first

BoundingBox.m

@@ -0,0 +1,45 @@
+classdef BoundingBox < handle
+   properties
+      ID
+      Untouched
+      X
+      Y
+      Width
+      Height
+      Center
+      identified
+      history = [];
+   end
+   methods
+     function obj = BoundingBox(bbox)
+         obj.Untouched = 0;
+         obj.X = bbox(1);
+         obj.Y = bbox(2);
+         obj.Width = bbox(3);
+         obj.Height = bbox(4);
+         obj.Center = [obj.X + obj.Width/2, obj.Y + obj.Height/2];
+         obj.identified = false;
+     end
+     function AddNext(obj,bbox)
+         obj.history = [obj.history, bbox];
+     end
+     function lc = GetLastCenter(obj)
+         lc = obj.Center;
+         if length(obj.history) > 0
+             lc = obj.history(length(obj.history)).Center;
+         end
+     end
+      function [x y w h] = GetLastRect(obj)
+         x = obj.X;
+         y = obj.Y;
+         w = obj.Width;
+         h = obj.Height;
+         if length(obj.history) > 0
+             x = obj.history(length(obj.history)).X;
+             y = obj.history(length(obj.history)).Y;
+             w = obj.history(length(obj.history)).Width;
+             h = obj.history(length(obj.history)).Height;
+         end
+     end
+   end
+end

BoxTracker.m

@@ -0,0 +1,103 @@
+classdef BoxTracker < handle
+   properties
+       idCounter = 1;
+       boxes = [];
+       identificationDistance = 50;
+       deleteAfterUntouched = 10;
+       track1 = [0 0 0];
+       track2 = [0 0 0];
+       track3 = [0 0 0];
+       ignoreStartsAfter = 200;
+   end
+   methods
+       function obj = BoxTracker(track1, track2, track3)
+           obj.track1 = track1;
+           obj.track2 = track2;
+           obj.track3 = track3;
+       end
+
+       function toIdentify = NewFrame(obj, bboxes)
+           toIdentify = [];
+          boxCount = size(bboxes,1);
+
+          % Increment untouched
+          for i=1:length(obj.boxes)
+              obj.boxes(i).Untouched = obj.boxes(i).Untouched + 1;
+          end
+
+          for i=1:boxCount
+              b = BoundingBox(bboxes(i,:));
+
+              found = false;
+              minIndex = 0;
+              minDistance = 100000000;
+              % Is bin list?
+              for j=1:length(obj.boxes)
+                  n =  norm(double(obj.boxes(j).GetLastCenter() - b.Center));
+                  if n < minDistance && n < obj.identificationDistance
+                    minIndex =j;
+                     minDistance = n;
+                  end
+              end
+
+              if minIndex > 0
+                   obj.boxes(minIndex).AddNext(b);
+                   obj.boxes(minIndex).Untouched = 0;
+                   found = true;
+              end
+
+              if found == false && b.Y < obj.ignoreStartsAfter
+                  b.ID = obj.idCounter;
+                  obj.idCounter = obj.idCounter + 1;
+                  obj.boxes = [obj.boxes b];
+              end
+
+
+          end
+
+          keep = [];
+           del = [];
+           idenfify = [];
+           for i=1:length(obj.boxes)
+               [a,b,c,d] = obj.boxes(i).GetLastRect();
+
+               bottom = b + d;
+               centerX = a+c/2;
+
+               % check of bottom 
+               trackNo = 0;
+               isLeftTrack = centerX > obj.track1(2) && centerX < obj.track1(3);
+               isCenterTrack =  centerX > obj.track2(2) && centerX < obj.track2(3);
+               isRightTrack = centerX > obj.track3(2) && centerX < obj.track3(3);
+               checkBottom = 100000;
+
+               if isLeftTrack
+                   trackNo = 1;
+                   checkBottom = obj.track1(1);
+               elseif isCenterTrack
+                   trackNo = 2;
+                   checkBottom = obj.track2(1);
+               else
+                   trackNo = 3;
+                   checkBottom = obj.track3(1);
+               end
+
+               if(bottom > checkBottom && ...
+                   bottom < 470 && ...
+                  obj.boxes(i).Untouched < obj.deleteAfterUntouched)
+                  if(obj.boxes(i).identified == false)
+                       v = [trackNo a b c d];
+                       obj.boxes(i).identified = true;
+                       toIdentify = vertcat(toIdentify,v);
+                  end
+                  keep = [keep i];
+               elseif obj.boxes(i).Untouched >= obj.deleteAfterUntouched
+                    del = [del i];
+               else
+                   keep = [keep i];
+               end
+           end
+           obj.boxes = obj.boxes(keep);
+      end
+   end
+end

