#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 );}voidCvCamShiftTracker::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; }}boolCvCamShiftTracker::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;}voidCvCamShiftTracker::reset_histogram(){ if( m_hist ) cvClearHist( m_hist );}boolCvCamShiftTracker::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;}boolCvCamShiftTracker::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;}boolCvCamShiftTracker::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. */
