+++ /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"
-
-/* Blob (foreground-pixel connected-component) tracking with collision resolution.
- *
- * For entrypoints into the literature see:
- *
- * A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking
- * Arulampalam &t al, 2001, 15p
- * http://www-clmc.usc.edu/publications/A/arulampalam-TSP2002.pdf
- *
- * Particle Filters for Positioning, Navigation, and Tracking
- * Gustafsson et al, 2002 12p
- * http://www.control.isy.liu.se/~fredrik/reports/01SPpf4pos.pdf
- *
- * Particle Filtering in High Clutter Environments
- * Korhonen et al, 2005 4p
- * http://www.cs.uku.fi/finsig05/papers/paper26_FINSIG05.pdf
- *
- * Appearance Models for Occlusion Handling
- * Andrew Senior &t al, 8p 2001
- * http://www.research.ibm.com/peoplevision/PETS2001.pdf
- *
- */
-
-/*============== BLOB TRACKERCC CLASS DECLARATION =============== */
-typedef struct DefBlobTrackerCR
-{
- CvBlob blob;
- CvBlobTrackPredictor* pPredictor;
- CvBlob BlobPredict;
- CvBlob BlobPrev;
- int Collision;
- CvBlobSeq* pBlobHyp;
- CvBlobTrackerOne* pResolver;
-} DefBlobTrackerCR;
-
-void cvFindBlobsByCCClasters(IplImage* pFG, CvBlobSeq* pBlobs, CvMemStorage* storage);
-
-class CvBlobTrackerCCCR : public CvBlobTracker
-{
-private:
- float m_AlphaSize;
- int m_Collision;
- CvBlobSeq m_BlobList;
- CvBlobSeq m_BlobListNew;
- CvMemStorage* m_pMem;
- CvBlobTrackerOne* (*m_CreateCR)();
- char m_ModuleName[1024];
-
-
-public:
- CvBlobTrackerCCCR(CvBlobTrackerOne* (*CreateCR)(), char* CRName):m_BlobList(sizeof(DefBlobTrackerCR))
- {
- m_CreateCR = CreateCR;
- m_pMem = cvCreateMemStorage();
-
- m_Collision = 1; /* if 1 then collistion will be detected and processed */
-
- m_AlphaSize = 0.05f;
- AddParam("AlphaSize",&m_AlphaSize);
- CommentParam("AlphaSize", "Size update speed (0..1)");
-
- strcpy(m_ModuleName, "CC");
- if(CRName)strcat(m_ModuleName,CRName);
- SetModuleName(m_ModuleName);
-
- {
- CvBlobTrackerOne* pM = m_CreateCR();
- TransferParamsFromChild(pM,NULL);
- pM->Release();
- }
- SetParam("SizeVar",0);
- };
-
- ~CvBlobTrackerCCCR()
- {
- 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)
- {
- DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)m_BlobList.GetBlob(BlobIndex);
- if(pBT->pResolver)pBT->pResolver->Release();
- if(pBT->pPredictor)pBT->pPredictor->Release();
- delete pBT->pBlobHyp;
- m_BlobList.DelBlob(BlobIndex);
- };
-
- virtual void DelBlobByID(int BlobID)
- {
- DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)m_BlobList.GetBlobByID(BlobID);
- if(pBT->pResolver)pBT->pResolver->Release();
- if(pBT->pPredictor)pBT->pPredictor->Release();
- delete pBT->pBlobHyp;
- m_BlobList.DelBlobByID(BlobID);
- };
-
- 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 )
- {
- DefBlobTrackerCR NewB;
- NewB.blob = pB[0];
- NewB.pBlobHyp = new CvBlobSeq;
- NewB.pPredictor = cvCreateModuleBlobTrackPredictKalman(); /* module for predict position */
- NewB.pPredictor->SetParam("DataNoisePos",0.001);
- NewB.pPredictor->ParamUpdate();
- NewB.pResolver = NULL;
- if(m_CreateCR)
- {
- NewB.pResolver = m_CreateCR();
- TransferParamsToChild(NewB.pResolver,NULL);
- NewB.pResolver->Init(pB, pImg, pImgFG);
- }
- 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;
- //CvMat* pMC = NULL;
-
- if(m_BlobList.GetBlobNum() <= 0 ) return;
-
- /* Clear blob list for new blobs: */
- m_BlobListNew.Clear();
-
- assert(m_pMem);
- cvClearMemStorage(m_pMem);
- assert(pImgFG);
-
- { /* 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);
- }
-
- for(i=m_BlobList.GetBlobNum(); i>0; --i)
- { /* Predict new blob position. */
- CvBlob* pB = NULL;
- DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)m_BlobList.GetBlob(i-1);
-
- /* Update predictor. */
- pBT->pPredictor->Update(&(pBT->blob));
- pB = pBT->pPredictor->Predict();
- if(pB)
- {
- pBT->BlobPredict = pB[0];
- }
- pBT->BlobPrev = pBT->blob;
- } /* Predict new blob position. */
-
-
- if(m_BlobList.GetBlobNum()>0 && m_BlobListNew.GetBlobNum()>0)
- { /* Resolve new blob to old: */
- int i,j;
- int NOld = m_BlobList.GetBlobNum();
- int NNew = m_BlobListNew.GetBlobNum();
-
- for(i=0; i<NOld; i++)
- { /* Set 0 collision and clear all hyp: */
- DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i);
- pF->Collision = 0;
- pF->pBlobHyp->Clear();
- } /* Set 0 collision. */
-
- /* Create correspondence records: */
- for(j=0; j<NNew; ++j)
- {
- CvBlob* pB1 = m_BlobListNew.GetBlob(j);
- DefBlobTrackerCR* pFLast = NULL;
-
- for(i=0; i<NOld; i++)
- { /* Check intersection: */
- int Intersection = 0;
- DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i);
- CvBlob* pB2 = &(pF->BlobPredict);
-
- if( fabs(pB1->x-pB2->x)<0.5*(pB1->w+pB2->w) &&
- fabs(pB1->y-pB2->y)<0.5*(pB1->h+pB2->h) ) Intersection = 1;
-
- if(Intersection)
- {
- if(pFLast)
- {
- pF->Collision = pFLast->Collision = 1;
- }
- pFLast = pF;
- pF->pBlobHyp->AddBlob(pB1);
- }
- } /* Check intersection. */
- } /* Check next new blob. */
- } /* Resolve new blob to old. */
-
- for(i=m_BlobList.GetBlobNum(); i>0; --i)
- { /* Track each blob. */
- CvBlob* pB = m_BlobList.GetBlob(i-1);
- DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)pB;
- int BlobID = CV_BLOB_ID(pB);
- //CvBlob* pBBest = NULL;
- //double DistBest = -1;
- int j;
-
- if(pBT->pResolver)
- {
- pBT->pResolver->SetCollision(pBT->Collision);
- }
-
- if(pBT->Collision)
- { /* Tracking in collision: */
- if(pBT->pResolver)
- {
- pB[0] = pBT->pResolver->Process(&(pBT->BlobPredict),pImg, pImgFG)[0];
- }
- } /* Tracking in collision. */
- else
- { /* Non-collision tracking: */
- CvBlob NewCC = pBT->BlobPredict;
- if(pBT->pBlobHyp->GetBlobNum()==1)
- { /* One blob to one CC: */
- NewCC = pBT->pBlobHyp->GetBlob(0)[0];
- }
- else
- { /* One blob several CC: */
- CvBlob* pBBest = NULL;
- double DistBest = -1;
- double CMax = 0;
- for(j=pBT->pBlobHyp->GetBlobNum();j>0;--j)
- { /* Find best CC: */
- CvBlob* pBNew = pBT->pBlobHyp->GetBlob(j-1);
- if(pBT->pResolver)
- { /* Choose CC by confidence: */
-// double dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
-// double dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
- double C = pBT->pResolver->GetConfidence(pBNew,pImg, pImgFG);
- if(C > CMax || pBBest == NULL)
- {
- CMax = C;
- pBBest = pBNew;
- }
- }
- else
- { /* Choose CC by distance: */
- double dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
- double dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
- double Dist = sqrt(dx*dx+dy*dy);
- if(Dist < DistBest || pBBest == NULL)
- {
- DistBest = Dist;
- pBBest = pBNew;
- }
- }
- } /* Find best CC. */
- if(pBBest)
- NewCC = pBBest[0];
- } /* One blob several CC. */
- pB->x = NewCC.x;
- pB->y = NewCC.y;
- pB->w = (m_AlphaSize)*NewCC.w+(1-m_AlphaSize)*pB->w;
- pB->h = (m_AlphaSize)*NewCC.h+(1-m_AlphaSize)*pB->h;
- pBT->pResolver->SkipProcess(&(pBT->BlobPredict),pImg, pImgFG);
- } /* Non-collision tracking. */
-
- pBT->pResolver->Update(pB, pImg, pImgFG);
-
- CV_BLOB_ID(pB)=BlobID;
-
- } /* Track next blob. */
-
- if(m_Wnd)
- {
- IplImage* pI = cvCloneImage(pImg);
- int i;
- for(i=m_BlobListNew.GetBlobNum(); i>0; --i)
- { /* Draw each new CC: */
- CvBlob* pB = m_BlobListNew.GetBlob(i-1);
- CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
- int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
- CvSize s = cvSize(MAX(1,x), MAX(1,y));
- //int c = 255;
- cvEllipse( pI,
- p,
- s,
- 0, 0, 360,
- CV_RGB(255,255,0), 1 );
- }
-
- for(i=m_BlobList.GetBlobNum(); i>0; --i)
- { /* Draw each new CC: */
- DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i-1);
- CvBlob* pB = &(pF->BlobPredict);
- CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
- int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
- CvSize s = cvSize(MAX(1,x), MAX(1,y));
- cvEllipse( pI,
- p,
- s,
- 0, 0, 360,
- CV_RGB(0,0,255), 1 );
-
- pB = &(pF->blob);
- p = cvPointFrom32f(CV_BLOB_CENTER(pB));
- x = cvRound(CV_BLOB_RX(pB)); y = cvRound(CV_BLOB_RY(pB));
- s = cvSize(MAX(1,x), MAX(1,y));
- cvEllipse( pI,
- p,
- s,
- 0, 0, 360,
- CV_RGB(0,255,0), 1 );
- }
-
- //cvNamedWindow("CCwithCR",0);
- //cvShowImage("CCwithCR",pI);
- cvReleaseImage(&pI);
- }
-
- } /* Process. */
-
- virtual void SaveState(CvFileStorage* fs)
- {
- int b,bN = m_BlobList.GetBlobNum();
- cvWriteInt(fs,"BlobNum",m_BlobList.GetBlobNum());
- cvStartWriteStruct(fs,"BlobList",CV_NODE_SEQ);
-
- for(b=0; b<bN; ++b)
- {
- DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(b);
- cvStartWriteStruct(fs,NULL,CV_NODE_MAP);
- cvWriteInt(fs,"ID",CV_BLOB_ID(pF));
- cvStartWriteStruct(fs,"Blob",CV_NODE_SEQ|CV_NODE_FLOW);
- cvWriteRawData(fs,&(pF->blob),1,"ffffi");
- cvEndWriteStruct(fs);
- cvStartWriteStruct(fs,"BlobPredict",CV_NODE_SEQ|CV_NODE_FLOW);
- cvWriteRawData(fs,&(pF->BlobPredict),1,"ffffi");
- cvEndWriteStruct(fs);
- cvStartWriteStruct(fs,"BlobPrev",CV_NODE_SEQ|CV_NODE_FLOW);
- cvWriteRawData(fs,&(pF->BlobPrev),1,"ffffi");
- cvEndWriteStruct(fs);
- pF->pBlobHyp->Write(fs,"BlobHyp");
- cvWriteInt(fs,"Collision",pF->Collision);
-
- cvStartWriteStruct(fs,"Predictor",CV_NODE_MAP);
- pF->pPredictor->SaveState(fs);
- cvEndWriteStruct(fs);
-
- cvStartWriteStruct(fs,"Resolver",CV_NODE_MAP);
- pF->pResolver->SaveState(fs);
- cvEndWriteStruct(fs);
- cvEndWriteStruct(fs);
- }
-
- cvEndWriteStruct(fs);
-
- } /* SaveState. */
-
- virtual void LoadState(CvFileStorage* fs, CvFileNode* node)
- {
- int b,bN = cvReadIntByName(fs,node,"BlobNum",0);
- CvFileNode* pBlobListNode = cvGetFileNodeByName(fs,node,"BlobList");
- if(!CV_NODE_IS_SEQ(pBlobListNode->tag)) return;
- bN = pBlobListNode->data.seq->total;
-
- for(b=0; b<bN; ++b)
- {
- DefBlobTrackerCR* pF = NULL;
- CvBlob Blob;
- CvFileNode* pSeqNode = NULL;
- CvFileNode* pBlobNode = (CvFileNode*)cvGetSeqElem(pBlobListNode->data.seq,b);
- assert(pBlobNode);
-
- Blob.ID = cvReadIntByName(fs,pBlobNode,"ID",0);
-
- pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Blob");
- if(CV_NODE_IS_SEQ(pSeqNode->tag))
- cvReadRawData( fs, pSeqNode, &Blob, "ffffi" );
-
- AddBlob(&Blob,NULL,NULL);
- pF = (DefBlobTrackerCR*)m_BlobList.GetBlobByID(Blob.ID);
-
- pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobPredict");
- if(CV_NODE_IS_SEQ(pSeqNode->tag))
- cvReadRawData( fs, pSeqNode, &pF->BlobPredict, "ffffi" );
-
- pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobPrev");
- if(CV_NODE_IS_SEQ(pSeqNode->tag))
- cvReadRawData( fs, pSeqNode, &pF->BlobPrev, "ffffi" );
-
- pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobHyp");
- if(pSeqNode)
- pF->pBlobHyp->Load(fs,pSeqNode);
- pF->Collision = cvReadIntByName(fs, pBlobNode,"Collision",pF->Collision);
-
- pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Predictor");
- if(pSeqNode)
- pF->pPredictor->LoadState(fs,pSeqNode);
-
- pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Resolver");
- if(pSeqNode)
- pF->pResolver->LoadState(fs,pSeqNode);
- } /* Read next blob. */
- } /* CCwithCR LoadState */
-
- //void SetCollision(int Collision){m_Collision = Collision;};
-};
-
-CvBlobTrackerOne* cvCreateBlobTrackerOneMSPF();
-CvBlobTracker* cvCreateBlobTrackerCCMSPF()
-{
- return (CvBlobTracker*) new CvBlobTrackerCCCR(cvCreateBlobTrackerOneMSPF,"MSPF");
-}
-/*============== BLOB TRACKERCC CLASS DECLARATION =============== */
projects / opencv / blobdiff