| /*M/////////////////////////////////////////////////////////////////////////////////////// |
| // |
| // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
| // |
| // By downloading, copying, installing or using the software you agree to this license. |
| // If you do not agree to this license, do not download, install, |
| // copy or use the software. |
| // |
| // |
| // Intel License Agreement |
| // For Open Source Computer Vision Library |
| // |
| // Copyright (C) 2000, Intel Corporation, all rights reserved. |
| // Third party copyrights are property of their respective owners. |
| // |
| // Redistribution and use in source and binary forms, with or without modification, |
| // are permitted provided that the following conditions are met: |
| // |
| // * Redistribution's of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // |
| // * Redistribution's 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. |
| // |
| // * The name of Intel Corporation may not 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 Intel Corporation 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. |
| // |
| //M*/ |
| #include "_cvaux.h" |
| |
| CvCamShiftTracker::CvCamShiftTracker() |
| { |
| int i; |
| |
| memset( &m_box, 0, sizeof(m_box)); |
| memset( &m_comp, 0, sizeof(m_comp)); |
| memset( m_color_planes, 0, sizeof(m_color_planes)); |
| m_threshold = 0; |
| |
| for( i = 0; i < CV_MAX_DIM; i++ ) |
| { |
| m_min_ch_val[i] = 0; |
| m_max_ch_val[i] = 255; |
| m_hist_ranges[i] = m_hist_ranges_data[i]; |
| m_hist_ranges[i][0] = 0.f; |
| m_hist_ranges[i][1] = 256.f; |
| } |
| |
| m_hist = 0; |
| m_back_project = 0; |
| m_temp = 0; |
| m_mask = 0; |
| } |
| |
| |
| CvCamShiftTracker::~CvCamShiftTracker() |
| { |
| int i; |
| |
| cvReleaseHist( &m_hist ); |
| for( i = 0; i < CV_MAX_DIM; i++ ) |
| cvReleaseImage( &m_color_planes[i] ); |
| cvReleaseImage( &m_back_project ); |
| cvReleaseImage( &m_temp ); |
| cvReleaseImage( &m_mask ); |
| } |
| |
| |
| void |
| CvCamShiftTracker::color_transform( const IplImage* image ) |
| { |
| CvSize size = cvGetSize(image); |
| uchar* color_data = 0, *mask = 0; |
| uchar* planes[CV_MAX_DIM]; |
| int x, color_step = 0, plane_step = 0, mask_step; |
| int dims[CV_MAX_DIM]; |
| int i, n = get_hist_dims(dims); |
| |
| assert( image->nChannels == 3 && m_hist != 0 ); |
| |
| if( !m_temp || !m_mask || !m_color_planes[0] || !m_color_planes[n-1] || !m_back_project || |
| m_temp->width != size.width || m_temp->height != size.height || |
| m_temp->nChannels != 3 ) |
| { |
| cvReleaseImage( &m_temp ); |
| m_temp = cvCreateImage( size, IPL_DEPTH_8U, 3 ); |
| cvReleaseImage( &m_mask ); |
| m_mask = cvCreateImage( size, IPL_DEPTH_8U, 1 ); |
| cvReleaseImage( &m_back_project ); |
| m_back_project = cvCreateImage( size, IPL_DEPTH_8U, 1 ); |
| for( i = 0; i < CV_MAX_DIM; i++ ) |
| { |
| cvReleaseImage( &m_color_planes[i] ); |
| if( i < n ) |
| m_color_planes[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 ); |
| } |
| } |
| |
| cvCvtColor( image, m_temp, CV_BGR2HSV ); |
| cvGetRawData( m_temp, &color_data, &color_step, &size ); |
| cvGetRawData( m_mask, &mask, &mask_step, &size ); |
| |
| for( i = 0; i < n; i++ ) |
| cvGetRawData( m_color_planes[i], &planes[i], &plane_step, &size ); |
| |
| for( ; size.height--; color_data += color_step, mask += mask_step ) |
| { |
| for( x = 0; x < size.width; x++ ) |
| { |
| int val0 = color_data[x*3]; |
| int val1 = color_data[x*3+1]; |
| int val2 = color_data[x*3+2]; |
| if( m_min_ch_val[0] <= val0 && val0 <= m_max_ch_val[0] && |
| m_min_ch_val[1] <= val1 && val1 <= m_max_ch_val[1] && |
| m_min_ch_val[2] <= val2 && val2 <= m_max_ch_val[2] ) |
| { |
