+++ /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"
-
-#define PIX_HIST_BIN_NUM_1 3 //number of bins for classification (not used now)
-#define PIX_HIST_BIN_NUM_2 5 //number of bins for statistic collection
-#define PIX_HIST_ALPHA 0.01f //alpha-coefficient for running avarage procedure
-#define PIX_HIST_DELTA 2 //maximal difference between descriptors(RGB)
-#define PIX_HIST_COL_QUANTS 64 //quantization level in rgb-space
-#define PIX_HIST_DELTA_IN_PIX_VAL (PIX_HIST_DELTA * 256 / PIX_HIST_COL_QUANTS) //allowed difference in rgb-space
-
-// Structures for background statistics estimation:
-typedef struct CvPixHistBin{
- float bin_val;
- uchar cols[3];
-} CvPixHistBin;
-
-typedef struct CvPixHist{
- CvPixHistBin bins[PIX_HIST_BIN_NUM_2];
-} CvPixHist;
-
-// Class for background statistics estimation:
-class CvBGEstimPixHist
-{
-private:
- CvPixHist* m_PixHists;
- int m_width;
- int m_height;
-
- // Function for update color histogram for one pixel:
- void update_hist_elem(int x, int y, uchar* cols )
- {
- // Find closest bin:
- int dist = 0, min_dist = 2147483647, indx = -1;
- for( int k = 0; k < PIX_HIST_BIN_NUM_2; k++ ){
-
- uchar* hist_cols = m_PixHists[y*m_width+x].bins[k].cols;
-
- m_PixHists[y*m_width+x].bins[k].bin_val *= (1-PIX_HIST_ALPHA);
-
- int l;
- for( l = 0; l < 3; l++ ){
- int val = abs( hist_cols[l] - cols[l] );
- if( val > PIX_HIST_DELTA_IN_PIX_VAL ) break;
- dist += val;
- }
-
- if( l == 3 && dist < min_dist ){
- min_dist = dist;
- indx = k;
- }
- }
- if( indx < 0 ){ // N2th elem in the table is replaced by a new feature.
- indx = PIX_HIST_BIN_NUM_2 - 1;
- m_PixHists[y*m_width+x].bins[indx].bin_val = PIX_HIST_ALPHA;
- for(int l = 0; l < 3; l++ ){
- m_PixHists[y*m_width+x].bins[indx].cols[l] = cols[l];
- }
- }
- else {
- //add vote!
- m_PixHists[y*m_width+x].bins[indx].bin_val += PIX_HIST_ALPHA;
- }
- // Re-sort bins by BIN_VAL:
- {
- int k;
- for(k = 0; k < indx; k++ ){
- if( m_PixHists[y*m_width+x].bins[k].bin_val <= m_PixHists[y*m_width+x].bins[indx].bin_val ){
- CvPixHistBin tmp1, tmp2 = m_PixHists[y*m_width+x].bins[indx];
- // Shift elements:
- for(int l = k; l <= indx; l++ ){
- tmp1 = m_PixHists[y*m_width+x].bins[l];
- m_PixHists[y*m_width+x].bins[l] = tmp2;
- tmp2 = tmp1;
- }
- break;
- }
- }
- }
- } // void update_hist(...)
