re>+ , new_vehicle.id, centroid[0], centroid[1])
|
|
192
|
+
|
|
|
193
|
+ # Count any uncounted vehicles that are past the divider
|
|
|
194
|
+ for vehicle in self.vehicles:
|
|
|
195
|
+ if not vehicle.counted and (((vehicle.last_position[1] > self.divider) and (vehicle.vehicle_dir == 1)) or
|
|
|
196
|
+ ((vehicle.last_position[1] < self.divider) and (vehicle.vehicle_dir == -1))) and (vehicle.frames_seen > 6):
|
|
|
197
|
+
|
|
|
198
|
+ vehicle.counted = True
|
|
|
199
|
+ # update appropriate counter
|
|
|
200
|
+ if ((vehicle.last_position[1] > self.divider) and (vehicle.vehicle_dir == 1) and (vehicle.last_position[0] >= (int(frame_w/2)-10))):
|
|
|
201
|
+ self.vehicle_RHS += 1
|
|
|
202
|
+ self.vehicle_count += 1
|
|
|
203
|
+ elif ((vehicle.last_position[1] < self.divider) and (vehicle.vehicle_dir == -1) and (vehicle.last_position[0] <= (int(frame_w/2)+10))):
|
|
|
204
|
+ self.vehicle_LHS += 1
|
|
|
205
|
+ self.vehicle_count += 1
|
|
|
206
|
+
|
|
|
207
|
+ self.log.debug("Counted vehicle #%d (total count=%d)."
|
|
|
208
|
+ , vehicle.id, self.vehicle_count)
|
|
|
209
|
+
|
|
|
210
|
+ # Optionally draw the vehicles on an image
|
|
|
211
|
+ if output_image is not None:
|
|
|
212
|
+ for vehicle in self.vehicles:
|
|
|
213
|
+ vehicle.draw(output_image)
|
|
|
214
|
+
|
|
|
215
|
+ # LHS
|
|
|
216
|
+ cv2.putText(output_image, ("LH Lane: %02d" % self.vehicle_LHS), (12, 56)
|
|
|
217
|
+ , cv2.FONT_HERSHEY_PLAIN, 1.2, (127,255, 255), 2)
|
|
|
218
|
+ # RHS
|
|
|
219
|
+ cv2.putText(output_image, ("RH Lane: %02d" % self.vehicle_RHS), (216, 56)
|
|
|
220
|
+ , cv2.FONT_HERSHEY_PLAIN, 1.2, (127, 255, 255), 2)
|
|
|
221
|
+
|
|
|
222
|
+ # Remove vehicles that have not been seen long enough
|
|
|
223
|
+ removed = [ v.id for v in self.vehicles
|
|
|
224
|
+ if v.frames_since_seen >= self.max_unseen_frames ]
|
|
|
225
|
+ self.vehicles[:] = [ v for v in self.vehicles
|
|
|
226
|
+ if not v.frames_since_seen >= self.max_unseen_frames ]
|
|
|
227
|
+ for id in removed:
|
|
|
228
|
+ self.log.debug("Removed vehicle #%d.", id)
|
|
|
229
|
+
|
|
|
230
|
+ self.log.debug("Count updated, tracking %d vehicles.", len(self.vehicles))
|
|
|
231
|
+
|
|
|
232
|
+# ============================================================================
|
|
|
233
|
+
|
|
|
234
|
+def process_video():
|
|
|
235
|
+ global frame_no
|
|
|
236
|
+ global frame_w
|
|
|
237
|
+ camera = re.match(r".*/(\d+)_.*", inputFile)
|
|
|
238
|
+ camera = camera.group(1)
|
|
|
239
|
+
|
|
|
240
|
+# import video file
|
|
|
241
|
+ cap = cv2.VideoCapture(inputFile)
|
|
|
242
|
+
|
|
|
243
|
+# get list of background files
|
|
|
244
|
+ f = []
|
|
|
245
|
+ for (_, _, filenames) in walk(loc+"/backgrounds/"):
|
|
|
246
|
+ f.extend(filenames)
|
|
|
247
|
+ break
|
|
|
248
|
+
|
|
|
249
|
+# if background exists for camera: import, else avg will be built on fly
|
|
|
250
|
+ if camera+"_bg.jpg" in f:
|
|
|
251
|
+ bg = loc+"/backgrounds/"+camera+"_bg.jpg"
|
|
|
252
|
+ default_bg = cv2.imread(bg)
|
|
|
253
|
+ default_bg = cv2.cvtColor(default_bg, cv2.COLOR_BGR2HSV)
|
|
|
254
|
+ (_,avgSat,default_bg) = cv2.split(default_bg)
|
|
|
255
|
+ avg = default_bg.copy().astype("float")
|
|
|
256
|
+ else:
|
|
|
257
|
+ avg = None
|
|
|
258
|
+
|
|
|
259
|
+# get frame size
|
|
|
260
|
+ frame_w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
|
|
|
261
|
+ frame_h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
|
|
|
262
|
+
|
|
|
263
|
+# create a mask (manual for each camera)
|
|
|
264
|
+ mask = np.zeros((frame_h,frame_w), np.uint8)
|
|
|
265
|
+ mask[:,:] = 255
|
|
|
266
|
+ mask[:100, :] = 0
|
|
|
267
|
+ mask[230:, 160:190] = 0
|
|
|
268
|
+ mask[170:230,170:190] = 0
|
|
|
269
|
+ mask[140:170,176:190] = 0
|
|
|
270
|
+ mask[100:140,176:182] = 0
|
|
|
271
|
+
|
|
|
272
|
+# The cutoff for threshold. A lower number means smaller changes between
|
|
|
273
|
+# the average and current scene are more readily detected.