| // hue is written to the 0-th plane, saturation - to the 1-st one, |
| // so 1d histogram will automagically correspond to hue-based tracking, |
| // 2d histogram - to saturation-based tracking. |
| planes[0][x] = (uchar)val0; |
| if( n > 1 ) |
| planes[1][x] = (uchar)val1; |
| if( n > 2 ) |
| planes[2][x] = (uchar)val2; |
| |
| mask[x] = (uchar)255; |
| } |
| else |
| { |
| planes[0][x] = 0; |
| if( n > 1 ) |
| planes[1][x] = 0; |
| if( n > 2 ) |
| planes[2][x] = 0; |
| mask[x] = 0; |
| } |
| } |
| for( i = 0; i < n; i++ ) |
| planes[i] += plane_step; |
| } |
| } |
| |
| |
| bool |
| CvCamShiftTracker::update_histogram( const IplImage* cur_frame ) |
| { |
| float max_val = 0; |
| int i, dims; |
| |
| if( m_comp.rect.width == 0 || m_comp.rect.height == 0 || |
| m_hist == 0 ) |
| { |
| assert(0); |
| return false; |
| } |
| |
| color_transform(cur_frame); |
| |
| dims = cvGetDims( m_hist->bins ); |
| for( i = 0; i < dims; i++ ) |
| cvSetImageROI( m_color_planes[i], m_comp.rect ); |
| cvSetImageROI( m_mask, m_comp.rect ); |
| |
| cvSetHistBinRanges( m_hist, m_hist_ranges, 1 ); |
| cvCalcHist( m_color_planes, m_hist, 0, m_mask ); |
| |
| for( i = 0; i < dims; i++ ) |
| cvSetImageROI( m_color_planes[i], m_comp.rect ); |
| |
| for( i = 0; i < dims; i++ ) |
| cvResetImageROI( m_color_planes[i] ); |
| cvResetImageROI( m_mask ); |
| |
| cvGetMinMaxHistValue( m_hist, 0, &max_val ); |
| cvScale( m_hist->bins, m_hist->bins, max_val ? 255. / max_val : 0. ); |
| |
| return max_val != 0; |
| } |
| |
| |
| void |
| CvCamShiftTracker::reset_histogram() |
| { |
| if( m_hist ) |
| cvClearHist( m_hist ); |
| } |
| |
| |
| bool |
| CvCamShiftTracker::track_object( const IplImage* cur_frame ) |
| { |
| CvRect rect; |
| CvSize bp_size; |
| |
| union |
| { |
| void** arr; |
| IplImage** img; |
| } u; |
| |
| if( m_comp.rect.width == 0 || m_comp.rect.height == 0 || |
| m_hist == 0 ) |
| { |
| return false; |
| } |
| |
| color_transform( cur_frame ); |
| u.img = m_color_planes; |
| cvCalcArrBackProject( u.arr, m_back_project, m_hist ); |
| cvAnd( m_back_project, m_mask, m_back_project ); |
| |
| rect = m_comp.rect; |
| bp_size = cvGetSize( m_back_project ); |
| if( rect.x < 0 ) |
| rect.x = 0; |
| if( rect.x + rect.width > bp_size.width ) |
| rect.width = bp_size.width - rect.x; |
| if( rect.y < 0 ) |
| rect.y = 0; |
| if( rect.y + rect.height > bp_size.height ) |
| rect.height = bp_size.height - rect.y; |
| |
| cvCamShift( m_back_project, rect, |
| cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ), |
| &m_comp, &m_box ); |
| |
| if( m_comp.rect.width == 0 || m_comp.rect.height == 0 ) |
| m_comp.rect = rect; // do not allow tracker to loose the object |
| |
| return m_comp.rect.width != 0 && m_comp.rect.height != 0; |
| } |
| |
| |
| bool |
| CvCamShiftTracker::set_hist_dims( int c_dims, int *dims ) |
| { |
| if( (unsigned)(c_dims-1) >= (unsigned)CV_MAX_DIM || dims == 0 ) |
| return false; |
| |
| if( m_hist ) |
| { |
| int dims2[CV_MAX_DIM]; |
| int c_dims2 = cvGetDims( m_hist->bins, dims2 ); |
| |
| if( c_dims2 == c_dims && memcmp( dims, dims2, c_dims*sizeof(dims[0])) == 0 ) |
| return true; |
| |
| cvReleaseHist( &m_hist ); |
| } |
| |
| m_hist = cvCreateHist( c_dims, dims, CV_HIST_ARRAY, 0, 0 ); |
| |
| return true; |
| } |
| |
| |
| bool |
| CvCamShiftTracker::set_hist_bin_range( int channel, int min_val, int max_val ) |
| { |
| if( (unsigned)channel >= (unsigned)CV_MAX_DIM || |
| min_val >= max_val || min_val < 0 || max_val > 256 ) |
| { |
| assert(0); |
| return false; |
| } |
| |
| m_hist_ranges[channel][0] = (float)min_val; |
| m_hist_ranges[channel][1] = (float)max_val; |
| |
| return true; |
| } |
| |
| /* End of file. */ |
