1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // Intel License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000, Intel Corporation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of Intel Corporation may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 //M*/ 41 #include "_cvaux.h" 42 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 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 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 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 194 CvCamShiftTracker::reset_histogram() 195 { 196 if( m_hist ) 197 cvClearHist( m_hist ); 198 } 199 200 201 bool 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 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 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
