Example Tracker Mean Shift - Revision history

Peter at 22:01, 12 July 2021

2021-07-12T22:01:01Z

← Older revision		Revision as of 22:01, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts:
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	/**		/**
	* Example of how to use the low level implementation of mean-shift to track a specific color provided by the user.		* Example of how to use the low level implementation of mean-shift to track a specific color provided by the user.
	* The weights of each pixel is computed by RgbLikelihood, see below, and track regions are rectangular. This		* The weights of each pixel is computed by RgbLikelihood, see below, and track regions are rectangular. This
	* tracker works very well since the ball is almost uniformly blue. If the light varried then a HSV color		* tracker works very well since the ball is almost uniformly blue. If the light varried then a HSV color
	* model might be better.		* model might be better.
	*		*
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	public class ExampleTrackerMeanShiftLikelihood {		public class ExampleTrackerMeanShiftLikelihood {
	/**		/**
	* Very simple implementation of PixelLikelihood. Uses linear distance to compute how close		* Very simple implementation of PixelLikelihood. Uses linear distance to compute how close
	* a color is to the target color.		* a color is to the target color.
	*/		*/
	public static class RgbLikelihood implements PixelLikelihood<Planar<GrayU8>> {		public static class RgbLikelihood implements PixelLikelihood<Planar<GrayU8>> {
	int targetRed,targetGreen,targetBlue;		int targetRed, targetGreen, targetBlue;
	float radius = 35;		float radius = 35;
	Planar<GrayU8> image;		Planar<GrayU8> image;

	public RgbLikelihood(int targetRed, int targetGreen, int targetBlue) {		public RgbLikelihood( int targetRed, int targetGreen, int targetBlue ) {
	this.targetRed = targetRed;		this.targetRed = targetRed;
	this.targetGreen = targetGreen;		this.targetGreen = targetGreen;
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	}		}

	@Override public void setImage(Planar<GrayU8> image) { this.image = image; }		@Override public void setImage( Planar<GrayU8> image ) { this.image = image; }

	@Override public boolean isInBounds(int x, int y) { return image.isInBounds(x,y); }		@Override public boolean isInBounds( int x, int y ) { return image.isInBounds(x, y); }

	/**		/**
	* This function is used to learn the target's model from the select image region. Since the		* This function is used to learn the target's model from the select image region. Since the
	* model is provided in the constructor it isn't needed or used.		* model is provided in the constructor it isn't needed or used.
	*/		*/
	@Override public void createModel(RectangleLength2D_I32 target) { throw new RuntimeException("Not supported"); }		@Override
			public void createModel( RectangleLength2D_I32 target ) { throw new RuntimeException("Not supported"); }

	@Override		@Override
	public float compute(int x, int y) {		public float compute( int x, int y ) {
	int pixelR = image.getBand(0).get(x,y);		int pixelR = image.getBand(0).get(x, y);
	int pixelG = image.getBand(1).get(x,y);		int pixelG = image.getBand(1).get(x, y);
	int pixelB = image.getBand(2).get(x,y);		int pixelB = image.getBand(2).get(x, y);

	// distance along each color band		// distance along each color band
	float red = Math.max(0, 1.0f - Math.abs(targetRed - pixelR) / radius);		float red = Math.max(0, 1.0f - Math.abs(targetRed - pixelR)/radius);
	float green = Math.max(0,1.0f - Math.abs(targetGreen-pixelG)/radius);		float green = Math.max(0, 1.0f - Math.abs(targetGreen - pixelG)/radius);
	float blue = Math.max(0,1.0f - Math.abs(targetBlue-pixelB)/radius);		float blue = Math.max(0, 1.0f - Math.abs(targetBlue - pixelB)/radius);

	// multiply them all together		// multiply them all together
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	}		}

	public static void main(String[] args) {		public static void main( String[] args ) {
	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;
	String fileName = UtilIO.pathExample("tracking/balls_blue_red.mjpeg");		String fileName = UtilIO.pathExample("tracking/balls_blue_red.mjpeg");
	RectangleLength2D_I32 location = new RectangleLength2D_I32(394,247,475-394,325-247);		RectangleLength2D_I32 location = new RectangleLength2D_I32(394, 247, 475 - 394, 325 - 247);

