跳绳        |'
  95.                       '\n|  8.摩托越野    |'
  96.                       '\n|  9.熊猫        |'
  97.                       '\n|  10.大众汽车   |'
  98.                       '\n+----------------+'
  99.                       '\n\n>> 请输入要播放视频的序列号（例如4）')
  100.  
  101.                 videoNo = input('>> ')
  102.  
  103.                 if videoNo == '1':
  104.                     videoName = 'pedestrian1.mpg'
  105.                     print('>> 选择《步行的人_1》成功！')
  106.                     break
  107.                 elif videoNo == '2':
  108.                     videoName = 'pedestrian2.mpg'
  109.                     print('>> 选择《步行的人_2》成功！')
  110.                     break
  111.                 elif videoNo == '3':
  112.                     videoName = 'pedestrian3.mpg'
  113.                     print('>> 选择《步行的人_3》成功！')
  114.                     break
  115.                 elif videoNo == '4':
  116.                     videoName = 'car.mpg'
  117.                     print('>> 选择《车》成功！')
  118.                     break
  119.                 elif videoNo == '5':
  120.                     videoName = 'carchase.mpg'
  121.                     print('>> 选择《超车》成功！')
  122.                     break
  123.                 elif videoNo == '6':
  124.                     videoName = 'david.mpg'
  125.                     print('>> 选择《大卫》成功！')
  126.                     break
  127.                 elif videoNo == '7':
  128.                     videoName = 'jumping.mpg'
  129.                     print('>> 选择《跳绳》成功！')
  130.                     break
  131.                 elif videoNo == '8':
  132.                     videoName = 'motocross.mpg'
  133.                     print('>> 选择《摩托越野》成功！')
  134.                     break
  135.                 elif videoNo == '9':
  136.                     videoName = 'panda.mpg'
  137.                     print('>> 选择《熊猫》成功！')
  138.                     break
  139.                 elif videoNo == '10':
  140.                     videoName = 'volkswagen.mpg'
  141.                     print('>> 选择《大众汽车》成功！')
  142.                     break
  143.                 else:
  144.                     print('>> 序列号有误，请重新输入！')
  145.                     continue
  146.  
  147.             video = cv2.VideoCapture('.\\datasets\\' + videoName)
  148.  
  149.             if not video.isOpened():
  150.                 print('>> 读取视频失败')
  151.                 continue
  152.  
  153.             print('\n+--------------------------+'
  154.                   '\n|  点击 c 逐帧播放视频     |'
  155.                   '\n|  点击 q 开始选择目标     |'
  156.                   '\n|  点击空格开始播放并跟踪  |'
  157.                   '\n|  播放期间按 q 退出播放   |'
  158.                   '\n+--------------------------+\n')
  159.  
  160.             time_t = time.strftime('%Y.%m.%d %H-%M-%S', time.localtime(time.time()))
  161.             outDir = 'E:\\targetTracking\\pyMultiTracker\\saveVideo\\Video-' + time_t
  162.             os.mkdir(outDir)
  163.             outFile_1 = outDir + '\\videoNoTrack.avi'
  164.             outFile_2 = outDir + '\\videoWithTrack.avi'
  165.  
  166.             s = (int(video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(video.get(cv2.CAP_PROP_FRAME_HEIGHT)))
  167.             r = video.get(cv2.CAP_PROP_FPS)
  168.  
  169.             write_1 = cv2.VideoWriter(outFile_1, 0, r, s, True)
  170.             write_2 = cv2.VideoWriter(outFile_2, 0, r, s, True)
  171.  
  172.             success, frame = video.read()
  173.  
  174.             if not success:
  175.                 print('>> 读取视频失败')
  176.                 continue
  177.  
  178.             cv2.imshow('Tracker', frame)
  179.             while True:
  180.                 key = cv2.waitKey(1)
  181.                 if key == ord('c') or key == ord('C'):
  182.                     success, frame = video.read()
  183.                     cv2.imshow('Tracker', frame)
  184.                     write_1.write(frame)
  185.                     write_2.write(frame)
  186.                 if key == ord('q') or key == ord('Q'):
  187.                     break
  188.  
  189.             cv2.destroyWindow('Tracker')
  190.  
  191.             bboxes = []
  192.             colors = []
  193.  
