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10 // Intel License Agreement
11 // For Open Source Computer Vision Library
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40 //M*/
41 #include "_cvaux.h"
42
CvCamShiftTracker()43 CvCamShiftTracker::CvCamShiftTracker()
44 {
45 int i;
46
47 memset( &m_box, 0, sizeof(m_box));
48 memset( &m_comp, 0, sizeof(m_comp));
49 memset( m_color_planes, 0, sizeof(m_color_planes));
50 m_threshold = 0;
51
52 for( i = 0; i < CV_MAX_DIM; i++ )
53 {
54 m_min_ch_val[i] = 0;
55 m_max_ch_val[i] = 255;
56 m_hist_ranges[i] = m_hist_ranges_data[i];
57 m_hist_ranges[i][0] = 0.f;
58 m_hist_ranges[i][1] = 256.f;
59 }
60
61 m_hist = 0;
62 m_back_project = 0;
63 m_temp = 0;
64 m_mask = 0;
65 }
66
67
~CvCamShiftTracker()68 CvCamShiftTracker::~CvCamShiftTracker()
69 {
70 int i;
71
72 cvReleaseHist( &m_hist );
73 for( i = 0; i < CV_MAX_DIM; i++ )
74 cvReleaseImage( &m_color_planes[i] );
75 cvReleaseImage( &m_back_project );
76 cvReleaseImage( &m_temp );
77 cvReleaseImage( &m_mask );
78 }
79
80
81 void
color_transform(const IplImage * image)82 CvCamShiftTracker::color_transform( const IplImage* image )
83 {
84 CvSize size = cvGetSize(image);
85 uchar* color_data = 0, *mask = 0;
86 uchar* planes[CV_MAX_DIM];
87 int x, color_step = 0, plane_step = 0, mask_step;
88 int dims[CV_MAX_DIM];
89 int i, n = get_hist_dims(dims);
90
91 assert( image->nChannels == 3 && m_hist != 0 );
92
93 if( !m_temp || !m_mask || !m_color_planes[0] || !m_color_planes[n-1] || !m_back_project ||
94 m_temp->width != size.width || m_temp->height != size.height ||
95 m_temp->nChannels != 3 )
96 {
97 cvReleaseImage( &m_temp );
98 m_temp = cvCreateImage( size, IPL_DEPTH_8U, 3 );
99 cvReleaseImage( &m_mask );
100 m_mask = cvCreateImage( size, IPL_DEPTH_8U, 1 );
101 cvReleaseImage( &m_back_project );
102 m_back_project = cvCreateImage( size, IPL_DEPTH_8U, 1 );
103 for( i = 0; i < CV_MAX_DIM; i++ )
104 {
105 cvReleaseImage( &m_color_planes[i] );
106 if( i < n )
107 m_color_planes[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
108 }
109 }
110
111 cvCvtColor( image, m_temp, CV_BGR2HSV );
112 cvGetRawData( m_temp, &color_data, &color_step, &size );
113 cvGetRawData( m_mask, &mask, &mask_step, &size );
114
115 for( i = 0; i < n; i++ )
116 cvGetRawData( m_color_planes[i], &planes[i], &plane_step, &size );
117
118 for( ; size.height--; color_data += color_step, mask += mask_step )
119 {
120 for( x = 0; x < size.width; x++ )
121 {
122 int val0 = color_data[x*3];
123 int val1 = color_data[x*3+1];
124 int val2 = color_data[x*3+2];
125 if( m_min_ch_val[0] <= val0 && val0 <= m_max_ch_val[0] &&
126 m_min_ch_val[1] <= val1 && val1 <= m_max_ch_val[1] &&
127 m_min_ch_val[2] <= val2 && val2 <= m_max_ch_val[2] )
128 {
129 // hue is written to the 0-th plane, saturation - to the 1-st one,
130 // so 1d histogram will automagically correspond to hue-based tracking,
131 // 2d histogram - to saturation-based tracking.