	ImageType<Planar<GrayU8>> imageType = ImageType.pl(3,GrayU8.class);		ImageType<Planar<GrayU8>> imageType = ImageType.pl(3, GrayU8.class);

	SimpleImageSequence<Planar<GrayU8>> video = media.openVideo(fileName, imageType);		SimpleImageSequence<Planar<GrayU8>> video = media.openVideo(fileName, imageType);

	// Return a higher likelihood for pixels close to this RGB color		// Return a higher likelihood for pixels close to this RGB color
	~~RgbLikelihood~~ likelihood = new RgbLikelihood(64,71,69);		var likelihood = new RgbLikelihood(64, 71, 69);

	TrackerMeanShiftLikelihood<Planar<GrayU8>> tracker =		TrackerMeanShiftLikelihood<Planar<GrayU8>> tracker =
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	Planar<GrayU8> frame = video.next();		Planar<GrayU8> frame = video.next();
	// Note that the tracker will not automatically invoke RgbLikelihood.createModel() in its initialize function		// Note that the tracker will not automatically invoke RgbLikelihood.createModel() in its initialize function
	tracker.initialize(frame,location);		tracker.initialize(frame, location);

	// For displaying the results		// For displaying the results
	~~TrackerObjectQuadPanel~~ gui = new TrackerObjectQuadPanel(null);		var gui = new TrackerObjectQuadPanel(null);
	gui.setPreferredSize(new Dimension(frame.getWidth(),frame.getHeight()));		gui.setPreferredSize(new Dimension(frame.getWidth(), frame.getHeight()));
	gui.setImageUI(~~(BufferedImage)~~video.getGuiImage());		gui.setImageUI(video.getGuiImage());
	gui.setTarget(location,true);		gui.setTarget(location, true);
	ShowImages.showWindow(gui, "Tracking Results", true);		ShowImages.showWindow(gui, "Tracking Results", true);

	// Track the object across each video frame and display the results		// Track the object across each video frame and display the results
	while( video.hasNext() ) {		while (video.hasNext()) {
	frame = video.next();		frame = video.next();

	boolean visible = tracker.process(frame);		boolean visible = tracker.process(frame);

	gui.setImageUI(~~(BufferedImage)~~ video.getGuiImage());		gui.setImageUI(video.getGuiImage());
	gui.setTarget(tracker.getLocation(),visible);		gui.setTarget(tracker.getLocation(), visible);
	gui.repaint();		gui.repaint();

Peter at 03:00, 22 December 2020

2020-12-22T03:00:46Z

← Older revision		Revision as of 03:00, 22 December 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts:
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	*/		*/
	public class ExampleTrackerMeanShiftLikelihood {		public class ExampleTrackerMeanShiftLikelihood {

	/**		/**
	* Very simple implementation of PixelLikelihood. Uses linear distance to compute how close		* Very simple implementation of PixelLikelihood. Uses linear distance to compute how close
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	*/		*/
	public static class RgbLikelihood implements PixelLikelihood<Planar<GrayU8>> {		public static class RgbLikelihood implements PixelLikelihood<Planar<GrayU8>> {

	int targetRed,targetGreen,targetBlue;		int targetRed,targetGreen,targetBlue;
	float radius = 35;		float radius = 35;
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	}		}

	@Override		@Override public void setImage(Planar<GrayU8> image) { this.image = image; }
	public void setImage(Planar<GrayU8> image) {
	this.image = image;
	}

	@Override		@Override public boolean isInBounds(int x, int y) { return image.isInBounds(x,y); }
	public boolean isInBounds(int x, int y) {
	return image.isInBounds(x,y);
	}

	/**		/**
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	* model is provided in the constructor it isn't needed or used.		* model is provided in the constructor it isn't needed or used.
	*/		*/
	@Override		@Override public void createModel(RectangleLength2D_I32 target) { throw new RuntimeException("Not supported"); }
	public void createModel(RectangleLength2D_I32 target) {
	throw new RuntimeException("Not supported");
	}

