void HoughAccumulator::Init()
{
int* sizes = new int[paramRanges.size()];
for (unsigned int i = 0; i < paramRanges.size(); i++)
sizes[i] = (paramRanges[i].max - paramRanges[i].min) * precision;
// acc = cvCreateSparseMat( paramRanges.size(), sizes, CV_8UC1);
acc = cvCreateMatND(paramRanges.size(), sizes, CV_8UC1);
cvZero(acc);
indices = new int[paramRanges.size()];
delete[] sizes;
}
int main(int argc, char * argv[])
{
typedef struct {char buffer[512];char fn[256];float x,y,w,h;} CvTrainData;
char imagelistfn[2][256];
sprintf(imagelistfn[0],"../dataset/palm/open.txt");
sprintf(imagelistfn[1],"../dataset/palm/close.txt");
char featurefn[2][256];
sprintf(featurefn[0],"../data/open.bin");
sprintf(featurefn[1],"../data/close.bin");
int statusiter=0;
for (statusiter=0;statusiter<2;statusiter++)
{
int i,j,N;
CvTrainData dat[MAX_SAMPLES];
{
FILE * fp = fopen(imagelistfn[statusiter], "r");
for (i=0;i<MAX_SAMPLES;i++) {
fgets(dat[i].buffer,512,fp);
if (dat[i].buffer[0]=='-'){break;}
if (dat[i].buffer[0]=='#'){i--;continue;}
sscanf(dat[i].buffer, "%s %f %f %f %f\n",
dat[i].fn,&dat[i].x,&dat[i].y,&dat[i].w,&dat[i].h);
#if WITH_TZG
dat[i].x=dat[i].x+cvRound(dat[i].w*.15);
dat[i].y=dat[i].y+cvRound(dat[i].h*.15);
dat[i].w=cvRound(dat[i].w*.7);
dat[i].h=cvRound(dat[i].h*.7);
#endif
}
fprintf(stderr, "INFO: %d training dat collected!\n", i);
fclose(fp);
}
N=i;
float * hogfts_data = new float[378*MAX_SAMPLES];
CvMat hogfts = cvMat(MAX_SAMPLES,378,CV_32F,hogfts_data);
int hogsizes[]={7,6,9};
int hogszprod = hogsizes[0]*hogsizes[1]*hogsizes[2];
for (i=0;i<N;i++)
{
IplImage * img = cvLoadImage(dat[i].fn,0);
CvMat mat_stub;
CvMat * mat = cvGetMat(img,&mat_stub);
CvMatND * hog = cvCreateMatND(3,hogsizes,CV_32F);
int nr=mat->rows,nc=mat->cols;
CvMat * dx = cvCreateMat(nr,nc,CV_16S);
CvMat * dy = cvCreateMat(nr,nc,CV_16S);
CvMat * magni = cvCreateMat(nr,nc,CV_32F); cvZero(magni);
CvMat * angle = cvCreateMat(nr,nc,CV_32F); cvZero(angle);
float warp_p_data[]={dat[i].w/36.,dat[i].x-3.,dat[i].y-3.};
CvMat warp_p = cvMat(3,1,CV_32F,warp_p_data);
// cvSobel(img,dx,1,0,1);
// cvSobel(img,dy,0,1,1);
cvPrepareGradientROI(mat, dx, dy, warp_p_data[0],
cvRect(dat[i].x,dat[i].y,dat[i].w,dat[i].h));
cvSet(magni,cvScalar(-1));
icvCalcWarpHOG(mat,&warp_p,hog,6,2,dx,dy,magni,angle);
// for (j=0;j<hogszprod;j++){ fprintf(stderr, "%ff,", hog->data.fl[j]); }
// icvShowHOG(hog); CV_WAIT();
memcpy(hogfts_data+378*i,hog->data.fl,sizeof(float)*378);
// icvShowHOG(hog); CV_WAIT();
// fprintf(stderr, "scale: %f\n", warp_p_data[0]);
if (argc>1) { if (!strcmp(argv[1],"-show")){
// fprintf(stderr, "INFO: file %s loaded!\n", dat[i].fn);
cvRectangle(mat,cvPoint(dat[i].x,dat[i].y),
cvPoint(dat[i].x+dat[i].w,dat[i].y+dat[i].h),CV_RED);
fprintf(stderr, "INFO: display %s\n",dat[i].fn);
CV_SHOW(mat);
}
}
// CV_SHOW(magni);
// CV_SHOW(angle);
cvReleaseMat(&dx);
cvReleaseMat(&dy);
cvReleaseMat(&magni);
cvReleaseMat(&angle);
cvReleaseMatND(&hog);
}
{
FILE * fp=fopen(featurefn[statusiter],"w");
fwrite(hogfts_data,4,378*i,fp);
fclose(fp);
}
delete [] hogfts_data;
}
return 0;
}
int main( int argc, char *argv[] ) {
int webcamRun = 0;
CvCapture *capture = 0;
