+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2002, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-
-// ////////////////////////////////////////////////////////////////////////////
-// BlobTracker.cpp
-//
-// This file contains the bulk of the implementation of the
-// BlobTracker class.
-//
-// ////////////////////////////////////////////////////////////////////////////
-
-#include <stack>
-#include <algorithm>
-#include <comcat.h>
-#include "cvstreams.h"
-#include "BlobTracker.h"
-#include "BlobTrkObject.h"
-#include "BlobTrackerPropertyPage.h"
-
-static void FloodFill(unsigned char *image, int width, int height, int start_x, int start_y, int new_color, CvRect &rect, int &area);
-
-
-//
-// CreateInstance
-//
-// Used by the DirectShow base classes to create instances
-//
-CUnknown *BlobTracker::CreateInstance(IUnknown *outer, HRESULT *phr)
-{
- CUnknown *punk = new BlobTracker(outer, phr);
- if (punk == NULL) {
- *phr = E_OUTOFMEMORY;
- }
- return punk;
-
-}
-
-
-// ////////////////////////////////////////////////////////////////////////////
-// BlobTracker::BlobTracker()
-//
-// Constructor.
-//
-// ////////////////////////////////////////////////////////////////////////////
-BlobTracker::BlobTracker(IUnknown *outer, HRESULT *phr)
- : CUnknown(NAME("Blob Tracker"), outer)
-{
- // Set member variables to defaults
- m_output_options = IBlobTracker::OUTPUT_CROSSHAIRS;
- m_num_objects = 0;
- m_pixel_threshold = 99;
- m_size_threshold = 3;
- m_distance_threshold = 80;
- m_image = NULL;
- m_tmp_image = NULL;
- m_objects = new BlobTrackerObjectList;
-}
-
-// ////////////////////////////////////////////////////////////////////////////
-// BlobTracker::~BlobTracker()
-//
-// Destructor.
-//
-// ////////////////////////////////////////////////////////////////////////////
-BlobTracker::~BlobTracker()
-{
- cvReleaseImage( &m_image );
- cvReleaseImage( &m_tmp_image );
-
- delete m_objects;
-}
-
-
-HRESULT BlobTracker::NonDelegatingQueryInterface(REFIID iid, void **ppv)
-{
- if (iid == IID_IBlobTracker)
- return GetInterface((IUnknown *)(void *)static_cast<IBlobTracker *>(this), ppv);
-
- if (iid == IID_ITracker)
- return GetInterface((IUnknown *)(void *)static_cast<ITracker *>(this), ppv);
-
- return CUnknown::NonDelegatingQueryInterface(iid, ppv);
-}
-
-
-// ITracker methods
-
-STDMETHODIMP BlobTracker::CheckFormat(IplImage *image_header)
-{
- if (image_header->depth != IPL_DEPTH_8U
- || image_header->width % 4 != 0)
- {
- return E_FAIL;
- }
-
- if (image_header->nChannels == 1
- && strncmp(image_header->colorModel, "GRAY", 4) == 0)
- {
- return NOERROR;
- }
-
- if (image_header->nChannels == 3
- && strncmp(image_header->colorModel, "RGB", 3) == 0)
- {
- return NOERROR;
- }
-
- return E_FAIL;
-}
-
-STDMETHODIMP BlobTracker::SetFormat(IplImage *image_header)
-{
- HRESULT hr = CheckFormat(image_header);
- if (FAILED(hr))
- return E_FAIL;
-
- m_image_format = *image_header;
-
- m_image = cvCreateImage( cvSize(image_header->width,image_header->height), IPL_DEPTH_8U, 1 );
- m_image->origin = image_header->origin;
-
- if (image_header->nChannels != 1)
- {
- m_tmp_image = cvCreateImage( cvSize(image_header->width,image_header->height), IPL_DEPTH_8U, 1 );
- m_image->origin = image_header->origin;
- }
-
- return NOERROR;
-}
-
-
-STDMETHODIMP BlobTracker::SetNumberOfObjects(int num_objects)
-{
- if (num_objects < 1)
- return E_FAIL;
-
- m_num_objects = num_objects;
-
- return NOERROR;
-}
-
-STDMETHODIMP BlobTracker::GetPropertyPage(GUID *page)
-{
- *page = CLSID_BlobTrackerPropertyPage;
- return NOERROR;
-}
-
-// ////////////////////////////////////////////////////////////////////////////
-// BlobTracker::Process()
-//
-// Performs the processing of one frame.
-//
-// Inputs:
-// Input frame data (src)
-//
-// ////////////////////////////////////////////////////////////////////////////
-
-static inline bool MatchFormat(IplImage *image, IplImage *format)
-{
- return (image->nChannels == format->nChannels
- && image->width == format->width
- && image->height == format->height
- && image->depth == format->depth
- && image->dataOrder == format->dataOrder
- && image->origin == format->origin
- && strncmp(image->channelSeq, format->channelSeq, 4) == 0);
-
-}
-
-// Used for sorting in descending order by size
-static inline bool size_cmp(const BlobTrackerObject &o1, const BlobTrackerObject &o2)
-{
- return o1.GetSize() > o2.GetSize();
-}
-
-// compute the square of the distance between two points.
-static inline int distance(const CvPoint &p1, const CvPoint &p2)
-{
- int dx = p1.x - p2.x;
- int dy = p1.y - p2.y;
- return dx*dx + dy*dy;
-}
-
-static inline bool InRect(const CvRect &rect, const CvPoint &p)
-{
- return (p.x >= rect.x && p.x < rect.x + rect.width
- && p.y >= rect.y && p.y < rect.y + rect.height);
-}
-
-STDMETHODIMP BlobTracker::Process(IplImage *image)
-{
- // Make sure we've gone through our initialization stage
- if (m_image == NULL || m_num_objects == 0)
- return E_FAIL;
-
- // Make sure the image format matches what is expected.
- if (!MatchFormat(image, &m_image_format))
- return E_FAIL;
-
- // Convert the image to gray if required.
- IplImage *gray_image = image;
- if (image->nChannels != 1)
- {
- cvCvtColor(image, m_tmp_image, CV_BGR2GRAY );
- gray_image = m_tmp_image;
- }
-
- // Dilation or blurring of the image enlarges small points to make them more visible
- // and connects any points with gaps so they become a single point.
- // Blurring has the advantage that it helps filter out noise, whereas dilation
- // exacerbates noise. However, blurring reduces the intensity of the bright spots,
- // so the threshold must be set lower.
- // Since background noise isn't a big problem with the cameras we use, on the
- // whole we determined that dilation improves tracking.
- cvDilate(gray_image, m_image, 0, 2);
- //iplBlur(gray_image, m_image, 3, 3, 1, 1);
-
-
- // Copy the modified image back into the input image, so the
- // image seen in the video window is the one that is actually processed.
- // This is fairly expensive, especially if color conversion is required
- // (i.e, if the input image is RGB); this step may be eliminated with no
- // loss of tracking functionality, in which case the video window will
- // show the original image rather than the processed image. (Crosshairs
- // are drawn on the input image in any case.)
- if (image->nChannels == 1)
- cvCopy(m_image, image);
- else
- cvCvtColor(m_image, image, CV_GRAY2BGR );
-
-
- // Search the frame for bright spots.
- BlobTrackerObjectList new_objects;
- FindObjects(new_objects);
-
-
- // Match up the objects just found with the ones found previously,
- // to try to achieve continuity of object ids across frames.
- BlobTrackerObjectList old_objects = *m_objects;
- m_objects->clear();
- unsigned long matched = 0;
- for (BlobTrackerObjectList::iterator old = old_objects.begin(); old != old_objects.end(); )
- {
- int min_d = m_distance_threshold;
- BlobTrackerObjectList::iterator min_o = new_objects.end();
- for (BlobTrackerObjectList::iterator o = new_objects.begin(); o != new_objects.end(); o++)
- {
- if (InRect(old->GetRect(), o->GetCenter()))
- {
- min_o = o;
- break;
- }
-
- int d = distance(o->GetCenter(), old->GetCenter());
- if (d < min_d)
- {
- min_d = d;
- min_o = o;
- }
- }
-
- if (min_o != new_objects.end())
- {
- int id = old->GetId();
-
- min_o->SetId(id);
- matched |= 1 << id;
- m_objects->push_back(*min_o);
- new_objects.erase(min_o);
- old_objects.erase(old);
- }
- else
- {
- old++;
- }
- }
-
-
- // For any objects that weren't matched up, assign ids in
- // order of decreasing size.