-
- // Function for calculation difference between histograms:
- float get_hist_diff(int x1, int y1, int x2, int y2)
- {
- float dist = 0;
- for( int i = 0; i < 3; i++ ){
- dist += labs(m_PixHists[y1*m_width+x1].bins[0].cols[i] -
- m_PixHists[y2*m_width+x2].bins[0].cols[i]);
- }
- return dist;
- }
-
-
-public:
- IplImage* bg_image;
-
- CvBGEstimPixHist(CvSize img_size)
- {
- m_PixHists = (CvPixHist*)cvAlloc(img_size.width*img_size.height*sizeof(CvPixHist));
- memset( m_PixHists, 0, img_size.width*img_size.height*sizeof(CvPixHist) );
- m_width = img_size.width;
- m_height = img_size.height;
-
- bg_image = cvCreateImage(img_size, IPL_DEPTH_8U, 3 );
- } /* Constructor. */
-
- ~CvBGEstimPixHist()
- {
- cvReleaseImage(&bg_image);
- cvFree(&m_PixHists);
- } /* Destructor. */
-
- // Function to update histograms and bg_image:
- void update_hists( IplImage* pImg )
- {
- for( int i = 0; i < pImg->height; i++ ){
- for( int j = 0; j < pImg->width; j++ ){
- update_hist_elem( j, i, ((uchar*)(pImg->imageData))+i*pImg->widthStep+3*j );
- ((uchar*)(bg_image->imageData))[i*bg_image->widthStep+3*j] = m_PixHists[i*m_width+j].bins[0].cols[0];
- ((uchar*)(bg_image->imageData))[i*bg_image->widthStep+3*j+1] = m_PixHists[i*m_width+j].bins[0].cols[1];
- ((uchar*)(bg_image->imageData))[i*bg_image->widthStep+3*j+2] = m_PixHists[i*m_width+j].bins[0].cols[2];
- }
- }
- // cvNamedWindow("RoadMap2",0);
- // cvShowImage("RoadMap2", bg_image);
- }
-}; /* CvBGEstimPixHist */
-
-
-
-/*======================= TRACKER LIST SHELL =====================*/
-typedef struct DefBlobTrackerL
-{
- CvBlob blob;
- CvBlobTrackerOne* pTracker;
- int Frame;
- int Collision;
- CvBlobTrackPredictor* pPredictor;
- CvBlob BlobPredict;
- CvBlobSeq* pBlobHyp;
-} DefBlobTrackerL;
-
-class CvBlobTrackerList : public CvBlobTracker
-{
-private:
- CvBlobTrackerOne* (*m_Create)();
- CvBlobSeq m_BlobTrackerList;
-// int m_LastID;
- int m_Collision;
- int m_ClearHyp;
- float m_BGImageUsing;
- CvBGEstimPixHist* m_pBGImage;
- IplImage* m_pImgFG;
- IplImage* m_pImgReg; /* mask for multiblob confidence calculation */
-
-public:
- CvBlobTrackerList(CvBlobTrackerOne* (*create)()):m_BlobTrackerList(sizeof(DefBlobTrackerL))
- {
- //int i;
- CvBlobTrackerOne* pM = create();
-// m_LastID = 0;
- m_Create = create;
- m_ClearHyp = 0;
- m_pImgFG = 0;
- m_pImgReg = NULL;
-
- TransferParamsFromChild(pM,NULL);
-
- pM->Release();
-
- 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_pBGImage = NULL;
- m_BGImageUsing = 50;
- AddParam("BGImageUsing", &m_BGImageUsing);
- CommentParam("BGImageUsing","Weight of using BG image in update hist model (0 - BG dies not use 1 - use)");
- }
-
- ~CvBlobTrackerList()
- {
- int i;
- if(m_pBGImage) delete m_pBGImage;
- if(m_pImgFG) cvReleaseImage(&m_pImgFG);
- if(m_pImgReg) cvReleaseImage(&m_pImgReg);
- for(i=m_BlobTrackerList.GetBlobNum();i>0;--i)
- {
- m_BlobTrackerList.DelBlob(i-1);
- }
- };
-
- CvBlob* AddBlob(CvBlob* pBlob, IplImage* pImg, IplImage* pImgFG )
