test.cpp

#include <kalman_tracker.hpp>


Mat calcHistRGB(Mat img) {
    MatND hist;
    const int imgCount = 1;
    const int dims = 2;
    const int sizes[] = {256,256,256};
    const int channels[] = {0,1,2};
    const float rRange[] = {0,256};
    const float gRange[] = {0,256};
    const float bRange[] = {0,256};
    const float *ranges[] = {rRange,gRange,bRange};
    const Mat mask = Mat();
    calcHist(&img, imgCount, channels, mask, hist, dims, sizes, ranges);
    return hist;
}

/* void testHist(){
    // auto res = compareHist(hist1, hist2, HISTCMP_BHATTACHARYYA); 
    // cout << res << endl;
    
    // auto img2 = imread("/home/lbstr/Downloads/Telegram Desktop/1.jpg");
    auto img1 = imread("./car1.png");
    auto img2 = imread("./test.png");
    auto img3 = imread("./car1_1.png");


    // imshow("img1", img1);
    // imshow("imgq1", eqim1);
    // waitKey(0);

    auto hist1 = calcHistRGB(img1);
    auto hist2 = calcHistRGB(img2);
    auto hist3 = calcHistRGB(img3);

    cout <<"Same img cor: "<< compareHist(hist1, hist1, HISTCMP_CORREL) << endl;
    cout <<"Diff car cor: " << compareHist(hist2, hist1, HISTCMP_CORREL) << endl;
    cout <<"Same car cor: " << compareHist(hist3, hist1, HISTCMP_CORREL) << endl<<endl;

    cout <<"Same img bar: "<< compareHist(hist1, hist1, HISTCMP_BHATTACHARYYA) << endl;
    cout <<"Diff car bar: " << compareHist(hist2, hist1, HISTCMP_BHATTACHARYYA) << endl;
    cout <<"Same car bar: " << compareHist(hist3, hist1, HISTCMP_BHATTACHARYYA) << endl;    

    // imshow("h2", img(Rect(300, 300, 300, 300)));
    // auto res = compareHist(hist1, hist2, HISTCMP_BHATTACHARYYA); 
    // cout << res << endl;
} */

class Test {
    public:
    string str;
    void Delete() {
        this->~Test();
    }
    ~Test() {
    }
};

int main(int argc, char const *argv[]) {
    auto Green  = CV_RGB(0,255,0);
    auto Red = CV_RGB(255, 0,0);
    Mat G  = Mat::zeros(100, 100, CV_32FC3);
    G.setTo(Green);
    Mat R  = Mat::zeros(100, 100, CV_32FC3);
    R.setTo(Red);
    Mat img  = Mat::zeros(1024, 1024, CV_8UC3);
    Mat img2  = Mat::zeros(1024, 1024, CV_8UC3);
    auto detect = []() {return tuple<int, int>(10 + 5*sin(getTickCount()), 10 + 5*cos(getTickCount()));};
    Detection det1;
    Detection det2;

    det1.bbox = Rect(0,0,50,50);
    det2.bbox = Rect(1000,1000,50,50);

    KalmanTracker ktr(5, 100);
    Point prev1= det1.get_center();
    Point prev2= det2.get_center();

    for (int i=0; i<100; i++){
        Mat bf(img);
        auto[dx, dy] = detect();
        det1.bbox.x+=dx;
        det1.bbox.y+=dy;
        det2.bbox.x-=dx;
        det2.bbox.y-=dy;
        try {
            bf(det1.bbox).setTo(Green);
            bf(det2.bbox).setTo(Red);
        } catch(...) {
            cerr << "BBOX out of image!"<<endl;
            // waitKey(0);
            continue;
        }
        ktr.Update({det1, det2}, bf, 10);
        line(img2,prev1, det1.get_center(), CV_RGB(0, 255, 0), 1);
        circle(img2, det1.get_center(), 2, CV_RGB(255, 211, 0), 2);
        line(img2,prev2, det2.get_center(), CV_RGB(0, 255, 0), 1);
        circle(img2, det2.get_center(), 2, CV_RGB(255, 211, 0), 2);
        prev1 = det1.get_center();
        prev2 = det2.get_center();
        
        // cout <<"bbox:" << det.bbox << endl;
    } 
    // for(auto p: ktr.Tracks) {
        // cout << p.Points.size() << " " << p.Points.front() << endl; 
    // }
    ktr.DrawCV(img2);
    imshow("im",img2);
    waitKey(0);

}