|
|
|
274
|
+ THRESHOLD_SENSITIVITY = 40
|
|
|
275
|
+ t_retval.append(THRESHOLD_SENSITIVITY)
|
|
|
276
|
+# Blob size limit before we consider it for tracking.
|
|
|
277
|
+ CONTOUR_WIDTH = 21
|
|
|
278
|
+ CONTOUR_HEIGHT = 16#21
|
|
|
279
|
+# The weighting to apply to "this" frame when averaging. A higher number
|
|
|
280
|
+# here means that the average scene will pick up changes more readily,
|
|
|
281
|
+# thus making the difference between average and current scenes smaller.
|
|
|
282
|
+ DEFAULT_AVERAGE_WEIGHT = 0.01
|
|
|
283
|
+ INITIAL_AVERAGE_WEIGHT = DEFAULT_AVERAGE_WEIGHT / 50
|
|
|
284
|
+# Blob smoothing function, to join 'gaps' in cars
|
|
|
285
|
+ SMOOTH = max(2,int(round((CONTOUR_WIDTH**0.5)/2,0)))
|
|
|
286
|
+# Constants for drawing on the frame.
|
|
|
287
|
+ LINE_THICKNESS = 1
|
|
|
288
|
+
|
|
|
289
|
+ fourcc = cv2.VideoWriter_fourcc(*'mp4v')
|
|
|
290
|
+ out = loc+'/outputs/'+camera+'_output.mp4'
|
|
|
291
|
+#print(out)
|
|
|
292
|
+#exit()
|
|
|
293
|
+ out = cv2.VideoWriter(out, fourcc, 20, (frame_w, frame_h))
|
|
|
294
|
+
|
|
|
295
|
+ outblob = loc+'/outputs/'+camera+'_outblob.mp4'
|
|
|
296
|
+ diffop = loc+'/outputs/'+camera+'_outdiff.mp4'
|
|
|
297
|
+ outblob = cv2.VideoWriter(outblob, fourcc, 20, (frame_w, frame_h))
|
|
|
298
|
+ diffop = cv2.VideoWriter(diffop, fourcc, 20, (frame_w, frame_h))
|
|
|
299
|
+
|
|
|
300
|
+# A list of "tracked blobs".
|
|
|
301
|
+ blobs = []
|
|
|
302
|
+ car_counter = None # will be created later
|
|
|
303
|
+ frame_no = 0
|
|
|
304
|
+
|
|
|
305
|
+ total_frames = cap.get(cv2.CAP_PROP_FRAME_COUNT)
|
|
|
306
|
+ total_cars = 0
|
|
|
307
|
+
|
|
|
308
|
+ start_time = time.time()
|
|
|
309
|
+ ret, frame = cap.read()
|
|
|
310
|
+
|
|
|
311
|
+ while ret:
|
|
|
312
|
+ ret, frame = cap.read()
|
|
|
313
|
+ frame_no = frame_no + 1
|
|
|
314
|
+
|
|
|
315
|
+ if ret and frame_no < total_frames:
|
|
|
316
|
+
|
|
|
317
|
+ print("Processing frame ",frame_no)
|
|
|
318
|
+
|
|
|
319
|
+ # get returned time
|
|
|
320
|
+ frame_time = time.time()
|
|
|
321
|
+
|
|
|
322
|
+ # convert BGR to HSV
|
|
|
323
|
+ frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
|
|
|
324
|
+
|
|
|
325
|
+ # only use the Value channel of the frame
|
|
|
326
|
+ (_,_,grayFrame) = cv2.split(frame)
|
|
|
327
|
+ grayFrame = cv2.bilateralFilter(grayFrame, 11, 21, 21)
|
|
|
328
|
+
|
|
|
329
|
+ if avg is None:
|
|
|
330
|
+ # Set up the average if this is the first time through.