	@Override		@Override

Peter at 07:03, 20 January 2018

2018-01-20T07:03:52Z

← Older revision		Revision as of 07:03, 20 January 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.28/examples/src/main/java/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts:
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	TrackerObjectQuadPanel gui = new TrackerObjectQuadPanel(null);		TrackerObjectQuadPanel gui = new TrackerObjectQuadPanel(null);
	gui.setPreferredSize(new Dimension(frame.getWidth(),frame.getHeight()));		gui.setPreferredSize(new Dimension(frame.getWidth(),frame.getHeight()));
	gui.~~setBackGround~~((BufferedImage)video.getGuiImage());		gui.setImageUI((BufferedImage)video.getGuiImage());
	gui.setTarget(location,true);		gui.setTarget(location,true);
	ShowImages.showWindow(gui, "Tracking Results", true);		ShowImages.showWindow(gui, "Tracking Results", true);
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	boolean visible = tracker.process(frame);		boolean visible = tracker.process(frame);

	gui.~~setBackGround~~((BufferedImage) video.getGuiImage());		gui.setImageUI((BufferedImage) video.getGuiImage());
	gui.setTarget(tracker.getLocation(),visible);		gui.setTarget(tracker.getLocation(),visible);
	gui.repaint();		gui.repaint();

Peter at 01:06, 2 December 2016

2016-12-02T01:06:10Z

← Older revision		Revision as of 01:06, 2 December 2016
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts:
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	* Color histogram		* Color histogram
	* Mean-shift		* Mean-shift

	~~Relevant Applets:~~
	* [[Applet Object Tracking\| Object Tracking]]

	= Example Code =		= Example Code =
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	TrackerMeanShiftLikelihood<Planar<GrayU8>> tracker =		TrackerMeanShiftLikelihood<Planar<GrayU8>> tracker =
	new TrackerMeanShiftLikelihood<~~Planar<GrayU8>~~>(likelihood,50,0.1f);		new TrackerMeanShiftLikelihood<>(likelihood, 50, 0.1f);

	// specify the target's initial location and initialize with the first frame		// specify the target's initial location and initialize with the first frame

Peter at 12:48, 28 March 2016

2016-03-28T12:48:06Z

← Older revision		Revision as of 12:48, 28 March 2016
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts:
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	* a color is to the target color.		* a color is to the target color.
	*/		*/
	public static class RgbLikelihood implements PixelLikelihood<~~MultiSpectral~~<~~ImageUInt8~~>> {		public static class RgbLikelihood implements PixelLikelihood<Planar<GrayU8>> {

	int targetRed,targetGreen,targetBlue;		int targetRed,targetGreen,targetBlue;
	float radius = 35;		float radius = 35;
	~~MultiSpectral~~<~~ImageUInt8~~> image;		Planar<GrayU8> image;

	public RgbLikelihood(int targetRed, int targetGreen, int targetBlue) {		public RgbLikelihood(int targetRed, int targetGreen, int targetBlue) {
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	@Override		@Override
	public void setImage(~~MultiSpectral~~<~~ImageUInt8~~> image) {		public void setImage(Planar<GrayU8> image) {
	this.image = image;		this.image = image;
	}		}
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	RectangleLength2D_I32 location = new RectangleLength2D_I32(394,247,475-394,325-247);		RectangleLength2D_I32 location = new RectangleLength2D_I32(394,247,475-394,325-247);

	ImageType<~~MultiSpectral~~<~~ImageUInt8~~>> imageType = ImageType.ms(3,~~ImageUInt8~~.class);		ImageType<Planar<GrayU8>> imageType = ImageType.pl(3,GrayU8.class);

	SimpleImageSequence<~~MultiSpectral~~<~~ImageUInt8~~>> video = media.openVideo(fileName, imageType);		SimpleImageSequence<Planar<GrayU8>> video = media.openVideo(fileName, imageType);

	// Return a higher likelihood for pixels close to this RGB color		// Return a higher likelihood for pixels close to this RGB color
	RgbLikelihood likelihood = new RgbLikelihood(64,71,69);		RgbLikelihood likelihood = new RgbLikelihood(64,71,69);