- { /* Create new tracker: */
- DefBlobTrackerL F;
- F.blob = pBlob[0];
-// F.blob.ID = m_LastID++;
- F.pTracker = m_Create();
- F.pPredictor = cvCreateModuleBlobTrackPredictKalman();
- F.pBlobHyp = new CvBlobSeq;
- F.Frame = 0;
- TransferParamsToChild(F.pTracker,NULL);
-
- F.pTracker->Init(pBlob,pImg, pImgFG);
- m_BlobTrackerList.AddBlob((CvBlob*)&F);
- return m_BlobTrackerList.GetBlob(m_BlobTrackerList.GetBlobNum()-1);
- };
-
- void DelBlob(int BlobIndex)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(BlobIndex);
- if(pF == NULL) return;
- pF->pTracker->Release();
- pF->pPredictor->Release();
- delete pF->pBlobHyp;
- m_BlobTrackerList.DelBlob(BlobIndex);
- }
-
- void DelBlobByID(int BlobID)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlobByID(BlobID);
- if(pF == NULL) return;
- pF->pTracker->Release();
- pF->pPredictor->Release();
- delete pF->pBlobHyp;
- m_BlobTrackerList.DelBlobByID(BlobID);
- }
-
- virtual void Process(IplImage* pImg, IplImage* pImgFG = NULL)
- {
- int i;
- if(pImgFG)
- {
- if(m_pImgFG) cvCopyImage(pImgFG,m_pImgFG);
- else m_pImgFG = cvCloneImage(pImgFG);
- }
-
- if(m_pBGImage==NULL && m_BGImageUsing>0)
- {
- m_pBGImage = new CvBGEstimPixHist(cvSize(pImg->width,pImg->height));
- }
-
- if(m_Collision)
- for(i=m_BlobTrackerList.GetBlobNum(); i>0; --i)
- { /* Update predictor: */
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(i-1);
- pF->pPredictor->Update((CvBlob*)pF);
- } /* Update predictor. */
-
- if(m_pBGImage && m_pImgFG)
- { /* Weighting mask mask: */
- int x,y,yN=pImg->height,xN=pImg->width;
- IplImage* pImgBG = NULL;
- m_pBGImage->update_hists(pImg);
- pImgBG = m_pBGImage->bg_image;
-
- for(y=0; y<yN; ++y)
- {
- unsigned char* pI = (unsigned char*)pImg->imageData + y*pImg->widthStep;
- unsigned char* pBG = (unsigned char*)pImgBG->imageData + y*pImgBG->widthStep;
- unsigned char* pFG = (unsigned char*)m_pImgFG->imageData +y*m_pImgFG->widthStep;
-
- for(x=0; x<xN; ++x)
- {
- if(pFG[x])
- {
- int D1 = (int)(pI[3*x+0])-(int)(pBG[3*x+0]);
- int D2 = (int)(pI[3*x+1])-(int)(pBG[3*x+1]);
- int D3 = (int)(pI[3*x+2])-(int)(pBG[3*x+2]);
- int DD = D1*D1+D2*D2+D3*D3;
- double D = sqrt((float)DD);
- double DW = 25;
- double W = 1/(exp(-4*(D-m_BGImageUsing)/DW)+1);
- pFG[x] = (uchar)cvRound(W*255);
- }
- } /* Next mask pixel. */
- } /* Next mask line. */
- /*if(m_Wnd)
- {
- cvNamedWindow("BlobList_FGWeight",0);
- cvShowImage("BlobList_FGWeight",m_pImgFG);
- }*/
- } /* Weighting mask mask. */
-
- for(i=m_BlobTrackerList.GetBlobNum(); i>0; --i)
- { /* Predict position. */
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(i-1);
- CvBlob* pB = pF->pPredictor->Predict();
- if(pB)
- {
- pF->BlobPredict = pB[0];
- pF->BlobPredict.w = pF->blob.w;
- pF->BlobPredict.h = pF->blob.h;
- }
- } /* Predict position. */
-
- if(m_Collision)
- for(i=m_BlobTrackerList.GetBlobNum(); i>0; --i)
- { /* Predict collision. */
- int Collision = 0;
- int j;
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(i-1);