  194.             while True:
  195.                 # draw bounding boxes over objects
  196.                 # selectROI's default behaviour is to draw box starting from the center
  197.                 # when fromCenter is set to false, you can draw box starting from top left corner
  198.                 bbox = cv2.selectROI('Tracker', frame)
  199.                 bboxes.append(bbox)
  200.                 colors.append((randint(64, 255), randint(64, 255), randint(64, 255)))
  201.                 print("Press q to quit selecting boxes and start tracking")
  202.                 print("Press any other key to select next object")
  203.                 k = cv2.waitKey(0) & 0xFF
  204.                 if (k == 113):  # q is pressed
  205.                     break
  206.  
  207.             # print('Selected bounding boxes {}'.format(bboxes))
  208.  
  209.             # Create MultiTracker object
  210.             multiTracker = cv2.MultiTracker_create()
  211.  
  212.             # Initialize MultiTracker
  213.             for bbox in bboxes:
  214.                 multiTracker.add(createTrackerByName(tType), frame, bbox)
  215.                 temp = []
  216.                 vecPoints.append(temp)
  217.  
  218.             print('>> 开始播放')
  219.  
  220.             # Process video and track objects
  221.             while video.isOpened():
  222.                 success, frame = video.read()
  223.                 if not success:
  224.                     break
  225.  
  226.                 write_1.write(frame)
  227.                 # write_2.write(frame)
  228.  
  229.                 # get updated location of objects in subsequent frames
  230.                 success, boxes = multiTracker.update(frame)
  231.  
  232.                 # draw tracked objects
  233.                 for i, newbox in enumerate(boxes):
  234.                     p1 = (int(newbox[0]), int(newbox[1]))
  235.                     p2 = (int(newbox[0] + newbox[2]), int(newbox[1] + newbox[3]))
  236.                     cv2.rectangle(frame, p1, p2, colors[i], 2, 1)
  237.  
  238.                 for i, newbox in enumerate(boxes):
  239.                     vecPoints[i].append((int(newbox[0] + (newbox[2] * 0.5))*2, int(newbox[1] + (newbox[3] * 0.5))*2))
  240.  
  241.                 if len(vecPoints) > 0:
  242.                     for i in range(len(vecPoints)):
  243.                         for j in range(len(vecPoints[i])-1):
  244.                             cv2.line(frame, vecPoints[i][j], vecPoints[i][j+1], colors[i], 1, 8, 1)
  245.  
  246.                 for i, newbox in enumerate(boxes):
  247.                     cv2.putText(frame, 'id_'+str(i+1), (int(newbox[0]), int(newbox[1])-3), cv2.FONT_HERSHEY_PLAIN, 1, colors[i], 1)
  248.  
  249.                 # show frame
  250.                 cv2.imshow('Tracker', frame)
  251.  
  252.                 # write_1.write(frame)
  253.                 write_2.write(frame)
  254.  
  255.                 # quit on ESC button
  256.                 if cv2.waitKey(30) == ord('q') or cv2.waitKey(30) == ord('Q'):
  257.                     break
  258.  
  259.             write_1.release()
  260.             write_2.release()
  261.             print('\n>> 视频保存完毕。')
  262.             cv2.destroyWindow('Tracker')
  263.             print('>> 播放完毕')
  264.  
  265.         elif judgement == '2':
  266.  
  267.             video = cv2.VideoCapture(0)
  268.  
  269.             if not video.isOpened():
  270.                 print('>> 发生错误，请检查摄像头是否已断开！')
  271.                 continue
  272.  
  273.             time_t = time.strftime('%Y.%m.%d %H-%M-%S', time.localtime(time.time()))
  274.             outDir = 'E:\\targetTracking\\pyMultiTracker\\saveVideo\\Camera-' + time_t
  275.             os.mkdir(outDir)
  276.             outFile_1 = outDir + '\\videoNoTrack.avi'
  277.             outFile_2 = outDir + '\\videoWithTrack.avi'
  278.  
  279.             s = (int(video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(video.get(cv2.CAP_PROP_FRAME_HEIGHT)))
  280.             r = video.get(cv2.CAP_PROP_FPS)
  281.  
  282.             write_1 = cv2.VideoWriter(outFile_1, 0, r, s, True)
  283.             write_2 = cv2.VideoWriter(outFile_2, 0, r, s, True)
  284.             # print(outDir)
  285.  
  286.             print('>> 请按空格开始截取图片')
  287.  
  288.             while True:
  289.                 success, frame = video.read()
  290.                 if not success:
  291.                     print('>> 发生错误，请检查摄像头是否已断开！')
  292.                     break
  293.  
