+++ /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) 2000, 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:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's 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*/
-
-#include "_cv.h"
-
-IPCVAPI_IMPL( CvStatus, icvUpdateMotionHistory_8u32f_C1IR,
- (const uchar * silIm, int silStep, float *mhiIm, int mhiStep,
- CvSize size, float timestamp, float mhi_duration),
- (silIm, silStep, mhiIm, mhiStep, size, timestamp, mhi_duration) )
-{
- int x, y;
-
- /* function processes floating-point images using integer arithmetics */
- Cv32suf v;
- int ts, delbound;
- int *mhi = (int *) mhiIm;
-
- v.f = timestamp;
- ts = v.i;
-
- if( !silIm || !mhiIm )
- return CV_NULLPTR_ERR;
-
- if( size.height <= 0 || size.width <= 0 ||
- silStep < size.width || mhiStep < size.width * CV_SIZEOF_FLOAT ||
- (mhiStep & (CV_SIZEOF_FLOAT - 1)) != 0 )
- return CV_BADSIZE_ERR;
-
- if( mhi_duration < 0 )
- return CV_BADFACTOR_ERR;
-
- mhi_duration = timestamp - mhi_duration;
-
- v.f = mhi_duration;
- delbound = CV_TOGGLE_FLT( v.i );
-
- mhiStep /= sizeof(mhi[0]);
-
- if( mhiStep == size.width && silStep == size.width )
- {
- size.width *= size.height;
- size.height = 1;
- }
-
- if( delbound > 0 )
- for( y = 0; y < size.height; y++, silIm += silStep, mhi += mhiStep )
- for( x = 0; x < size.width; x++ )
- {
- int val = mhi[x];
-
- /* val = silIm[x] ? ts : val < delbound ? 0 : val; */
- val &= (val < delbound) - 1;
- val ^= (ts ^ val) & ((silIm[x] == 0) - 1);
- mhi[x] = val;
- }
- else
- for( y = 0; y < size.height; y++, silIm += silStep, mhi += mhiStep )
- for( x = 0; x < size.width; x++ )
- {
- int val = mhi[x];
-
- /* val = silIm[x] ? ts : val < delbound ? 0 : val; */
- val &= (CV_TOGGLE_FLT( val ) < delbound) - 1;
- val ^= (ts ^ val) & ((silIm[x] == 0) - 1);
- mhi[x] = val;
- }
-
- return CV_OK;
-}
-
-
-/* motion templates */
-CV_IMPL void
-cvUpdateMotionHistory( const void* silhouette, void* mhimg,
- double timestamp, double mhi_duration )
-{
- CvSize size;
- CvMat silhstub, *silh = (CvMat*)silhouette;
- CvMat mhistub, *mhi = (CvMat*)mhimg;
- int mhi_step, silh_step;
-
- CV_FUNCNAME( "cvUpdateMHIByTime" );
-
- __BEGIN__;
-
- CV_CALL( silh = cvGetMat( silh, &silhstub ));
- CV_CALL( mhi = cvGetMat( mhi, &mhistub ));
-
- if( !CV_IS_MASK_ARR( silh ))
- CV_ERROR( CV_StsBadMask, "" );
-
- if( CV_MAT_CN( mhi->type ) > 1 )
- CV_ERROR( CV_BadNumChannels, "" );
-
- if( CV_MAT_DEPTH( mhi->type ) != CV_32F )
- CV_ERROR( CV_BadDepth, "" );
-
- if( !CV_ARE_SIZES_EQ( mhi, silh ))
- CV_ERROR( CV_StsUnmatchedSizes, "" );
-
- size = cvGetMatSize( mhi );
-
- mhi_step = mhi->step;
- silh_step = silh->step;
-
- if( CV_IS_MAT_CONT( mhi->type & silh->type ))
- {
- size.width *= size.height;
- mhi_step = silh_step = CV_STUB_STEP;
- size.height = 1;
- }
-
- IPPI_CALL( icvUpdateMotionHistory_8u32f_C1IR( (const uchar*)(silh->data.ptr), silh_step,
- mhi->data.fl, mhi_step, size,
- (float)timestamp, (float)mhi_duration ));
- __END__;
-}
-
-
-CV_IMPL void
-cvCalcMotionGradient( const CvArr* mhiimg, CvArr* maskimg,
- CvArr* orientation,
- double delta1, double delta2,
- int aperture_size )
-{
- CvMat *dX_min = 0, *dY_max = 0;
- IplConvKernel* el = 0;
-
- CV_FUNCNAME( "cvCalcMotionGradient" );
-
- __BEGIN__;
-
- CvMat mhistub, *mhi = (CvMat*)mhiimg;
