add node to run trackers

CMakeLists.txt

@@ -38,6 +38,8 @@ if(cv_bridge_VERSION VERSION_LESS "1.11.13")
   add_definitions("-DCV_BRIDGE_CVT_COLOR_FOR_DISPLAY_OPTION_IS_NOT_SUPPORTED")
 endif()
 
+catkin_python_setup()
+
 # generate the dynamic_reconfigure config file
 generate_dynamic_reconfigure_options(
   cfg/DiscreteFourierTransform.cfg
@@ -66,6 +68,8 @@ generate_dynamic_reconfigure_options(
   cfg/HSVColorFilter.cfg
   cfg/LabColorFilter.cfg
   cfg/WatershedSegmentation.cfg
+  #
+  cfg/Tracking.cfg
   )
 
 ## Generate messages in the 'msg' folder
@@ -107,6 +111,7 @@ add_message_files(
 add_service_files(
   FILES
   FaceRecognitionTrain.srv
+  SetImages.srv
 )
 
 ## Generate added messages and services with any dependencies listed here
@@ -327,6 +332,36 @@ opencv_apps_add_nodelet(segment_objects src/nodelet/segment_objects_nodelet.cpp)
 # ./videostab.cpp
 opencv_apps_add_nodelet(watershed_segmentation src/nodelet/watershed_segmentation_nodelet.cpp) # ./watershed.cpp
 
+# contrib modules (https://docs.opencv.org/4.x/d3/d81/tutorial_contrib_root.html)
+# alphamat. Information Flow Alpha Matting
+# aruco. ArUco marker detection (aruco module)
+# barcode. Tutorials for barcode module
+# bgsegm. Tutorials for bgsegm module
+# bioinspired. Discovering the human retina and its use for image processing
+# ccalib. Multi-camera Calibration
+# ccalib. Omnidirectional Camera Calibration
+# cvv. Interactive Visual Debugging of Computer Vision applications
+# dnn_objdetect. Object Detection using CNNs
+# dnn_superres. Super Resolution using CNNs
+# face. Tutorials for face module
+# face. Tutorial on Facial Landmark Detector API
+# fuzzy. Fuzzy image processing tutorials
+# hdf. The Hierarchical Data Format (hdf) I/O
+# julia. Introduction to Julia OpenCV Binding
+# line_descriptor. Line Features Tutorial
+# mcc. Color Correction Model
+# mcc. ColorChecker Detection
+# phase_unwrapping. Phase Unwrapping tutorial
+# sfm. Structure From Motion
+# stereo. Quasi Dense Stereo (stereo module)
+# structured_light. Structured Light tutorials
+# text. Text module
+# tracking. Customizing the CN Tracker
+if(OpenCV_VERSION VERSION_GREATER "4.0")
+  opencv_apps_add_nodelet(tracking src/nodelet/tracking_nodelet.cpp) # tracking. Introduction to OpenCV Tracker
+endif()
+# tracking. Using MultiTracker
+
 # ros examples
 opencv_apps_add_nodelet(simple_example src/nodelet/simple_example_nodelet.cpp)
 opencv_apps_add_nodelet(simple_compressed_example src/nodelet/simple_compressed_example_nodelet.cpp)
@@ -379,6 +414,12 @@ install(DIRECTORY launch test scripts
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
         USE_SOURCE_PERMISSIONS)
 
+file(GLOB PROGRAM_FILES scripts/*.py)
+catkin_install_python(PROGRAMS
+  "${PROGRAM_FILES}"
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 ## test
 if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
@@ -387,6 +428,9 @@ if(CATKIN_ENABLE_TESTING)
     message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}")
   else()
     file(GLOB LAUNCH_FILES launch/*.launch)
+    if(NOT OpenCV_VERSION VERSION_GREATER "4.0")
+      list(REMOVE_ITEM LAUNCH_FILES ${CMAKE_CURRENT_SOURCE_DIR}/launch/tracking.launch)
+    endif()
     foreach(LAUNCH_FILE ${LAUNCH_FILES})
       roslaunch_add_file_check(${LAUNCH_FILE})
     endforeach()

cfg/Tracking.cfg

@@ -0,0 +1,23 @@
+#! /usr/bin/env python
+
+PACKAGE = "opencv_apps"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", False)
+
+tracking_algorithm = gen.enum([gen.const("MIL",        int_t,  0, "MIL (Multiple Instance Learning) tracker"),
+                               gen.const("BOOSTING",   int_t,  1, "On-line version of the AdaBoost tracker"),
+                               gen.const("MEDIANFLOW", int_t,  2, "Median Flow tracker"),
+                               gen.const("TLD",        int_t,  3, "TLD (Tracking, learning and detection) tracker"),
+                               gen.const("KCF",        int_t,  4, "KCF (Kernelized Correlation Filter) tracker"),
+                               gen.const("GOTURN",     int_t,  5, "GOTURN (Generic Object Tracking Using Regression Networks) tracker"),
+                               gen.const("MOSSE",      int_t,  6, "MOSSE (Minimum Output Sum of Squared Error) tracker"),],
+                              "An enum for Tracking Algorithms")
+
+gen.add("tracking_algorithm", int_t, 0, "Tracking Algorithm", 4, 0, 6, edit_method=tracking_algorithm)
+
+exit(gen.generate(PACKAGE, "tracking", "Tracking"))
+