	TrackerMeanShiftLikelihood<~~MultiSpectral~~<~~ImageUInt8~~>> tracker =		TrackerMeanShiftLikelihood<Planar<GrayU8>> tracker =
	new TrackerMeanShiftLikelihood<~~MultiSpectral~~<~~ImageUInt8~~>>(likelihood,50,0.1f);		new TrackerMeanShiftLikelihood<Planar<GrayU8>>(likelihood,50,0.1f);

	// specify the target's initial location and initialize with the first frame		// specify the target's initial location and initialize with the first frame
	~~MultiSpectral~~<~~ImageUInt8~~> frame = video.next();		Planar<GrayU8> frame = video.next();
	// Note that the tracker will not automatically invoke RgbLikelihood.createModel() in its initialize function		// Note that the tracker will not automatically invoke RgbLikelihood.createModel() in its initialize function
	tracker.initialize(frame,location);		tracker.initialize(frame,location);

Peter at 18:18, 9 November 2015

2015-11-09T18:18:16Z

← Older revision		Revision as of 18:18, 9 November 2015
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts:
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	public static void main(String[] args) {		public static void main(String[] args) {
	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;
	String fileName = "~~../data/applet/~~tracking/balls_blue_red.mjpeg";		String fileName = UtilIO.pathExample("tracking/balls_blue_red.mjpeg");
	RectangleLength2D_I32 location = new RectangleLength2D_I32(394,247,475-394,325-247);		RectangleLength2D_I32 location = new RectangleLength2D_I32(394,247,475-394,325-247);

Peter at 04:42, 20 September 2015

2015-09-20T04:42:17Z

← Older revision		Revision as of 04:42, 20 September 2015
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.18/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts:
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	gui.setBackGround((BufferedImage)video.getGuiImage());		gui.setBackGround((BufferedImage)video.getGuiImage());
	gui.setTarget(location,true);		gui.setTarget(location,true);
	ShowImages.showWindow(gui, "Tracking Results");		ShowImages.showWindow(gui, "Tracking Results", true);

	// Track the object across each video frame and display the results		// Track the object across each video frame and display the results

Peter at 22:20, 22 September 2014

2014-09-22T22:20:24Z

← Older revision		Revision as of 22:20, 22 September 2014
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	</center>		</center>

	BoofCV provides two mean-shift trackers, ~~histrogram~~ and pixel likelihood, this example is for the second. It is demonstrated how to create a custom pixel likelihood fuction to track a color ball. Mean-shift performs a local search that attempts to maximize the similarity of the color in its kernel to the color in its model. It is a fairly robust and fast tracker. If you are lucky, it will sometimes even reaquire a track after it has been lost.		BoofCV provides two mean-shift trackers, histogram and pixel likelihood, this example is for the second. It is demonstrated how to create a custom pixel likelihood fuction to track a color ball. Mean-shift performs a local search that attempts to maximize the similarity of the color in its kernel to the color in its model. It is a fairly robust and fast tracker. If you are lucky, it will sometimes even reaquire a track after it has been lost.

	Example Code:		Example Code:

Peter at 22:20, 22 September 2014

2014-09-22T22:20:04Z

← Older revision		Revision as of 22:20, 22 September 2014
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	</center>		</center>

	~~In this example~~ mean-shift is ~~used~~ to track a color ball. Mean-shift performs a local search that attempts to maximize the similarity of the color in its kernel to the color in its model. It is a fairly robust and fast tracker. If you are lucky, it will sometimes even reaquire a track after it has been lost.		BoofCV provides two mean-shift trackers, histrogram and pixel likelihood, this example is for the second. It is demonstrated how to create a custom pixel likelihood fuction to track a color ball. Mean-shift performs a local search that attempts to maximize the similarity of the color in its kernel to the color in its model. It is a fairly robust and fast tracker. If you are lucky, it will sometimes even reaquire a track after it has been lost.

	Example Code:		Example Code:

Peter at 22:15, 22 September 2014

2014-09-22T22:15:12Z

← Older revision		Revision as of 22:15, 22 September 2014
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.18/examples/src/boofcv/examples/tracking/~~ExampleTrackerMeanShift~~.java ~~ExampleTrackerMeanShift~~.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.18/examples/src/boofcv/examples/tracking/ExampleTrackerMeanShiftLikelihood.java ExampleTrackerMeanShiftLikelihood.java]

	Concepts:		Concepts: