+++ /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
-//
-// 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 "_cvaux.h"
-
-static float CalcAverageMask(CvBlob* pBlob, IplImage* pImgFG )
-{ /* Calculate sum of mask: */
- double Area, Aver = 0;
- CvRect r;
- CvMat mat;
-
- if(pImgFG==NULL) return 0;
-
- r.x = cvRound(pBlob->x - pBlob->w*0.5);
- r.y = cvRound(pBlob->y - pBlob->h*0.5);
- r.width = cvRound(pBlob->w);
- r.height = cvRound(pBlob->h);
- Area = r.width*r.height;
- if(r.x<0){r.width += r.x;r.x = 0;}
- if(r.y<0){r.height += r.y;r.y = 0;}
- if((r.x+r.width)>=pImgFG->width){r.width=pImgFG->width-r.x-1;}
- if((r.y+r.height)>=pImgFG->height){r.height=pImgFG->height-r.y-1;}
-
- if(r.width>0 && r.height>0)
- {
- double Sum = cvSum(cvGetSubRect(pImgFG,&mat,r)).val[0]/255.0;
- assert(Area>0);
- Aver = Sum/Area;
- }
- return (float)Aver;
-} /* Calculate sum of mask. */
-
-
-/*============== BLOB TRACKERCC CLASS DECLARATION =============== */
-typedef struct DefBlobTracker
-{
- CvBlob blob;
- CvBlobTrackPredictor* pPredictor;
- CvBlob BlobPredict;
- int Collision;
- CvBlobSeq* pBlobHyp;
- float AverFG;
-} DefBlobTracker;
-
-void cvFindBlobsByCCClasters(IplImage* pFG, CvBlobSeq* pBlobs, CvMemStorage* storage);
-
-class CvBlobTrackerCC : public CvBlobTracker
-{
-private:
- float m_AlphaSize;
- float m_AlphaPos;
- float m_Alpha;
- int m_Collision;
- int m_ConfidenceType;
- char* m_ConfidenceTypeStr;
- CvBlobSeq m_BlobList;
- CvBlobSeq m_BlobListNew;
-// int m_LastID;
- CvMemStorage* m_pMem;
- int m_ClearHyp;
- IplImage* m_pImg;
- IplImage* m_pImgFG;
-public:
- CvBlobTrackerCC():m_BlobList(sizeof(DefBlobTracker))
- {
-// m_LastID = 0;
- m_ClearHyp = 0;
- m_pMem = cvCreateMemStorage();
- m_Collision = 1; /* if 1 then collistion will be detected and processed */
- AddParam("Collision",&m_Collision);
- CommentParam("Collision", "If 1 then collision cases are processed in special way");
-
- m_AlphaSize = 0.02f;
- AddParam("AlphaSize",&m_AlphaSize);
- CommentParam("AlphaSize", "Size update speed (0..1)");
-
- m_AlphaPos = 1.0f;
- AddParam("AlphaPos",&m_AlphaPos);
- CommentParam("AlphaPos", "Position update speed (0..1)");
-
- m_Alpha = 0.001f;
- AddParam("Alpha", &m_Alpha);
- CommentParam("Alpha","Coefficient for model histogram updating (0 - hist is not updated)");
-
- m_ConfidenceType=0;
- m_ConfidenceTypeStr = "NearestBlob";
- AddParam("ConfidenceType", &m_ConfidenceTypeStr);
- CommentParam("ConfidenceType","Type of calculated Confidence (NearestBlob, AverFG, BC)");
-
- SetModuleName("CC");
- };
-
- ~CvBlobTrackerCC()
- {
- if(m_pMem)cvReleaseMemStorage(&m_pMem);
- };
-
- /* Blob functions: */
- virtual int GetBlobNum() {return m_BlobList.GetBlobNum();};
- virtual CvBlob* GetBlob(int BlobIndex){return m_BlobList.GetBlob(BlobIndex);};
- virtual void SetBlob(int BlobIndex, CvBlob* pBlob)
- {
- CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
- if(pB) pB[0] = pBlob[0];
- };
-
- virtual CvBlob* GetBlobByID(int BlobID){return m_BlobList.GetBlobByID(BlobID);};
- virtual void DelBlob(int BlobIndex)
- {
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
- if(pBT==NULL) return;
- if(pBT->pPredictor)
- {
- pBT->pPredictor->Release();
- }
- else
- {
- printf("WARNING!!! Invalid Predictor in CC tracker");
- }
- delete pBT->pBlobHyp;
- m_BlobList.DelBlob(BlobIndex);
- };
-#if 0
- virtual void DelBlobByID(int BlobID)
- {
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlobByID(BlobID);
- pBT->pPredictor->Release();
- delete pBT->pBlobHyp;
- m_BlobList.DelBlobByID(BlobID);
- };
-#endif
- virtual void Release(){delete this;};
-
- /* Add new blob to track it and assign to this blob personal ID */
- /* pBlob - pinter to structure with blob parameters (ID is ignored)*/
- /* pImg - current image */
- /* pImgFG - current foreground mask */
- /* return pointer to new added blob */
- virtual CvBlob* AddBlob(CvBlob* pB, IplImage* /*pImg*/, IplImage* pImgFG = NULL )
- {
- assert(pImgFG); /* This tracker uses only foreground mask. */
- DefBlobTracker NewB;
- NewB.blob = pB[0];
-// CV_BLOB_ID(&NewB) = m_LastID;
- NewB.pBlobHyp = new CvBlobSeq;
- NewB.pPredictor = cvCreateModuleBlobTrackPredictKalman(); /* Module for position prediction. */
- NewB.pPredictor->Update(pB);
- NewB.AverFG = pImgFG?CalcAverageMask(pB,pImgFG):0;
- m_BlobList.AddBlob((CvBlob*)&NewB);
- return m_BlobList.GetBlob(m_BlobList.GetBlobNum()-1);
- };
-
- virtual void Process(IplImage* pImg, IplImage* pImgFG = NULL)
- {
- CvSeq* cnts;
- CvSeq* cnt;
- int i;
-
- m_pImg = pImg;
- m_pImgFG = pImgFG;
-
- if(m_BlobList.GetBlobNum() <= 0 ) return;
-
- /* Clear bloblist for new blobs: */
- m_BlobListNew.Clear();
-
- assert(m_pMem);
- cvClearMemStorage(m_pMem);
- assert(pImgFG);
-
-
- /* Find CC: */
-#if 0
- { // By contour clustering:
- cvFindBlobsByCCClasters(pImgFG, &m_BlobListNew, m_pMem);
- }
-#else
- { /* One contour - one blob: */
- IplImage* pBin = cvCloneImage(pImgFG);
- assert(pBin);
- cvThreshold(pBin,pBin,128,255,CV_THRESH_BINARY);
- cvFindContours(pBin, m_pMem, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
-
- /* Process each contour: */
- for(cnt = cnts; cnt; cnt=cnt->h_next)
- {
- CvBlob NewBlob;
-
- /* Image moments: */
- double M00,X,Y,XX,YY;
- CvMoments m;
- CvRect r = ((CvContour*)cnt)->rect;
- CvMat mat;
- if(r.height < 3 || r.width < 3) continue;
- cvMoments( cvGetSubRect(pImgFG,&mat,r), &m, 0 );
- M00 = cvGetSpatialMoment( &m, 0, 0 );
- if(M00 <= 0 ) continue;
- X = cvGetSpatialMoment( &m, 1, 0 )/M00;
- Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
- XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
- YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
- NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
- m_BlobListNew.AddBlob(&NewBlob);
- } /* Next contour. */
-
- cvReleaseImage(&pBin);
- }
-#endif
- for(i=m_BlobList.GetBlobNum(); i>0; --i)
- { /* Predict new blob position: */
- CvBlob* pB=NULL;
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(i-1);
-
- /* Update predictor by previous value of blob: */
- pBT->pPredictor->Update(&(pBT->blob));
-
- /* Predict current position: */
- pB = pBT->pPredictor->Predict();
-
- if(pB)
- {
- pBT->BlobPredict = pB[0];
- }
- else
- {
- pBT->BlobPredict = pBT->blob;
- }
- } /* Predict new blob position. */
-
- if(m_Collision)
- for(i=m_BlobList.GetBlobNum(); i>0; --i)
- { /* Predict collision. */
- int Collision = 0;
- int j;
- DefBlobTracker* pF = (DefBlobTracker*)m_BlobList.GetBlob(i-1);
-
- for(j=m_BlobList.GetBlobNum(); j>0; --j)
- { /* Predict collision: */
- CvBlob* pB1;
- CvBlob* pB2;
- DefBlobTracker* pF2 = (DefBlobTracker*)m_BlobList.GetBlob(j-1);
- if(i==j) continue;
- pB1 = &pF->BlobPredict;
- pB2 = &pF2->BlobPredict;
-
- if( fabs(pB1->x-pB2->x)<0.6*(pB1->w+pB2->w) &&
- fabs(pB1->y-pB2->y)<0.6*(pB1->h+pB2->h) ) Collision = 1;
-
- pB1 = &pF->blob;
- pB2 = &pF2->blob;
-
- if( fabs(pB1->x-pB2->x)<0.6*(pB1->w+pB2->w) &&
- fabs(pB1->y-pB2->y)<0.6*(pB1->h+pB2->h) ) Collision = 1;
-
- if(Collision) break;
-
- } /* Check next blob to cross current. */
-
- pF->Collision = Collision;
-
- } /* Predict collision. */
-
- for(i=m_BlobList.GetBlobNum(); i>0; --i)
- { /* Find a neighbour on current frame
- * for each blob from previous frame:
- */
- CvBlob* pB = m_BlobList.GetBlob(i-1);
- DefBlobTracker* pBT = (DefBlobTracker*)pB;
- //int BlobID = CV_BLOB_ID(pB);
- //CvBlob* pBBest = NULL;
- //double DistBest = -1;
- //int j;
-
- if(pBT->pBlobHyp->GetBlobNum()>0)
- { /* Track all hypotheses: */
- int h,hN = pBT->pBlobHyp->GetBlobNum();
- for(h=0; h<hN; ++h)
- {
- int j, jN = m_BlobListNew.GetBlobNum();
- CvBlob* pB = pBT->pBlobHyp->GetBlob(h);
- int BlobID = CV_BLOB_ID(pB);
- CvBlob* pBBest = NULL;
- double DistBest = -1;
- for(j=0; j<jN; j++)
- { /* Find best CC: */
- double Dist = -1;
- CvBlob* pBNew = m_BlobListNew.GetBlob(j);
- double dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
- double dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
- if(dx > 2*CV_BLOB_WX(pB) || dy > 2*CV_BLOB_WY(pB)) continue;
-
- Dist = sqrt(dx*dx+dy*dy);
- if(Dist < DistBest || pBBest == NULL)
- {
- DistBest = Dist;
- pBBest = pBNew;
- }
- } /* Find best CC. */
-
- if(pBBest)
- {
- pB[0] = pBBest[0];
- CV_BLOB_ID(pB) = BlobID;
- }
- else
- { /* Delete this hypothesis. */
- pBT->pBlobHyp->DelBlob(h);
- h--;
- hN--;
- }
- } /* Next hypothysis. */
- } /* Track all hypotheses. */
- } /* Track next blob. */
-
- m_ClearHyp = 1;
-
- } /* Process. */
-
- virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL)
- {
- int ID = pBlob->ID;
- CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
- DefBlobTracker* pBT = (DefBlobTracker*)pB;
- //CvBlob* pBBest = NULL;
- //double DistBest = -1;
- int BlobID;
-
- if(pB==NULL) return;
-
- BlobID = pB->ID;
-
- if(m_Collision && pBT->Collision)
- { /* Tracking in collision: */
- pB[0]=pBT->BlobPredict;
- CV_BLOB_ID(pB)=BlobID;
- } /* Tracking in collision. */
- else
- { /* Non-collision tracking: */
- CvBlob* pBBest = GetNearestBlob(pB);
- if(pBBest)
- {
- float w = pBlob->w*(1-m_AlphaSize)+m_AlphaSize*pBBest->w;
- float h = pBlob->h*(1-m_AlphaSize)+m_AlphaSize*pBBest->h;
- float x = pBlob->x*(1-m_AlphaPos)+m_AlphaPos*pBBest->x;
- float y = pBlob->y*(1-m_AlphaPos)+m_AlphaPos*pBBest->y;
- pB->w = w;
- pB->h = h;
- pB->x = x;
- pB->y = y;
- CV_BLOB_ID(pB) = BlobID;
- }
- } /* Non-collision tracking. */
-
- pBlob[0] = pB[0];
- pBlob->ID = ID;
- };
-
- virtual double GetConfidence(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* pImgFG = NULL)
- {
- /* Define coefficients in exp by exp(-XT*K)=VT: */
- static double _KS = -log(0.1)/pow(0.5,2); /* XT = 1, VT = 0.1 - when size is Larger in 2 times Confidence is smoller in 10 times */
- static double _KP = -log(0.1)/pow(m_pImg->width*0.02,2); /* XT = 0.02*ImgWidth, VT = 0.1*/
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
- float dx,dy,dw,dh;
- float dp2,ds2;
- double W = 1;
- CvBlob* pBC = GetNearestBlob(pBlob);
- if(pBC == NULL ) return 0;
-
- dx = pBC->x-pBlob->x;
- dy = pBC->y-pBlob->y;
- dw = (pBC->w-pBlob->w)/pBC->w;
- dh = (pBC->h-pBlob->h)/pBC->h;
-
- dp2 = dx*dx+dy*dy;
- ds2 = dw*dw+dh*dh;
-
- if(!pBT->Collision)
- { /* Confidence for size by nearest blob: */
- W*=exp(-_KS*ds2);
- }
-
- if(m_ConfidenceType==0 && !pBT->Collision)
- { /* Confidence by nearest blob: */
- W*=exp(-_KP*dp2);
- }
-
- if(m_ConfidenceType==1 && pBT->AverFG>0)
- { /* Calculate sum of mask: */
- float Aver = CalcAverageMask(pBlob, pImgFG );
- if(Aver < pBT->AverFG)
- {
- float diff = 1+0.9f*(Aver-pBT->AverFG)/pBT->AverFG;
- if(diff < 0.1f) diff = 0.1f;
- W *= diff;
- }
- } /* Calculate sum of mask. */
-
- if(m_ConfidenceType==2)
- { /* Calculate BCoeff: */
- float S = 0.2f;
- float Aver = CalcAverageMask(pBlob, pImgFG );
- double B = sqrt(Aver*pBT->AverFG)+sqrt((1-Aver)*(1-pBT->AverFG));
-
- W *= exp((B-1)/(2*S));
- } /* Calculate sum of mask. */
-
- return W;
- };
-
- virtual void UpdateBlob(int BlobIndex, CvBlob* /*pBlob*/, IplImage* /*pImg*/, IplImage* pImgFG = NULL)
- {
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
-
- if(pImgFG==NULL || pBT==NULL) return;
-
- if(!pBT->Collision)
- {
- //pBT->AverFG = pBT->AverFG * (1-m_Alpha) + m_Alpha * CalcAverageMask(pBlob,pImgFG);
- }
- };
-
- virtual void ParamUpdate()
- {
- char* pCT[3] = {"NearestBlob","AverFG","BC"};
- int i;
-
- CvBlobTracker::ParamUpdate();
-
- for(i=0; i<3; ++i)
- {
- if(cv_stricmp(m_ConfidenceTypeStr,pCT[i])==0)
- {
- m_ConfidenceType = i;
- }
- }
- SetParamStr("ConfidenceType",pCT[m_ConfidenceType]);
- }
-
- /* =============== MULTI HYPOTHESIS INTERFACE ================== */
- /* Return number of position hypotheses of currently tracked blob: */
- virtual int GetBlobHypNum(int BlobIdx)
- {
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIdx);
- assert(pBT->pBlobHyp);
- return pBT->pBlobHyp->GetBlobNum();
- }; /* CvBlobtrackerList::GetBlobHypNum() */
-
- /* Return pointer to specified blob hypothesis by index blob: */
- virtual CvBlob* GetBlobHyp(int BlobIndex, int hypothesis)
- {
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
- assert(pBT->pBlobHyp);
- return pBT->pBlobHyp->GetBlob(hypothesis);
- }; /* CvBlobtrackerList::GetBlobHyp() */
-
- /* Set new parameters for specified (by index) blob hypothesis
- * (can be called several times for each hypothesis):
- */
- virtual void SetBlobHyp(int BlobIndex, CvBlob* pBlob)
- {
- if(m_ClearHyp)
- { /* Clear all hypotheses: */
- int b, bN = m_BlobList.GetBlobNum();
- for(b=0; b<bN; ++b)
- {
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(b);
- assert(pBT->pBlobHyp);
- pBT->pBlobHyp->Clear();
- }
- m_ClearHyp = 0;
- }
- { /* Add hypothesis: */
- DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
- assert(pBT->pBlobHyp);
- pBT->pBlobHyp->AddBlob(pBlob);
- }
- };
-
-private:
- CvBlob* GetNearestBlob(CvBlob* pB)
- {
- //DefBlobTracker* pBT = (DefBlobTracker*)pB;
- CvBlob* pBBest = NULL;
- double DistBest = -1;
- int j,BlobID;
-
- if(pB==NULL) return NULL;
-
- BlobID = pB->ID;
-
- for(j=m_BlobListNew.GetBlobNum(); j>0; --j)
- { /* Find best CC: */
- double Dist = -1;
- CvBlob* pBNew = m_BlobListNew.GetBlob(j-1);
- double dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
- double dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
- if(dx > 2*CV_BLOB_WX(pB) || dy > 2*CV_BLOB_WY(pB)) continue;
-
- Dist = sqrt(dx*dx+dy*dy);
- if(Dist < DistBest || pBBest == NULL)
- {
- DistBest = Dist;
- pBBest = pBNew;
- }
-
- } /* Find best CC. */
-
- return pBBest;
-
- }; /* GetNearestBlob */
-
-};
-
-CvBlobTracker* cvCreateBlobTrackerCC()
-{
- return (CvBlobTracker*) new CvBlobTrackerCC;
-}
-/*============== BLOB TRACKERCC CLASS DECLARATION =============== */
projects / opencv / blobdiff