- if (m_objects->size() < m_num_objects && new_objects.size() > 0)
- {
- std::sort(new_objects.begin(), new_objects.end(), size_cmp);
-
- int id = 0;
- for (BlobTrackerObjectList::iterator o = new_objects.begin();
- o != new_objects.end() && m_objects->size() < m_num_objects;
- o++)
- {
- while (matched & (1 << id))
- id++;
- o->SetId(id);
- id++;
- m_objects->push_back(*o);
- }
- }
-
- // Generate output frame
- FillDestinationData(image);
-
- return NOERROR;
-}
-
-
-// (These functions are not very efficient, but they are called rarely enough
-// that it is not a big impact on performance.)
-static inline int GetPixel(const unsigned char *image, int width, int x, int y)
-{
- return image[y*width + x];
-}
-
-static inline void SetPixel(unsigned char *image, int width, int x, int y, int color)
-{
- image[y*width + x] = color;
-}
-
-
-// Search the image for spots that meet the brightness and size thresholds.
-void BlobTracker::FindObjects(BlobTrackerObjectList &objects)
-{
- for (int y = 0; y < m_image_format.height; y++)
- {
- for (int x = 0; x < m_image_format.width; x++)
- {
- // Check each pixel to see if it meets the brightness threshold.
- // (This call to GetPixel is the only one that is executed with enough frequency to have
- // any impact on performance, but optimizing it gave minimal performance improvement.)
- if (GetPixel((unsigned char *)m_image->imageData, m_image_format.width, x, y) >= m_pixel_threshold)
- {
- // Find all connected bright pixels. Set them all to black while keeping track
- // of the bounding rectangle and the number of pixels found.
- CvRect rect;
- int area;
- FloodFill((unsigned char *)m_image->imageData, m_image_format.width, m_image_format.height, x, y, m_pixel_threshold, rect, area);
-
- // Ignore any spots that don't meet the size threshold.
- if (area >= m_size_threshold)
- objects.push_back(BlobTrackerObject(rect, area));
- }
- }
- }
-}
-
-
-// Filled horizontal segment of scanline y for xl$<=$x$<=$xr.
-// Parent segment was on line y-dy. dy=l or -1
-struct Segment
-{
- int y, xl, xr, dy;
- Segment(int a, int b, int c, int d) : y(a), xl(b), xr(c), dy(d) { };
-};
-
-static inline void push(std::stack<Segment> &stack, int height, int y, int xl, int xr, int dy)
-{
- y += dy;
- if (y >= 0 && y < height)
- stack.push(Segment(y, xl, xr, dy));
-}
-
-
-static inline void SetPixel(unsigned char *image, int width, int x, int y, int color, CvRect &rect, int &area)
-{
- if (x < rect.x)
- rect.x = x;
- else if (x >= rect.x+rect.width)
- rect.width = x+1-rect.x;
- if (y < rect.y)
- rect.y = y;
- else if (y >= rect.y+rect.height)
- rect.height = y+1-rect.y;
- SetPixel(image, width, x, y, color);
- area++;
-}
-
-#define GET_PIXEL(x, y) GetPixel(image, width, x, y)
-#define SET_PIXEL(x, y) SetPixel(image, width, x, y, 0, rect, area)
-#define PUSH(y, xl, xr, dy) push(stack, height, y, xl, xr, dy)
-
-
-// FloodFill: set the pixel at (x,y) and all of its 4-connected neighbors
-// that meet the brightness threshold to zero while keeping track
-// of the bounding rectangle and the number of pixels found.
-// A 4-connected neighbor is a pixel above, below, left, or right of
-// a pixel.
-// Algorithm adapted from one by Paul Heckbert 13 Sept 1982, 28 Jan 1987.