-
- for(j=m_BlobTrackerList.GetBlobNum(); j>0; --j)
- { /* Predict collision. */
- CvBlob* pB1;
- CvBlob* pB2;
- DefBlobTrackerL* pF2 = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(j-1);
- if(i==j) continue;
- pB1 = &pF->BlobPredict;
- pB2 = &pF2->BlobPredict;
- if( fabs(pB1->x-pB2->x)<0.5*(pB1->w+pB2->w) &&
- fabs(pB1->y-pB2->y)<0.5*(pB1->h+pB2->h) ) Collision = 1;
- pB1 = &pF->blob;
- pB2 = &pF2->blob;
- if( fabs(pB1->x-pB2->x)<0.5*(pB1->w+pB2->w) &&
- fabs(pB1->y-pB2->y)<0.5*(pB1->h+pB2->h) ) Collision = 1;
- if(Collision) break;
- } /* Check next blob to cross current. */
-
- pF->Collision = Collision;
- pF->pTracker->SetCollision(Collision);
-
- } /* Predict collision. */
-
- for(i=m_BlobTrackerList.GetBlobNum(); i>0; --i)
- { /* Track each blob. */
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(i-1);
- if(pF->pBlobHyp->GetBlobNum()>0)
- { /* Track all hypothesis. */
- int h,hN = pF->pBlobHyp->GetBlobNum();
- for(h=0;h<hN;++h)
- {
- CvBlob* pB = pF->pBlobHyp->GetBlob(h);
- CvBlob* pNewBlob = pF->pTracker->Process(pB,pImg,m_pImgFG);
- int BlobID = CV_BLOB_ID(pB);
- if(pNewBlob)
- {
- pB[0] = pNewBlob[0];
- pB->w = MAX(CV_BLOB_MINW,pNewBlob->w);
- pB->h = MAX(CV_BLOB_MINH,pNewBlob->h);
- CV_BLOB_ID(pB) = BlobID;
- }
- } /* Next hypothesis. */
-
- } /* Track all hypotheses. */
-
- pF->Frame++;
-
- } /* Next blob. */
-
-#if 0
- for(i=m_BlobTrackerList.GetBlobNum(); i>0; --i)
- { /* Update predictor: */
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(i-1);
- if((m_Collision && !pF->Collision) || !m_Collision)
- {
- pF->pPredictor->Update((CvBlob*)pF);
- }
- else
- { /* pravilnyp putem idete tovarischy!!! */
- pF->pPredictor->Update(&(pF->BlobPredict));
- }
- } /* Update predictor. */
-#endif
- m_ClearHyp = 1;
- };
-
-
- /* Process on blob (for multi hypothesis tracing) */
- virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* pImg, IplImage* /*pImgFG*/ = NULL)
- {
- int ID = pBlob->ID;
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(BlobIndex);
- CvBlob* pNewBlob = pF->pTracker->Process(pBlob?pBlob:&(pF->blob),pImg,m_pImgFG);
- if(pNewBlob)
- {
- pF->blob = pNewBlob[0];
- pF->blob.w = MAX(CV_BLOB_MINW,pNewBlob->w);
- pF->blob.h = MAX(CV_BLOB_MINH,pNewBlob->h);
- pBlob[0] = pF->blob;
- }
- pBlob->ID = ID;
- };
-
- virtual double GetConfidence(int BlobIndex, CvBlob* pBlob, IplImage* pImg, IplImage* pImgFG = NULL)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(BlobIndex);
- if(pF==NULL) return 0;
- if(pF->pTracker==NULL) return 0;
- return pF->pTracker->GetConfidence(pBlob?pBlob:(&pF->blob), pImg, pImgFG, NULL);
- };
-
- virtual double GetConfidenceList(CvBlobSeq* pBlobList, IplImage* pImg, IplImage* pImgFG = NULL)
- {
- double W = 1;
- int b,bN = pBlobList->GetBlobNum();
-
- if(m_pImgReg == NULL)
- {
- m_pImgReg = cvCreateImage(cvSize(pImg->width,pImg->height),IPL_DEPTH_8U,1);
- }
- assert(pImg);
-
- cvSet(m_pImgReg,cvScalar(255));
-
- for(b=0; b<bN; ++b)
- {