launch/tracking.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg name="node_name" default="tracking" />
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+  <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
+
+  <arg name="tracking_algorithm" default="4" doc="Tracking algorithm 0: MIL, 1: Boosting, 2: Medianflow, 3: TLD, 4: KCF, 5: GOTURN, 6: MOSSE" />
+
+  <!-- threshold.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="tracking" output="screen">
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="queue_size" value="$(arg queue_size)" />
+    <param name="tracking_algorithm" value="$(arg tracking_algorithm)" />
+  </node>
+
+</launch>

nodelet_plugins.xml

@@ -127,6 +127,10 @@
     <description>Nodelet for histogram equalization</description>
   </class>
 
+  <class name="opencv_apps/tracking" type="opencv_apps::TrackingNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet for tracking</description>
+  </class>
+
   <!--
       for backward compatibility, can be removed in M-turtle
   -->

package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>opencv_apps</name>
   <version>2.0.2</version>
   <description>
@@ -18,6 +18,16 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <build_export_depend>dynamic_reconfigure</build_export_depend>
+  <build_export_depend>nodelet</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>std_srvs</build_export_depend>
+
   <build_depend>cv_bridge</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>g++-static</build_depend>
@@ -29,16 +39,16 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
 
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>image_view</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>std_srvs</run_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>image_transport</exec_depend>
+  <exec_depend>image_view</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>nodelet</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
 
   <test_depend>roslaunch</test_depend>
   <test_depend>rostest</test_depend>

scripts/set_image.py

@@ -0,0 +1,98 @@
+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2022, Kei Okada
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Kei Okada nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+from __future__ import print_function
+
+try:
+    input = raw_input
+except:
+    pass
+
+import argparse
+import cv2
+import cv_bridge
+import os
+import sys
+import time
+import rospy
+
+from opencv_apps.msg import Rect
+from opencv_apps.srv import SetImages, SetImagesRequest
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description='Send ROI (and template image) to the tracker')
+    parser.add_argument('center_x', type=int, help='X coordinates of center of ROI')
+    parser.add_argument('center_y', type=int, help='Y coordinates of center of ROI')
+    parser.add_argument('width', type=int, help='Width of ROI')
+    parser.add_argument('height', type=int, help='Height of ROI')
+    parser.add_argument('image_file_name', nargs='?', help='File name of template image')
+    parser.add_argument('--debug-view', action='store_true', help='Display input_file with ROI')
+    args, unknown = parser.parse_known_args();
+
+    rospy.init_node("set_image")
+    rospy.wait_for_service('set_roi')
+    set_roi = rospy.ServiceProxy('set_roi', SetImages)
+
+    req = SetImagesRequest()
+
+    # set roi
+    rospy.loginfo("Set ROI({},{}, {}, {})".format(args.center_x, args.center_y, args.width, args.height))
+    rect = Rect(x=args.center_x, y=args.center_y, width=args.width, height=args.height)
+    req.rects=[rect]
+
+    # set images
+    if args.image_file_name:
+        fname = args.image_file_name
+        if os.path.exists(fname):
+            im = cv2.imread(fname)
+            im_msg = cv_bridge.CvBridge().cv2_to_imgmsg(im, "bgr8")
+            rospy.loginfo("Set Image{} from {}".format(im.shape, fname))
+            req.images = [im_msg]
+            if args.debug_view:
+                cv2.rectangle(im,
+                              (int(rect.x - rect.width/2), int(rect.y - rect.height/2)),
+                              (int(rect.x + rect.width/2), int(rect.y + rect.height/2)),
+                              (0, 255, 0), 3)
+                cv2.imshow('template image', im)
+                cv2.waitKey(100)
+        else:
+            rospy.logerr("{} not found exitting".format(fname))
+            sys.exit(1)
+
+    ret = set_roi(images=req.images, rects=req.rects)
+    rospy.loginfo("'set_roi' returns\n {}".format(ret))
+    if args.debug_view:
+        time.sleep(2)
+        cv2.destroyAllWindows()

setup.py

@@ -0,0 +1,14 @@
+import catkin_pkg
+from distutils.version import LooseVersion
+if LooseVersion(catkin_pkg.__version__) <= LooseVersion('0.4.8'):
+    # on hydro we need to use distutils
+    from distutils.core import setup
+else:
+    from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['opencv_apps'],
+    package_dir={'': 'src'},
+)
+setup(**d)