- CvMat maskstub, *mask = (CvMat*)maskimg;
- CvMat orientstub, *orient = (CvMat*)orientation;
- CvMat dX_min_row, dY_max_row, orient_row, mask_row;
- CvSize size;
- int x, y;
-
- float gradient_epsilon = 1e-4f * aperture_size * aperture_size;
- float min_delta, max_delta;
-
- CV_CALL( mhi = cvGetMat( mhi, &mhistub ));
- CV_CALL( mask = cvGetMat( mask, &maskstub ));
- CV_CALL( orient = cvGetMat( orient, &orientstub ));
-
- if( !CV_IS_MASK_ARR( mask ))
- CV_ERROR( CV_StsBadMask, "" );
-
- if( aperture_size < 3 || aperture_size > 7 || (aperture_size & 1) == 0 )
- CV_ERROR( CV_StsOutOfRange, "aperture_size must be 3, 5 or 7" );
-
- if( delta1 <= 0 || delta2 <= 0 )
- CV_ERROR( CV_StsOutOfRange, "both delta's must be positive" );
-
- if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( orient->type ) != CV_32FC1 )
- CV_ERROR( CV_StsUnsupportedFormat,
- "MHI and orientation must be single-channel floating-point images" );
-
- if( !CV_ARE_SIZES_EQ( mhi, mask ) || !CV_ARE_SIZES_EQ( orient, mhi ))
- CV_ERROR( CV_StsUnmatchedSizes, "" );
-
- if( orient->data.ptr == mhi->data.ptr )
- CV_ERROR( CV_StsInplaceNotSupported, "orientation image must be different from MHI" );
-
- if( delta1 > delta2 )
- {
- double t;
- CV_SWAP( delta1, delta2, t );
- }
-
- size = cvGetMatSize( mhi );
- min_delta = (float)delta1;
- max_delta = (float)delta2;
- CV_CALL( dX_min = cvCreateMat( mhi->rows, mhi->cols, CV_32F ));
- CV_CALL( dY_max = cvCreateMat( mhi->rows, mhi->cols, CV_32F ));
-
- /* calc Dx and Dy */
- CV_CALL( cvSobel( mhi, dX_min, 1, 0, aperture_size ));
- CV_CALL( cvSobel( mhi, dY_max, 0, 1, aperture_size ));
- cvGetRow( dX_min, &dX_min_row, 0 );
- cvGetRow( dY_max, &dY_max_row, 0 );
- cvGetRow( orient, &orient_row, 0 );
- cvGetRow( mask, &mask_row, 0 );
-
- /* calc gradient */
- for( y = 0; y < size.height; y++ )
- {
- dX_min_row.data.ptr = dX_min->data.ptr + y*dX_min->step;
- dY_max_row.data.ptr = dY_max->data.ptr + y*dY_max->step;
- orient_row.data.ptr = orient->data.ptr + y*orient->step;
- mask_row.data.ptr = mask->data.ptr + y*mask->step;
- cvCartToPolar( &dX_min_row, &dY_max_row, 0, &orient_row, 1 );
-
- /* make orientation zero where the gradient is very small */
- for( x = 0; x < size.width; x++ )
- {
- float dY = dY_max_row.data.fl[x];
- float dX = dX_min_row.data.fl[x];
-
- if( fabs(dX) < gradient_epsilon && fabs(dY) < gradient_epsilon )
- {
- mask_row.data.ptr[x] = 0;
- orient_row.data.i[x] = 0;
- }
- else
- mask_row.data.ptr[x] = 1;
- }
- }
-
- CV_CALL( el = cvCreateStructuringElementEx( aperture_size, aperture_size,
- aperture_size/2, aperture_size/2, CV_SHAPE_RECT ));
- cvErode( mhi, dX_min, el );
- cvDilate( mhi, dY_max, el );
-
- /* mask off pixels which have little motion difference in their neighborhood */
- for( y = 0; y < size.height; y++ )
- {
- dX_min_row.data.ptr = dX_min->data.ptr + y*dX_min->step;
- dY_max_row.data.ptr = dY_max->data.ptr + y*dY_max->step;
- mask_row.data.ptr = mask->data.ptr + y*mask->step;
- orient_row.data.ptr = orient->data.ptr + y*orient->step;
-
- for( x = 0; x < size.width; x++ )
- {
- float d0 = dY_max_row.data.fl[x] - dX_min_row.data.fl[x];
-
- if( mask_row.data.ptr[x] == 0 || d0 < min_delta || max_delta < d0 )
- {
- mask_row.data.ptr[x] = 0;
- orient_row.data.i[x] = 0;
- }
- }
- }
-
- __END__;
-