|
|
|
331
|
+ avg = grayFrame.copy().astype("float")
|
|
|
332
|
+ continue
|
|
|
333
|
+
|
|
|
334
|
+ # Build the average scene image by accumulating this frame
|
|
|
335
|
+ # with the existing average.
|
|
|
336
|
+ if frame_no < 10:
|
|
|
337
|
+ def_wt = INITIAL_AVERAGE_WEIGHT
|
|
|
338
|
+ else:
|
|
|
339
|
+ def_wt = DEFAULT_AVERAGE_WEIGHT
|
|
|
340
|
+
|
|
|
341
|
+ cv2.accumulateWeighted(grayFrame, avg, def_wt)
|
|
|
342
|
+
|
|
|
343
|
+ # export averaged background for use in next video feed run
|
|
|
344
|
+ #if frame_no > int(total_frames * 0.975):
|
|
|
345
|
+ if frame_no > int(200):
|
|
|
346
|
+ grayOp = cv2.cvtColor(cv2.convertScaleAbs(avg), cv2.COLOR_GRAY2BGR)
|
|
|
347
|
+ backOut = loc+"/backgrounds/"+camera+"_bg.jpg"
|
|
|
348
|
+ cv2.imwrite(backOut, grayOp)
|
|
|
349
|
+
|
|
|
350
|
+ # Compute the grayscale difference between the current grayscale frame and
|
|
|
351
|
+ # the average of the scene.
|
|
|
352
|
+ differenceFrame = cv2.absdiff(grayFrame, cv2.convertScaleAbs(avg))
|
|
|
353
|
+ # blur the difference image
|
|
|
354
|
+ differenceFrame = cv2.GaussianBlur(differenceFrame, (5, 5), 0)
|
|
|
355
|
+# cv2.imshow("difference", differenceFrame)
|
|
|
356
|
+ diffout = cv2.cvtColor(differenceFrame, cv2.COLOR_GRAY2BGR)
|
|
|
357
|
+ diffop.write(diffout)
|
|
|
358
|
+
|
|
|
359
|
+ # get estimated otsu threshold level
|
|
|
360
|
+ retval, _ = cv2.threshold(differenceFrame, 0, 255,
|
|
|
361
|
+ cv2.THRESH_BINARY+cv2.THRESH_OTSU)
|
|
|
362
|
+ # add to list of threshold levels
|
|
|
363
|
+ t_retval.append(retval)
|
|
|
364
|
+
|
|
|
365
|
+ # apply threshold based on average threshold value
|
|
|
366
|
+ if frame_no < 10:
|
|
|
367
|
+ ret2, thresholdImage = cv2.threshold(differenceFrame,
|
|
|
368
|
+ int(np.mean(t_retval)*0.9),
|
|
|
369
|
+ 255, cv2.THRESH_BINARY)
|
|
|
370
|
+ else:
|
|
|
371
|
+ ret2, thresholdImage = cv2.threshold(differenceFrame,
|
|
|
372
|
+ int(np.mean(t_retval[-10:-1])*0.9),
|
|
|
373
|
+ 255, cv2.THRESH_BINARY)
|
|
|
374
|
+
|
|
|
375
|
+ # We'll need to fill in the gaps to make a complete vehicle as windows
|
|
|
376
|
+ # and other features can split them!
|
|
|
377
|
+ kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (SMOOTH, SMOOTH))
|
|
|
378
|
+ # Fill any small holes
|
|
|
379
|
+ thresholdImage = cv2.morphologyEx(thresholdImage, cv2.MORPH_CLOSE, kernel)
|
|
|
380
|
+
|
|
|
381
|
+ # Remove noise
|
|
|
382
|
+ thresholdImage = cv2.morphologyEx(thresholdImage, cv2.MORPH_OPEN, kernel)
|
|
|
383
|
+
|
|
|
384
|
+ # Dilate to merge adjacent blobs
|
|
|
385
|
+ thresholdImage = cv2.dilate(thresholdImage, kernel, iterations = 2)
|
|
|
386
|
+
|
|
|
387
|
+ # apply mask
|
|
|
388
|
+ thresholdImage = cv2.bitwise_and(thresholdImage, thresholdImage, mask = mask)
|
|
|
389
|
+# cv2.imshow("threshold", thresholdImage)
|
|
|
390
|
+ threshout = cv2.cvtColor(thresholdImage, cv2.COLOR_GRAY2BGR)
|
|
|
391
|
+ outblob.write(threshout)
|
|
|
392
|
+
|
|
|
393
|
+ # Find contours aka blobs in the threshold image.
