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 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000, Intel Corporation, all rights reserved. 14 // Copyright (C) 2013, OpenCV Foundation, all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of Intel Corporation may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 #include "precomp.hpp" 43 44 int cv::meanShift( InputArray _probImage, Rect& window, TermCriteria criteria ) 45 { 46 Size size; 47 int cn; 48 Mat mat; 49 UMat umat; 50 bool isUMat = _probImage.isUMat(); 51 52 if (isUMat) 53 umat = _probImage.getUMat(), cn = umat.channels(), size = umat.size(); 54 else 55 mat = _probImage.getMat(), cn = mat.channels(), size = mat.size(); 56 57 Rect cur_rect = window; 58 59 CV_Assert( cn == 1 ); 60 61 if( window.height <= 0 || window.width <= 0 ) 62 CV_Error( Error::StsBadArg, "Input window has non-positive sizes" ); 63 64 window = window & Rect(0, 0, size.width, size.height); 65 66 double eps = (criteria.type & TermCriteria::EPS) ? std::max(criteria.epsilon, 0.) : 1.; 67 eps = cvRound(eps*eps); 68 int i, niters = (criteria.type & TermCriteria::MAX_ITER) ? std::max(criteria.maxCount, 1) : 100; 69 70 for( i = 0; i < niters; i++ ) 71 { 72 cur_rect = cur_rect & Rect(0, 0, size.width, size.height); 73 if( cur_rect == Rect() ) 74 { 75 cur_rect.x = size.width/2; 76 cur_rect.y = size.height/2; 77 } 78 cur_rect.width = std::max(cur_rect.width, 1); 79 cur_rect.height = std::max(cur_rect.height, 1); 80 81 Moments m = isUMat ? moments(umat(cur_rect)) : moments(mat(cur_rect)); 82 83 // Calculating center of mass 84 if( fabs(m.m00) < DBL_EPSILON ) 85 break; 86 87 int dx = cvRound( m.m10/m.m00 - window.width*0.5 ); 88 int dy = cvRound( m.m01/m.m00 - window.height*0.5 ); 89 90 int nx = std::min(std::max(cur_rect.x + dx, 0), size.width - cur_rect.width); 91 int ny = std::min(std::max(cur_rect.y + dy, 0), size.height - cur_rect.height); 92 93 dx = nx - cur_rect.x; 94 dy = ny - cur_rect.y; 95 cur_rect.x = nx; 96 cur_rect.y = ny; 97 98 // Check for coverage centers mass & window 99 if( dx*dx + dy*dy < eps ) 100 break; 101 } 102 103 window = cur_rect; 104 return i; 105 } 106 107 108 cv::RotatedRect cv::CamShift( InputArray _probImage, Rect& window, 109 TermCriteria criteria ) 110 { 111 const int TOLERANCE = 10; 112 Size size; 113 Mat mat; 114 UMat umat; 115 bool isUMat = _probImage.isUMat(); 116 117 if (isUMat) 118 umat = _probImage.getUMat(), size = umat.size(); 119 else 120 mat = _probImage.getMat(), size = mat.size(); 121 122 meanShift( _probImage, window, criteria ); 123 124 window.x -= TOLERANCE; 125 if( window.x < 0 ) 126 window.x = 0; 127 128 window.y -= TOLERANCE; 129 if( window.y < 0 ) 130 window.y = 0; 131 132 window.width += 2 * TOLERANCE; 133 if( window.x + window.width > size.width ) 134 window.width = size.width - window.x; 135 136 window.height += 2 * TOLERANCE; 137 if( window.y + window.height > size.height ) 138 window.height = size.height - window.y; 139 140 // Calculating moments in new center mass 141 Moments m = isUMat ? moments(umat(window)) : moments(mat(window)); 142 143 double m00 = m.m00, m10 = m.m10, m01 = m.m01; 144 double mu11 = m.mu11, mu20 = m.mu20, mu02 = m.mu02; 145 146 if( fabs(m00) < DBL_EPSILON ) 147 return RotatedRect(); 148 149 double inv_m00 = 1. / m00; 150 int xc = cvRound( m10 * inv_m00 + window.x ); 151 int yc = cvRound( m01 * inv_m00 + window.y ); 152 double a = mu20 * inv_m00, b = mu11 * inv_m00, c = mu02 * inv_m00; 153 154 // Calculating width & height 155 double square = std::sqrt( 4 * b * b + (a - c) * (a - c) ); 156 157 // Calculating orientation 158 double theta = atan2( 2 * b, a - c + square ); 159 160 // Calculating width & length of figure 161 double cs = cos( theta ); 162 double sn = sin( theta ); 163 164 double rotate_a = cs * cs * mu20 + 2 * cs * sn * mu11 + sn * sn * mu02; 165 double rotate_c = sn * sn * mu20 - 2 * cs * sn * mu11 + cs * cs * mu02; 166 double length = std::sqrt( rotate_a * inv_m00 ) * 4; 167 double width = std::sqrt( rotate_c * inv_m00 ) * 4; 168 169 // In case, when tetta is 0 or 1.57... the Length & Width may be exchanged 170 if( length < width ) 171 { 172 std::swap( length, width ); 173 std::swap( cs, sn ); 174 theta = CV_PI*0.5 - theta; 175 } 176 177 // Saving results 178 int _xc = cvRound( xc ); 179 int _yc = cvRound( yc ); 180 181 int t0 = cvRound( fabs( length * cs )); 182 int t1 = cvRound( fabs( width * sn )); 183 184 t0 = MAX( t0, t1 ) + 2; 185 window.width = MIN( t0, (size.width - _xc) * 2 ); 186 187 t0 = cvRound( fabs( length * sn )); 188 t1 = cvRound( fabs( width * cs )); 189 190 t0 = MAX( t0, t1 ) + 2; 191 window.height = MIN( t0, (size.height - _yc) * 2 ); 192 193 window.x = MAX( 0, _xc - window.width / 2 ); 194 window.y = MAX( 0, _yc - window.height / 2 ); 195 196 window.width = MIN( size.width - window.x, window.width ); 197 window.height = MIN( size.height - window.y, window.height ); 198 199 RotatedRect box; 200 box.size.height = (float)length; 201 box.size.width = (float)width; 202 box.angle = (float)((CV_PI*0.5+theta)*180./CV_PI); 203 while(box.angle < 0) 204 box.angle += 360; 205 while(box.angle >= 360) 206 box.angle -= 360; 207 if(box.angle >= 180) 208 box.angle -= 180; 209 box.center = Point2f( window.x + window.width*0.5f, window.y + window.height*0.5f); 210 211 return box; 212 } 213 214 /* End of file. */ 215