Extractor.m

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+saveRoot = "C:\Users\Jan\Desktop\Training\CarImages\";
+files = getAllFiles('C:\Users\Jan\Desktop\Training\17343\04\41');
+%files = getAllFiles('C:\Users\Jan\Desktop\Training\17343');
+%files = getAllFiles('C:\Users\Jan\Desktop\42');
+laneSepMask =  rgb2gray(imread('seplanes.jpg')) < 100;
+
+% --------- Track Identification -----------
+trackLeftY = 380;
+trackleftX1= 0; 
+trackleftX2 = 250;
+
+trackMidY = 370;
+trackMidX1= 250; 
+trackMidX2 = 520;
+
+trackRightY = 220;
+trackRightX1= 520; 
+trackRightX2 = 680;
+% ------------------------------------
+
+
+
+file_count = length(files);
+findex = 1;
+next = imread(fullfile(char(files(findex))));
+findex = findex+1;
+
+
+opticFlow = opticalFlowFarneback;
+opticFlow.NeighborhoodSize=5;
+opticFlow.FilterSize = 25;
+
+ flow = estimateFlow(opticFlow,rgb2gray(next)); 
+
+ % ---------- Shadow -----------
+ mgp = [0.000204345345141426];
+ SigmaInv = [0.104952610092160,-0.119012800639940,0.0224817048646620;-0.119012800639940,0.204757787612976,-0.0862513240676164;0.0224817048646620,-0.0862513240676164,0.0591157280007801];
+% ----------------------------
+
+ blob = vision.BlobAnalysis(...
+   'CentroidOutputPort', false, ...
+   'AreaOutputPort', false, ...
+   'BoundingBoxOutputPort', true, ...
+   'MinimumBlobAreaSource', 'Property', ...
+   'MinimumBlobArea', 5000, ...
+   'MaximumBlobArea', 640*480/4);
+shapeInserter = vision.ShapeInserter('BorderColor','White');
+
+hdinterlacer = vision.Deinterlacer;
+
+tracker = BoxTracker([trackLeftY trackleftX1 trackleftX2], ...
+                     [trackMidY trackMidX1 trackMidX2], ...
+                     [trackRightY trackRightX1 trackRightX2]);
+carImg = [];
+
+while findex <= file_count
+    % progression
+    findex / file_count * 100
+
+    nextFile = fullfile(char(files(findex)));
+    prev = next;
+
+    next = imread(nextFile);
+    %next = hdinterlacer(next);
+    nextGray = rgb2gray(next);
+    findex = findex+1;
+
+    flow = estimateFlow(opticFlow,nextGray); 
+
+    myflow = flow.Magnitude;
+    s = 2;
+    myflow(flow.Magnitude < s) = 0;
+    myflow(flow.Magnitude >= s) = 1;
+    myflow(flow.Vy <0) = 0;
+    myflow(laneSepMask) = 0;
+
+    % --------Shadow -------------------
+   %{
+    b = size(next,2);
+    h = size(next,1);
+    shadowMask = zeros(h,b);
+    for y=1:h
+        for x=1:b
+           px = double([next(y,x,1) next(y,x,2) next(y,x,3)])';
+           pxm =px-m;
+           gx = mgp*exp(-.5*(pxm)'*SigmaInv*pxm);
+           if(gx >  0.00000001)
+                %next(y,x,1) = 255;
+                %next(y,x,2) = 0;
+                %next(y,x,3) = 0;
+                shadowMask(y,x) = 1;
+             end
+        end
+    end
+    % next(shadowMask == 1) = 255;
+    %}
+    %-------------------------------------------------------------
+
+    %imshow(shadowMask) ;
+    %myflow(shadowMask == 1) = 0;
+    %imshow(myflow);
+
+    bbox   = step(blob, myflow > 0);
+
+
+    % Analyse boxes
+    cti = tracker.NewFrame(bbox);
+
+
+    for i=1:size(cti,1)
+        carImg = imcrop(next,[cti(i,2) cti(i,3) cti(i,4) cti(i,5)]);
+        imwrite(carImg,fullfile(char( strcat(strcat(saveRoot,  strrep(nextFile(end-15:end-4),"\","_"), "-" + string(cti(i,1))  + ".jpg")))));
+    end
+
+     % ============== Visualisation ===========
+
+    out    = step(shapeInserter, next, bbox);
+
+    % Redraw frames
+    for i=1:length(tracker.boxes)
+        out = insertShape(out,'Line',[tracker.boxes(i).Center  tracker.boxes(i).GetLastCenter()],'LineWidth',5,'Color','Red');
+    end
+
+    % Draw bounding rects
+    out = insertShape(out,'Line',[trackleftX1 trackLeftY trackleftX2 trackLeftY; 
+                                  trackMidX1 trackMidY  trackMidX2 trackMidY;
+                                  trackRightX1 trackRightY  trackRightX2 trackRightY;],'LineWidth',5,'Color','Blue');
+
+    subplot(1,3,1), imshow(out);
+
+    %hold on
+    %plot(flow,'DecimationFactor',[5 5],'ScaleFactor',2);
+    %hold off 
+    subplot(1,3,2), imshow(myflow);
+    subplot(1,3,3), imshow(carImg);
+    pause(0.05);
+
+end
+
+
+
+function fileList = getAllFiles(dirName)
+
+  dirData = dir(dirName);      %# Get the data for the current directory
+  dirIndex = [dirData.isdir];  %# Find the index for directories
+  fileList = {dirData(~dirIndex).name}';  %'# Get a list of the files
+  if ~isempty(fileList)
+    fileList = cellfun(@(x) fullfile(dirName,x),...  %# Prepend path to files
+                       fileList,'UniformOutput',false);
+  end
+  subDirs = {dirData(dirIndex).name};  %# Get a list of the subdirectories
+  validIndex = ~ismember(subDirs,{'.','..'});  %# Find index of subdirectories
+                                               %#   that are not '.' or '..'
+  for iDir = find(validIndex)                  %# Loop over valid subdirectories
+    nextDir = fullfile(dirName,subDirs{iDir});    %# Get the subdirectory path
+    fileList = [fileList; getAllFiles(nextDir)];  %# Recursively call getAllFiles
+  end
+end