  294.                 cv2.imshow('Tracker', frame)
  295.  
  296.                 write_1.write(frame)
  297.                 write_2.write(frame)
  298.  
  299.                 # cv2.imwrite('E:\\targetTracking\\pyMultiTracker\\saveVideo\\pic\\' + str(No) + '.bmp', frame)
  300.                 # No = No + 1
  301.  
  302.                 if cv2.waitKey(1) == ord(' '):
  303.                     break
  304.  
  305.             bboxes = []
  306.             colors = []
  307.  
  308.             while True:
  309.                 # draw bounding boxes over objects
  310.                 # selectROI's default behaviour is to draw box starting from the center
  311.                 # when fromCenter is set to false, you can draw box starting from top left corner
  312.                 bbox = cv2.selectROI('Tracker', frame)
  313.                 bboxes.append(bbox)
  314.                 colors.append((randint(64, 255), randint(64, 255), randint(64, 255)))
  315.                 print("Press q to quit selecting boxes and start tracking")
  316.                 print("Press any other key to select next object")
  317.                 k = cv2.waitKey(0) & 0xFF
  318.                 if (k == 113):  # q is pressed
  319.                     break
  320.  
  321.             # print('Selected bounding boxes {}'.format(bboxes))
  322.  
  323.             # Create MultiTracker object
  324.             multiTracker = cv2.MultiTracker_create()
  325.  
  326.             # Initialize MultiTracker
  327.             for bbox in bboxes:
  328.                 multiTracker.add(createTrackerByName(tType), frame, bbox)
  329.                 temp = []
  330.                 vecPoints.append(temp)
  331.  
  332.             print('>> 开始播放')
  333.  
  334.             # Process video and track objects
  335.             while video.isOpened():
  336.                 success, frame = video.read()
  337.                 if not success:
  338.                     break
  339.  
  340.                 write_1.write(frame)
  341.                 # write_1.write(frame)
  342.                 # write_2.write(frame)
  343.                 print('before-' + str(id(frame)))
  344.  
  345.                 # get updated location of objects in subsequent frames
  346.                 success, boxes = multiTracker.update(frame)
  347.  
  348.                 # draw tracked objects
  349.                 for i, newbox in enumerate(boxes):
  350.                     p1 = (int(newbox[0]), int(newbox[1]))
  351.                     p2 = (int(newbox[0] + newbox[2]), int(newbox[1] + newbox[3]))
  352.                     cv2.rectangle(frame, p1, p2, colors[i], 2, 1)
  353.  
  354.                 for i, newbox in enumerate(boxes):
  355.                     vecPoints[i].append(
  356.                         (int(newbox[0] + (newbox[2] * 0.5)) * 2, int(newbox[1] + (newbox[3] * 0.5)) * 2))
  357.  
  358.                 if len(vecPoints) > 0:
  359.                     for i in range(len(vecPoints)):
  360.                         for j in range(len(vecPoints[i]) - 1):
  361.                             cv2.line(frame, vecPoints[i][j], vecPoints[i][j + 1], colors[i], 1, 8, 1)
  362.  
  363.                 for i, newbox in enumerate(boxes):
  364.                     cv2.putText(frame, 'id_' + str(i + 1), (int(newbox[0]), int(newbox[1]) - 3), cv2.FONT_HERSHEY_PLAIN,
  365.                                 1, colors[i], 1)
  366.  
  367.                 # show frame
  368.                 cv2.imshow('Tracker', frame)
  369.  
  370.                 # write_1.write(frame)
  371.                 write_2.write(frame)
  372.                 # write_2.write(frame)
  373.                 print('after-' + str(id(frame)))
  374.  
  375.                 # cv2.imwrite('E:\\targetTracking\\pyMultiTracker\\saveVideo\\pic\\' + str(No) + '.bmp', frame)
  376.                 # No = No + 1
  377.  
  378.                 # quit on ESC button
  379.                 if cv2.waitKey(30) == ord('q') or cv2.waitKey(30) == ord('Q'):
  380.                     break
  381.  
  382.             write_1.release()
  383.             write_2.release()
  384.             print('\n>> 视频保存完毕。')
  385.             cv2.destroyWindow('Tracker')
  386.             print('\n>> 播放完毕\n')
  387.  
  388.         else:
  389.             print('>> 输入有误')
  390.  
  391.     sys.exit(1)

 

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