MATLAB Videotracking code

Onderstaande MATLAB code werkt volgens het principe dat beschreven staat in videotracking. De variabelen d, w en s aan het begin van de code kunnen op 0 of 1 gezet worden om respectievelijk de drone, een webcam en setup mode te gebruiken. Hierdoor kunnen makkelijk delen van de code uitgeschakeld worden, zonder gebruik te maken van een ingewikkelde user interface.

%% Drone Control
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
% Toolboxes: Computer Vision, Image Acquisition, Webcam Support if webcam is used
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
close all;


d=1; %turn drone on/off
w=1; %switch file/live input
vid_loc = 'POV_camera_test.wmv'; %video input file
s=1; %setup mode: on/off, switch this off for speed for multiple tests after each other


%% Setup Objects
clear video;
if s
disp('Creating system objects...');


videoPlayer = vision.VideoPlayer('Name','Input','Position', [10, 400, 500, 250]);
outputPlayer = vision.VideoPlayer('Name','Filter 1','Position',[700,50, 500, 250]);
%outputPlayer2 = vision.VideoPlayer('Name','Filter 2','Position',[700,400, 500, 250]);
end


release(outputPlayer); release(videoPlayer);


nr = 0; %frame nr


%setup blob analyzer
blob = vision.BlobAnalysis('BoundingBoxOutputPort', true, ...
           'MajorAxisLengthOutputPort',true,'EccentricityOutputPort', true, 'CentroidOutputPort', true, ...
           'MinimumBlobArea', 500, 'MaximumBlobArea',8000);


%% Open File / Stream


%%webcam
if w video = webcam(2);
else videoReader = vision.VideoFileReader(vid_loc); end


%tuneable vars
i = 1; %intensity of green filter
coeffO = 3;
coeffC = 15; 


%% Start video players before launch, for speed
disp('Starting video players...');
if w frame = snapshot(video);
else frame = step(videoReader); end
s = size(frame);
Reconstruction = zeros(s(1),s(2));
step(videoPlayer, frame);
step(outputPlayer, frame); release(outputPlayer);
%step(outputPlayer2, frame); release(outputPlayer2); 


%% Process frames one by one


if d
   disp('Connecting to Drone...');
  %drone = ARDrone();
end


disp('Camera analysis is starting...');


if d
disp('--WARNING: Drone is taking off--');
takeoff(drone);
Href = 1.5;
end


%Continue until window is closed
while (isOpen(videoPlayer) || nr==0)
   

  %% 1 Read a single frame
  

  %Height control
  if d
   

   %every x frames, check if height value
   h = drone.Altitude;
   Altitude(drone, h, Href);

   
   if (nr>100 && mod(nr,100)==0 && h==0)
       disp('---WARNING: NO DATA FROM DRONE---');
       drone.land();
       disp('--Drone is landing--');
   end

   
  end

  
  if w frame = snapshot(video);
  else frame = videoReader.step(); end

  
  %% 2 Filter image (frame)

  
  %Filter out green (or anything like it) only

  
  %Formula: Mask is (G-i*B)<0 and (G-i*R)<0
  Mask = frame(:,:,2)<frame(:,:,3)*i & frame(:,:,2)<frame(:,:,1)*i;
  if w Mask = uint8(Mask); end
  Out(:,:,1)=frame(:,:,1).*Mask;
  Out(:,:,2)=frame(:,:,2).*Mask;
  Out(:,:,3)=frame(:,:,3).*Mask;

  
  %Filter lines with variable threshold
  Ifr = rgb2gray(frame); %grayscale
  thres = max(Ifr(:))*0.8;
  Lines = (Ifr>thres);
  %Morph
  Lines = imopen(Lines, strel('rectangle', [coeffO,coeffO]));
  Lines = imclose(Lines, strel('rectangle', [coeffC, coeffC]));

  
  %% 3 Detect objects
  %Detect ball 
  if w Red = frame-50;
  else Red = frame*255; Ifr = Ifr*255; end
  Red = Red(:,:,1)>Red(:,:,2)*1.5 & Red(:,:,1)>Red(:,:,3)*1.5 & Ifr>100 & Ifr<210;
  Red = imopen(Red, strel('rectangle', [coeffO,coeffO]));
  Red = imclose(Red, strel('rectangle', [coeffC,coeffC]));

  
  %3a: detect blobs, return centroids, bounding boxes, eccentricity and
  %diameter
  [~,centr,bbox,diam,ecc] = step(blob,Red);              

  
  %3b: maximize for most round object
  if ~isempty(centr)    
       [~,I] = min(ecc,[],1);
       bbox = bbox(I,:);
       centr = centr(I,:);
       diam = diam(I)
  end
  %check if max is indeed round (i.e. if anything useful detected)
  if ecc > 1
       ecc = [];
       centr = [];
       bbox = [];
       diam = [];
  end
 
 
  %Reconstruction
  s = size(frame);
  Reconstruction = zeros(s(1),s(2));

  
   if ~isempty(centr)
       m = [round(centr(2)),round(centr(1))]; %midpoint, note: centr = [x y], size = [y x]
       if (m(1)>0 && m(2)>0 && m(1)<s(1) && m(2)<s(2))
           %set center pixel to 1, create circle around it
           Reconstruction(m(1),m(2))=1;
           %Reconstruction = imdilate(Reconstruction,strel('disk', round(diam(1)/2*0.8),8));
           %DOESNT WORK CURRENTLY %Reconstruction = bwdist(Reconstruction) <= round(diam/2);
           %diam(1)
       end
   end
  

  %% 4 Send the frame to the video players
  

  Red = insertShape(1.*Red, 'Circle', [centr diam./2]);
  Red = insertShape(1.*Red, 'Line', [s(2)/2,0,s(2)/2,s(1)]);
  

  %step(videoPlayer, frame);
  %outputPlayer2.Name = 'Reconstruction';
  %step(outputPlayer2, Reconstruction);
  outputPlayer.Name = 'Red Filter';
  step(outputPlayer, Red);
  nr = nr+1; %increment frame nr     
  

  %% 5 Output
  

  if ~isempty(centr)
   Out_vector = [centr(1,:) diam(1)];
  else
   Out_vector = [0 0 0];
  end
   

  if (d && h>0.8*Href)
  %Call Dronecontrol functie
  dronecamdata(drone,Out_vector(1),Out_vector(2),Out_vector(3));
  end
  

end
   

release(videoPlayer);
videoPlayer.hide(); outputPlayer.hide(); %outputPlayer2.hide();
close all;


%done
disp('Stopping video analysis...');


if d
   disp('--Drone is landing--');
   %Land the drone
   land(drone);
end

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Terug naar: PRE2015_2_Groep2, videotracking.