|
|
|
394
|
+ contours, hierarchy = cv2.findContours(thresholdImage,
|
|
|
395
|
+ cv2.RETR_EXTERNAL,
|
|
|
396
|
+ cv2.CHAIN_APPROX_SIMPLE)
|
|
|
397
|
+
|
|
|
398
|
+ print("Found ",len(contours)," vehicle contours.")
|
|
|
399
|
+ # process contours if they exist!
|
|
|
400
|
+ if contours:
|
|
|
401
|
+ for (i, contour) in enumerate(contours):
|
|
|
402
|
+ # Find the bounding rectangle and center for each blob
|
|
|
403
|
+ (x, y, w, h) = cv2.boundingRect(contour)
|
|
|
404
|
+ contour_valid = (w > CONTOUR_WIDTH) and (h > CONTOUR_HEIGHT)
|
|
|
405
|
+
|
|
|
406
|
+ print("Contour #",i,": pos=(x=",x,", y=",y,") size=(w=",w,
|
|
|
407
|
+ ", h=",h,") valid=",contour_valid)
|
|
|
408
|
+
|
|
|
409
|
+ if not contour_valid:
|
|
|
410
|
+ continue
|
|
|
411
|
+
|
|
|
412
|
+ center = (int(x + w/2), int(y + h/2))
|
|
|
413
|
+ blobs.append(((x, y, w, h), center))
|
|
|
414
|
+
|
|
|
415
|
+ for (i, match) in enumerate(blobs):
|
|
|
416
|
+ contour, centroid = match
|
|
|
417
|
+ x, y, w, h = contour
|
|
|
418
|
+
|
|
|
419
|
+ # store the contour data
|
|
|
420
|
+ c = dict(
|
|
|
421
|
+ frame_no = frame_no,
|
|
|
422
|
+ centre_x = x,
|
|
|
423
|
+ centre_y = y,
|
|
|
424
|
+ width = w,
|
|
|
425
|
+ height = h
|
|
|
426
|
+ )
|
|
|
427
|
+ tracked_conts.append(c)
|
|
|
428
|
+
|
|
|
429
|
+ cv2.rectangle(frame, (x, y), (x + w - 1, y + h - 1), (0, 0, 255), LINE_THICKNESS)
|
|
|
430
|
+ cv2.circle(frame, centroid, 2, (0, 0, 255), -1)
|
|
|
431
|
+
|
|
|
432
|
+ if car_counter is None:
|
|
|
433
|
+ print("Creating vehicle counter...")
|
|
|
434
|
+ car_counter = VehicleCounter(frame.shape[:2], 2*frame.shape[0] / 3)
|
|
|
435
|
+
|
|
|
436
|
+ # get latest count
|
|
|
437
|
+ car_counter.update_count(blobs, frame)
|
|
|
438
|
+ current_count = car_counter.vehicle_RHS + car_counter.vehicle_LHS
|
|
|
439
|
+
|
|
|
440
|
+ # print elapsed time to console
|
|
|
441
|
+ elapsed_time = time.time()-start_time
|
|
|
442
|
+ print("-- %s seconds --" % round(elapsed_time,2))
|
|
|
443
|
+
|
|
|
444
|
+ # output video
|
|
|
445
|
+ frame = cv2.cvtColor(frame, cv2.COLOR_HSV2BGR)
|
|
|
446
|
+
|
|
|
447
|
+ # draw dividing line
|
|
|
448
|
+ # flash green when new car counted
|
|
|
449
|
+ if current_count > total_cars:
|
|
|
450
|
+ cv2.line(frame, (0, int(2*frame_h/3)),(frame_w, int(2*frame_h/3)),
|
|
|
451
|
+ (0,255,0), 2*LINE_THICKNESS)
|
|
|
452
|
+ else:
|
|
|
453
|
+ cv2.line(frame, (0, int(2*frame_h/3)),(frame_w, int(2*frame_h/3)),
|
|
|
454
|
+ (0,0,255), LINE_THICKNESS)
|
|
|
455
|
+
|
|
|
456
|
+ # update with latest count
|
|
|
457
|
+ total_cars = current_count
|
|
|
458
|
+
|
|
|
459
|
+ # draw upper limit
|
|
|
460
|
+ cv2.line(frame, (0, 100),(frame_w, 100), (0,0,0), LINE_THICKNESS)
|
|
|
461
|
+
|
|
|
462
|
+ ret, buffer = cv2.imencode('.jpg', frame)
|
|
|
463
|