CvCapture *stereoCapture = 0;
CvCapture **cptPtr = &capture;
CvCapture **scptPtr = &stereoCapture;
initCaptureFiles( argc, argv, cptPtr, scptPtr, &webcamRun, &enable3D );
char locationMean[300];
char locationCov[300];
strncpy( locationMean, argv[1], 300 );
strncpy( locationCov, argv[2], 300 );
/* check for stereo file */
if( !enable3D ) {
displayStereoFrame = 0;
displayPositionFrame = 0;
depthScaling = 0;
}
/* Fast-forwards through the video to the action */
int kl;
for( kl = 0; kl < 100 && webcamRun == 0; kl++ ) {
cvQueryFrame( capture );
if( enable3D ) cvQueryFrame( stereoCapture );
}
/*
Housekeeping
*/
int maxBox[10];
// this should be in the relevant file
//! Create matrix files to hold intermediate calculations for likelihood
/* this should have its own matrix setup function and not be hard-coded */
//! Create N-dimensional matrices to hold mean and cov data
int backMeanSizes[] = {_sizeY,_sizeX,4,_numResponses};
int backCovSizes[] = {_sizeY,_sizeX,4,_numResponses};
CvMatND *backMean = cvCreateMatND( 4, backMeanSizes, CV_32F );
CvMatND *backCov = cvCreateMatND( 4, backCovSizes, CV_32F );
/* Fix this */
if( webcamRun ) {
backMean = (CvMatND*) cvLoad( "D:/Will/Dropbox/My Dropbox/Project/Matlab/backMean.xml", NULL, NULL, NULL );
backCov = (CvMatND*) cvLoad( "D:/Will/Dropbox/My Dropbox/Project/Matlab/backCov.xml", NULL, NULL, NULL );
} else {
backMean = (CvMatND*) cvLoad( locationMean, NULL, NULL, NULL );
backCov = (CvMatND*) cvLoad( locationCov, NULL, NULL, NULL );
}
/* end here */
CvMat *imgLikelihood = cvCreateMat( 48, 64, CV_32F );
img = cvLoadImage( "foreground8/image (1).jpg", CV_LOAD_IMAGE_COLOR );
yImg = cvLoadImage( "foreground8/image (1).jpg", CV_LOAD_IMAGE_COLOR );
cvNamedWindow( "Tracker", CV_WINDOW_AUTOSIZE );
/* Condensation stuff */
ConDens = cvCreateConDensation( DP, MP, nSamples );
bx = 320; by = 240;
//hm = 0; //vm = 0;
/* Initialize the random number generator */
rng_state = cvRNG(0xffffffff);
initializeCondensation();
/* This allows us to change the probabiity with which Condensation alters each variable */
cvRandInit( &(ConDens->RandS[0]), -75, 75, 0, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[1]), -5, 5, 1, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[2]), -5, 5, 2, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[3]), -2, 2, 3, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[4]), -75, 75, 4, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[5]), -5, 5, 5, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[6]), -5, 5, 6, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[7]), -2, 2, 7, CV_RAND_UNI);
/*
If we have depth scaling, the depth controls the width & height of the box
So we don't want any randomness
*/
if( depthScaling ) {
cvRandInit( &(ConDens->RandS[3]), 0, 0, 3, CV_RAND_UNI);
cvRandInit( &(ConDens->RandS[7]), 0, 0, 7, CV_RAND_UNI);
}
IplImage* heatFrame = NULL;
heatFrame = cvQueryFrame( capture );
if(enable3D) cvQueryFrame( stereoCapture ); // making sure they stay in sync (and init positionFrame)
int frameNumb = 0;
// int mjk;
// for( mjk = 0; mjk < 320; mjk++ ) {
// cvQueryFrame( capture );
// cvQueryFrame( stereoCapture );
// frameNumb++;
// }