132 planes[0][x] = (uchar)val0;
133 if( n > 1 )
134 planes[1][x] = (uchar)val1;
135 if( n > 2 )
136 planes[2][x] = (uchar)val2;
137
138 mask[x] = (uchar)255;
139 }
140 else
141 {
142 planes[0][x] = 0;
143 if( n > 1 )
144 planes[1][x] = 0;
145 if( n > 2 )
146 planes[2][x] = 0;
147 mask[x] = 0;
148 }
149 }
150 for( i = 0; i < n; i++ )
151 planes[i] += plane_step;
152 }
153 }
154
155
156 bool
update_histogram(const IplImage * cur_frame)157 CvCamShiftTracker::update_histogram( const IplImage* cur_frame )
158 {
159 float max_val = 0;
160 int i, dims;
161
162 if( m_comp.rect.width == 0 || m_comp.rect.height == 0 ||
163 m_hist == 0 )
164 {
165 assert(0);
166 return false;
167 }
168
169 color_transform(cur_frame);
170
171 dims = cvGetDims( m_hist->bins );
172 for( i = 0; i < dims; i++ )
173 cvSetImageROI( m_color_planes[i], m_comp.rect );
174 cvSetImageROI( m_mask, m_comp.rect );
175
176 cvSetHistBinRanges( m_hist, m_hist_ranges, 1 );
177 cvCalcHist( m_color_planes, m_hist, 0, m_mask );
178
179 for( i = 0; i < dims; i++ )
180 cvSetImageROI( m_color_planes[i], m_comp.rect );
181
182 for( i = 0; i < dims; i++ )
183 cvResetImageROI( m_color_planes[i] );
184 cvResetImageROI( m_mask );
185
186 cvGetMinMaxHistValue( m_hist, 0, &max_val );
187 cvScale( m_hist->bins, m_hist->bins, max_val ? 255. / max_val : 0. );
188
189 return max_val != 0;
190 }
191
192
193 void
reset_histogram()194 CvCamShiftTracker::reset_histogram()
195 {
196 if( m_hist )
197 cvClearHist( m_hist );
198 }
199
200
201 bool
track_object(const IplImage * cur_frame)202 CvCamShiftTracker::track_object( const IplImage* cur_frame )
203 {
204 CvRect rect;
205 CvSize bp_size;
206
207 union
208 {
209 void** arr;
210 IplImage** img;
211 } u;
212
213 if( m_comp.rect.width == 0 || m_comp.rect.height == 0 ||
214 m_hist == 0 )
215 {
216 return false;
217 }
218
219 color_transform( cur_frame );
220 u.img = m_color_planes;
221 cvCalcArrBackProject( u.arr, m_back_project, m_hist );
222 cvAnd( m_back_project, m_mask, m_back_project );
223
224 rect = m_comp.rect;
225 bp_size = cvGetSize( m_back_project );
226 if( rect.x < 0 )
227 rect.x = 0;
228 if( rect.x + rect.width > bp_size.width )
229 rect.width = bp_size.width - rect.x;
230 if( rect.y < 0 )
231 rect.y = 0;
232 if( rect.y + rect.height > bp_size.height )
233 rect.height = bp_size.height - rect.y;
234
235 cvCamShift( m_back_project, rect,
236 cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
237 &m_comp, &m_box );
238
239 if( m_comp.rect.width == 0 || m_comp.rect.height == 0 )
240 m_comp.rect = rect; // do not allow tracker to loose the object
241
242 return m_comp.rect.width != 0 && m_comp.rect.height != 0;
243 }
244
245
246 bool
set_hist_dims(int c_dims,int * dims)247 CvCamShiftTracker::set_hist_dims( int c_dims, int *dims )
248 {
249 if( (unsigned)(c_dims-1) >= (unsigned)CV_MAX_DIM || dims == 0 )
250 return false;
251
252 if( m_hist )
253 {
254 int dims2[CV_MAX_DIM];
255 int c_dims2 = cvGetDims( m_hist->bins, dims2 );
256
257 if( c_dims2 == c_dims && memcmp( dims, dims2, c_dims*sizeof(dims[0])) == 0 )
258 return true;
259
260 cvReleaseHist( &m_hist );
261 }
262
263 m_hist = cvCreateHist( c_dims, dims, CV_HIST_ARRAY, 0, 0 );
264
265 return true;
266 }
267
268
269 bool
set_hist_bin_range(int channel,int min_val,int max_val)270 CvCamShiftTracker::set_hist_bin_range( int channel, int min_val, int max_val )
271 {
272 if( (unsigned)channel >= (unsigned)CV_MAX_DIM ||
273 min_val >= max_val || min_val < 0 || max_val > 256 )
274 {
275 assert(0);
276 return false;
277 }
278
279 m_hist_ranges[channel][0] = (float)min_val;
280 m_hist_ranges[channel][1] = (float)max_val;
281
282 return true;
283 }
284
285 /* End of file. */
286