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// For Open Source Computer Vision Library
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#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. */