- cvReleaseMat( &dX_min );
- cvReleaseMat( &dY_max );
- cvReleaseStructuringElement( &el );
-}
-
-
-CV_IMPL double
-cvCalcGlobalOrientation( const void* orientation, const void* maskimg, const void* mhiimg,
- double curr_mhi_timestamp, double mhi_duration )
-{
- double angle = 0;
- int hist_size = 12;
- CvHistogram* hist = 0;
-
- CV_FUNCNAME( "cvCalcGlobalOrientation" );
-
- __BEGIN__;
-
- CvMat mhistub, *mhi = (CvMat*)mhiimg;
- CvMat maskstub, *mask = (CvMat*)maskimg;
- CvMat orientstub, *orient = (CvMat*)orientation;
- void* _orient;
- float _ranges[] = { 0, 360 };
- float* ranges = _ranges;
- int base_orient;
- double shift_orient = 0, shift_weight = 0, fbase_orient;
- double a, b;
- float delbound;
- CvMat mhi_row, mask_row, orient_row;
- int x, y, mhi_rows, mhi_cols;
-
- CV_CALL( mhi = cvGetMat( mhi, &mhistub ));
- CV_CALL( mask = cvGetMat( mask, &maskstub ));
- CV_CALL( orient = cvGetMat( orient, &orientstub ));
-
- if( !CV_IS_MASK_ARR( mask ))
- CV_ERROR( CV_StsBadMask, "" );
-
- if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( orient->type ) != CV_32FC1 )
- CV_ERROR( CV_StsUnsupportedFormat,
- "MHI and orientation must be single-channel floating-point images" );
-
- if( !CV_ARE_SIZES_EQ( mhi, mask ) || !CV_ARE_SIZES_EQ( orient, mhi ))
- CV_ERROR( CV_StsUnmatchedSizes, "" );
-
- if( mhi_duration <= 0 )
- CV_ERROR( CV_StsOutOfRange, "MHI duration must be positive" );
-
- if( orient->data.ptr == mhi->data.ptr )
- CV_ERROR( CV_StsInplaceNotSupported, "orientation image must be different from MHI" );
-
- // calculate histogram of different orientation values
- CV_CALL( hist = cvCreateHist( 1, &hist_size, CV_HIST_ARRAY, &ranges ));
- _orient = orient;
- cvCalcArrHist( &_orient, hist, 0, mask );
-
- // find the maximum index (the dominant orientation)
- cvGetMinMaxHistValue( hist, 0, 0, 0, &base_orient );
- base_orient *= 360/hist_size;
-
- // override timestamp with the maximum value in MHI
- cvMinMaxLoc( mhi, 0, &curr_mhi_timestamp, 0, 0, mask );
-
- // find the shift relative to the dominant orientation as weighted sum of relative angles
- a = 254. / 255. / mhi_duration;
- b = 1. - curr_mhi_timestamp * a;
- fbase_orient = base_orient;
- delbound = (float)(curr_mhi_timestamp - mhi_duration);
- mhi_rows = mhi->rows;
- mhi_cols = mhi->cols;
-
- if( CV_IS_MAT_CONT( mhi->type & mask->type & orient->type ))
- {
- mhi_cols *= mhi_rows;
- mhi_rows = 1;
- }
-
- cvGetRow( mhi, &mhi_row, 0 );
- cvGetRow( mask, &mask_row, 0 );
- cvGetRow( orient, &orient_row, 0 );
-
- /*
- a = 254/(255*dt)
- b = 1 - t*a = 1 - 254*t/(255*dur) =
- (255*dt - 254*t)/(255*dt) =
- (dt - (t - dt)*254)/(255*dt);
- --------------------------------------------------------
- ax + b = 254*x/(255*dt) + (dt - (t - dt)*254)/(255*dt) =
- (254*x + dt - (t - dt)*254)/(255*dt) =
- ((x - (t - dt))*254 + dt)/(255*dt) =
- (((x - (t - dt))/dt)*254 + 1)/255 = (((x - low_time)/dt)*254 + 1)/255
- */
- for( y = 0; y < mhi_rows; y++ )
- {
- mhi_row.data.ptr = mhi->data.ptr + mhi->step*y;
- mask_row.data.ptr = mask->data.ptr + mask->step*y;
- orient_row.data.ptr = orient->data.ptr + orient->step*y;
-
- for( x = 0; x < mhi_cols; x++ )
- if( mask_row.data.ptr[x] != 0 && mhi_row.data.fl[x] > delbound )
- {
- /*
- orient in 0..360, base_orient in 0..360
- -> (rel_angle = orient - base_orient) in -360..360.