- CvBlob* pB = pBlobList->GetBlob(b);
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlobByID(pB->ID);
- if(pF==NULL || pF->pTracker==NULL) continue;
- W *= pF->pTracker->GetConfidence(pB, pImg, pImgFG, m_pImgReg );
- cvEllipse(
- m_pImgReg,
- cvPoint(cvRound(pB->x*256),cvRound(pB->y*256)), cvSize(cvRound(pB->w*128),cvRound(pB->h*128)),
- 0, 0, 360,
- cvScalar(0), CV_FILLED, 8, 8 );
-// cvNamedWindow("REG",0);
-// cvShowImage("REG",m_pImgReg);
-// cvWaitKey(0);
- }
- return W;
- };
-
- virtual void UpdateBlob(int BlobIndex, CvBlob* pBlob, IplImage* pImg, IplImage* /*pImgFG*/ = NULL)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(BlobIndex);
- if(pF)
- {
- pF->pTracker->Update(pBlob?pBlob:&(pF->blob),pImg,m_pImgFG);
- }
- };
-
- int GetBlobNum(){return m_BlobTrackerList.GetBlobNum();};
- CvBlob* GetBlob(int index){return m_BlobTrackerList.GetBlob(index);};
-
- void SetBlob(int BlobIndex, CvBlob* pBlob)
- {
- CvBlob* pB = m_BlobTrackerList.GetBlob(BlobIndex);
- if(pB)
- {
- pB[0] = pBlob[0];
- pB->w = MAX(CV_BLOB_MINW, pBlob->w);
- pB->h = MAX(CV_BLOB_MINH, pBlob->h);
- }
- }
-
- void Release(){delete this;};
-
- /* Additional functionality: */
- CvBlob* GetBlobByID(int BlobID){return m_BlobTrackerList.GetBlobByID(BlobID);}
-
- /* =============== MULTI HYPOTHESIS INTERFACE ================== */
- /* Return number of position hypotheses of currently tracked blob: */
- virtual int GetBlobHypNum(int BlobIdx)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(BlobIdx);
- assert(pF->pBlobHyp);
- return pF->pBlobHyp->GetBlobNum();
- }; /* CvBlobtrackerList::GetBlobHypNum() */
-
- /* Return pointer to specified blob hypothesis by index blob: */
- virtual CvBlob* GetBlobHyp(int BlobIndex, int hypothesis)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(BlobIndex);
- assert(pF->pBlobHyp);
- return pF->pBlobHyp->GetBlob(hypothesis);
- }; /* CvBlobtrackerList::GetBlobHyp() */
-
- /* Set new parameters for specified (by index) blob hyp (can be called several times for each hyp )*/
- virtual void SetBlobHyp(int BlobIndex, CvBlob* pBlob)
- {
- if(m_ClearHyp)
- { /* Clear all hypotheses: */
- int b, bN = m_BlobTrackerList.GetBlobNum();
- for(b=0; b<bN; ++b)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(b);
- assert(pF->pBlobHyp);
- pF->pBlobHyp->Clear();
- }
- m_ClearHyp = 0;
- }
- { /* Add hypothesis: */
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(BlobIndex);
- assert(pF->pBlobHyp);
- pF->pBlobHyp->AddBlob(pBlob);
- }
- }; /* CvBlobtrackerList::SetBlobHyp */
-
-private:
-public:
- void ParamUpdate()
- {
- int i;
- for(i=m_BlobTrackerList.GetBlobNum(); i>0; --i)
- {
- DefBlobTrackerL* pF = (DefBlobTrackerL*)m_BlobTrackerList.GetBlob(i-1);
- TransferParamsToChild(pF->pTracker);
- pF->pTracker->ParamUpdate();
- }
- }
-}; /* CvBlobTrackerList */
-
-CvBlobTracker* cvCreateBlobTrackerList(CvBlobTrackerOne* (*create)())
-{
- return (CvBlobTracker*) new CvBlobTrackerList(create);
-}
projects / opencv / blobdiff