positionFrame = cvCreateImage(cvSize(640, 510), 8, 3);
int trailLength = 20;
int planX1Pos[20] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int planX2Pos[20] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int planZ1Pos[20] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int planZ2Pos[20] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
int key = 0;
double totalTime = 0;
int totalFrames = 0;
while( key != 'q' ) {
// stopCount++;
// strcpy(frameNameTemp, frameName);
// itoa(stopCount, frameCount, 10);
// strcat( frameNameTemp, frameCount);
// strcat(frameNameTemp, ".jpg");
// cvSaveImage(frameNameTemp, positionFrame, 0);
/* Start timing */
clock_t start = clock();
frameNumb++;
printf("Frame %d\n", frameNumb);
if( frameNumb == 210 ) {
for( ; frameNumb < 290; frameNumb++ ) {
cvQueryFrame( capture );
cvQueryFrame( stereoCapture );
}
}
if( frameNumb == 350 ) {
return(0);
}
/* Get the first video frame, and maybe stereo frame */
frame = cvQueryFrame( capture );
if(enable3D) stereoFrame = cvQueryFrame( stereoCapture );
/* Double-check that we haven't reached the end */
if( !frame ) break;
if( enable3D ) if( !stereoFrame ) break;
/* Compute likelihoods for new frame, using mean and cov */
likelihood( frame, backMean, backCov, imgLikelihood );
/* Update the Condensation model using new likelihoods */
updateCondensation( 0, 0, imgLikelihood, maxBox );
/* Maybe display the Condensation particles */
if( displayParticles )
drawParticles();
/* Draw tracking boxes onto the video and stereo video frame */
drawTrackingBoxes( 0, maxBox, frame, stereoFrame );
drawTrackingBoxes( 1, maxBox, frame, stereoFrame );
/* Show the latest video frame (with boxes and particles) */
cvShowImage( "Tracker", frame );
/* Maybe show latest stereo depth frame */
if( displayStereoFrame )
cvShowImage( "Stereo", stereoFrame );
/* Maybe show latest position map */
if( displayPositionFrame )
drawPositionTrail( maxBox, trailLength,
depth,
planX1Pos, planX2Pos, planZ1Pos,
planZ2Pos, positionFrame );
/* Maybe show the heat map of the input image (the likelihood for each patch) */
if( displayHeatFrame ) {
drawHeatmap( maxBox, imgLikelihood, heatFrame );
cvShowImage( "Heat", heatFrame );
}
/* Update previous x, y positions */
prevX[0] = maxBox[0]; prevY[0] = maxBox[1];
prevX[1] = maxBox[4]; prevY[1] = maxBox[5];
/* Calculate fps and average fps */
printf("fps: %3.1f, ", (double)1/(((double)clock() - start) / CLOCKS_PER_SEC));
totalTime = totalTime + (double)1/(((double)clock() - start) / CLOCKS_PER_SEC);
totalFrames++;
printf(" average fps %3.1f", totalTime/totalFrames);
/* Check for key presses */
key = cvWaitKey( 50 );
/* Enable debugging mode */
if( key == 'd' ) {
debug = 1;
printf("\n*********\n\nDebug: ON\n\n*********\n");
}
/* Enable debugging mode */
if( key == 'p' ) {
if( stateDraw )
stateDraw = 0;
else
stateDraw = 1;
printf("\n*********\n\nParticle Drawing Toggled\n\n*********\n");
}
}
printf("\n\nquitting");
//cvReleaseVideoWriter( &writerTracker );
cvReleaseImage( &img );
cvReleaseImage( &frame );
cvDestroyWindow( "Tracker" );
cvDestroyWindow( "Heat" );
cvDestroyWindow( "Stereo" );
cvDestroyWindow( "Position" );
return(0);
}