+ frame2 = buffer.tobytes()
|
|
|
464
|
+ yield (b'--frame\r\n'
|
|
|
465
|
+ b'Content-Type: image/jpeg\r\n\r\n' + frame2 + b'\r\n') # concat frame one by one and show result
|
|
|
466
|
+
|
|
|
467
|
+ #cv2.imshow("preview", frame)
|
|
|
468
|
+ #cv2.imwrite("../flask-hls-demo/static/frame.jpg", frame)
|
|
|
469
|
+ out.write(frame)
|
|
|
470
|
+
|
|
|
471
|
+ if cv2.waitKey(27) and 0xFF == ord('q'):
|
|
|
472
|
+ break
|
|
|
473
|
+ else:
|
|
|
474
|
+ break
|
|
|
475
|
+
|
|
|
476
|
+ #cv2.line()
|
|
|
477
|
+ #cv2.destroyAllWindows()
|
|
|
478
|
+ #cap.release()
|
|
|
479
|
+ #out.release()
|
|
|
480
|
+
|
|
|
481
|
+from flask import Flask, render_template, Response
|
|
|
482
|
+import cv2
|
|
|
483
|
+
|
|
|
484
|
+app = Flask(__name__)
|
|
|
485
|
+
|
|
|
486
|
+
|
|
|
487
|
+def find_camera(id):
|
|
|
488
|
+ '''
|
|
|
489
|
+ cameras = ['rtsp://username:password@ip_address:554/user=username_password='password'_channel=channel_number_stream=0.sdp',
|
|
|
490
|
+ 'rtsp://username:password@ip_address:554/user=username_password='password'_channel=channel_number_stream=0.sdp']
|
|
|
491
|
+ '''
|
|
|
492
|
+ cameras = ['rtsp://admin:@Unv123456@192.168.10.252:554/unicast/c1/s1/live']
|
|
|
493
|
+ return cameras[int(id)]
|
|
|
494
|
+# for cctv camera use rtsp://username:password@ip_address:554/user=username_password='password'_channel=channel_number_stream=0.sdp' instead of camera
|
|
|
495
|
+# for webcam use zero(0)
|
|
|
496
|
+
|
|
|
497
|
+
|
|
|
498
|
+def gen_frames(camera_id):
|
|
|
499
|
+
|
|
|
500
|
+ cam = find_camera(camera_id)
|
|
|
501
|
+ cap= cv2.VideoCapture(cam)
|
|
|
502
|
+
|
|
|
503
|
+ while True:
|
|
|
504
|
+ # for cap in caps:
|
|
|
505
|
+ # # Capture frame-by-frame
|
|
|
506
|
+ success, frame = cap.read() # read the camera frame
|
|
|
507
|
+ if not success:
|
|
|
508
|
+ break
|
|
|
509
|
+ else:
|
|
|
510
|
+ ret, buffer = cv2.imencode('.jpg', frame)
|
|
|
511
|
+ frame = buffer.tobytes()
|
|
|
512
|
+ yield (b'--frame\r\n'
|
|
|
513
|
+ b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n') # concat frame one by one and show result
|
|
|
514
|
+@app.route('/video_feed/<string:id>/', methods=["GET"])
|
|
|
515
|
+def video_feed(id):
|
|
|
516
|
+
|
|
|
517
|
+ """Video streaming route. Put this in the src attribute of an img tag."""
|
|
|
518
|
+ '''
|
|
|
519
|
+ return Response(gen_frames(id),
|
|
|
520
|
+ mimetype='multipart/x-mixed-replace; boundary=frame')
|
|
|
521
|
+ '''
|
|
|
522
|
+ return Response(process_video(),
|
|
|
523
|
+ mimetype='multipart/x-mixed-replace; boundary=frame')
|
|
|
524
|
+
|
|
|
525
|
+@app.route('/', methods=["GET"])
|
|
|
526
|
+def index():
|
|
|
527
|
+ return render_template('index.html')
|
|
|
528
|
+
|
|
|
529
|
+
|
|
|
530
|
+if __name__ == '__main__':
|
|
|
531
|
+ app.run(debug=True, port=9099)
|