- rel_angle is translated to -180..180
- */
- double weight = mhi_row.data.fl[x] * a + b;
- int rel_angle = cvRound( orient_row.data.fl[x] - fbase_orient );
-
- rel_angle += (rel_angle < -180 ? 360 : 0);
- rel_angle += (rel_angle > 180 ? -360 : 0);
-
- if( abs(rel_angle) < 90 )
- {
- shift_orient += weight * rel_angle;
- shift_weight += weight;
- }
- }
- }
-
- // add the dominant orientation and the relative shift
- if( shift_weight == 0 )
- shift_weight = 0.01;
-
- base_orient = base_orient + cvRound( shift_orient / shift_weight );
- base_orient -= (base_orient < 360 ? 0 : 360);
- base_orient += (base_orient >= 0 ? 0 : 360);
-
- angle = base_orient;
-
- __END__;
-
- cvReleaseHist( &hist );
- return angle;
-}
-
-
-CV_IMPL CvSeq*
-cvSegmentMotion( const CvArr* mhiimg, CvArr* segmask, CvMemStorage* storage,
- double timestamp, double seg_thresh )
-{
- CvSeq* components = 0;
- CvMat* mask8u = 0;
-
- CV_FUNCNAME( "cvSegmentMotion" );
-
- __BEGIN__;
-
- CvMat mhistub, *mhi = (CvMat*)mhiimg;
- CvMat maskstub, *mask = (CvMat*)segmask;
- Cv32suf v, comp_idx;
- int stub_val, ts;
- int x, y;
-
- if( !storage )
- CV_ERROR( CV_StsNullPtr, "NULL memory storage" );
-
- CV_CALL( mhi = cvGetMat( mhi, &mhistub ));
- CV_CALL( mask = cvGetMat( mask, &maskstub ));
-
- if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( mask->type ) != CV_32FC1 )
- CV_ERROR( CV_BadDepth, "Both MHI and the destination mask" );
-
- if( !CV_ARE_SIZES_EQ( mhi, mask ))
- CV_ERROR( CV_StsUnmatchedSizes, "" );
-
- CV_CALL( mask8u = cvCreateMat( mhi->rows + 2, mhi->cols + 2, CV_8UC1 ));
- cvZero( mask8u );
- cvZero( mask );
- CV_CALL( components = cvCreateSeq( CV_SEQ_KIND_GENERIC, sizeof(CvSeq),
- sizeof(CvConnectedComp), storage ));
-
- v.f = (float)timestamp; ts = v.i;
- v.f = FLT_MAX*0.1f; stub_val = v.i;
- comp_idx.f = 1;
-
- for( y = 0; y < mhi->rows; y++ )
- {
- int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
- for( x = 0; x < mhi->cols; x++ )
- {
- if( mhi_row[x] == 0 )
- mhi_row[x] = stub_val;
- }
- }
-
- for( y = 0; y < mhi->rows; y++ )
- {
- int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
- uchar* mask8u_row = mask8u->data.ptr + (y+1)*mask8u->step + 1;
-
- for( x = 0; x < mhi->cols; x++ )
- {
- if( mhi_row[x] == ts && mask8u_row[x] == 0 )
- {
- CvConnectedComp comp;
- int x1, y1;
- CvScalar _seg_thresh = cvRealScalar(seg_thresh);
- CvPoint seed = cvPoint(x,y);
-
- CV_CALL( cvFloodFill( mhi, seed, cvRealScalar(0), _seg_thresh, _seg_thresh,
- &comp, CV_FLOODFILL_MASK_ONLY + 2*256 + 4, mask8u ));
-
- for( y1 = 0; y1 < comp.rect.height; y1++ )
- {
- int* mask_row1 = (int*)(mask->data.ptr +
- (comp.rect.y + y1)*mask->step) + comp.rect.x;
- uchar* mask8u_row1 = mask8u->data.ptr +
- (comp.rect.y + y1+1)*mask8u->step + comp.rect.x+1;
-
- for( x1 = 0; x1 < comp.rect.width; x1++ )
- {
- if( mask8u_row1[x1] > 1 )
- {
- mask8u_row1[x1] = 1;
- mask_row1[x1] = comp_idx.i;
- }
- }
- }
- comp_idx.f++;
- cvSeqPush( components, &comp );
- }
- }
- }
-
- for( y = 0; y < mhi->rows; y++ )
- {
- int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
- for( x = 0; x < mhi->cols; x++ )
- {
- if( mhi_row[x] == stub_val )
- mhi_row[x] = 0;
- }
- }
-
- __END__;
-
- cvReleaseMat( &mask8u );
- return components;
-}
-
-/* End of file. */
projects / opencv / blobdiff