-
-static void FloodFill(unsigned char *image, int width, int height, int start_x, int start_y, int threshold, CvRect &rect, int &area)
-{
- CvRect init_rect = { start_x, start_y, 1, 1 };
- rect = init_rect;
- area = 0;
-
- std::stack<Segment> stack;
- PUSH(start_y, start_x, start_x, 1); /* needed in some cases */
- PUSH(start_y+1, start_x, start_x, -1); /* seed segment (popped 1st) */
-
- while (!stack.empty())
- {
- /* pop segment off stack and fill a neighboring scan line */
- const Segment seg = stack.top();
- stack.pop();
-
- // segment of scan line y-dy for xl<=x<=x2 was
- // previously filled,
- // now explore adjacent pixels in scan line y
-
- int l;
- int x;
- for (x = seg.xl; x >= 0 && GET_PIXEL(x, seg.y) >= threshold; x--)
- SET_PIXEL(x, seg.y);
-
- if (x >= seg.xl)
- goto skip;
- l = x+1;
- if (l < seg.xl)
- PUSH(seg.y, l, seg.xl-1, -seg.dy); /* leak on left? */
- x = seg.xl+1;
- do {
- for (; x < width && GET_PIXEL(x, seg.y) >= threshold; x++)
- SET_PIXEL(x, seg.y);
- PUSH(seg.y, l, x-1, seg.dy);
- if (x > seg.xr+1)
- PUSH(seg.y, seg.xr+1, x-1, -seg.dy); /* leak on right? */
-skip:
- for (x++; x <= seg.xr && GET_PIXEL(x, seg.y) < threshold; x++)
- ;
- l = x;
- } while (x <= seg.xr);
- }
-}
-
-
-// Registration information
-
-// List of class IDs and creator functions for the class factory. This
-// provides the link between the COM entry point in the DLL and an object
-// being created. The class factory will call the static CreateInstance.
-
-CFactoryTemplate g_Templates[] = {
- { L"Blob Tracker", &CLSID_BlobTracker, BlobTracker::CreateInstance },
- { L"Blob Tracker Property Page", &CLSID_BlobTrackerPropertyPage, BlobTrackerPropertyPage::CreateInstance }
-};
-int g_cTemplates = sizeof(g_Templates) / sizeof(g_Templates[0]);
-
-
-//
-// DllRegisterServer
-//
-// Register the COM objects (the tracker and the property page).
-// Also add the tracker to the "Video Trackers" component category.
-STDAPI DllRegisterServer()
-{
- HRESULT hr = AMovieDllRegisterServer2( TRUE );
- if (FAILED(hr))
- return hr;
-
- ICatRegister *reg;
- hr = CoCreateInstance(CLSID_StdComponentCategoriesMgr, NULL, CLSCTX_ALL, IID_ICatRegister, (void **)®);
- if (FAILED(hr))
- return hr;
-
- CATEGORYINFO catinfo;
- catinfo.catid = CATID_Trackers;
- catinfo.lcid = 0x409;
- wcscpy(catinfo.szDescription, L"Video Trackers");
- reg->RegisterCategories(1, &catinfo);
- reg->RegisterClassImplCategories(CLSID_BlobTracker, 1, const_cast<GUID *>(&CATID_Trackers));
-
- reg->Release();
-
- return NOERROR;
-} // DllRegisterServer
-
-
-//
-// DllUnregisterServer
-//
-// Unregister the COM objects (the tracker and the property page).
-// Also remove the tracker from the "Video Trackers" component category.
-STDAPI DllUnregisterServer()
-{
- HRESULT hr = AMovieDllRegisterServer2( FALSE );
- if (FAILED(hr))
- return hr;
-
- ICatRegister *reg;
- hr = CoCreateInstance(CLSID_StdComponentCategoriesMgr, NULL, CLSCTX_ALL, IID_ICatRegister, (void **)®);
- if (FAILED(hr))
- return hr;
-
- reg->UnRegisterClassImplCategories(CLSID_BlobTracker, 1, const_cast<GUID *>(&CATID_Trackers));
-
- reg->Release();
-
- return NOERROR;
-} // DllUnregisterServer
projects / opencv / blobdiff