void CvParticleFilter::initialize(CvRect roi)
{
// initialize particle filter
CvParticle * init_particle = cvCreateParticle( N_p/*num_states*/, 1 );
float lin = m_imsize.width/160.f;
float bound = 5.*lin;
float m_iLinMultiplier=m_imgY->width/160.;
fprintf(stderr, "roi: %d,%d,%d,%d\n", roi.x,roi.y,roi.width,roi.height);
if ( (roi.x<1) || (roi.y<1) ||
(roi.width >m_imsize.width-1) ||
(roi.height>m_imsize.height-1) )
{
fprintf(stderr, "WARNING: initializing at image boundary, rejected!\n");
return;
}
CvRect initROI = cvRect(roi.x+bound,
roi.y+bound,
roi.width -bound*2.,
roi.height-bound*2.);
CvBox2D box = cvBox2DFromRect( initROI ); // centerize
cvParticleStateSet( init_particle, 0, box );
cvParticleInit( m_particle, init_particle );
cvReleaseParticle( &init_particle );
{
float dx=1.8,dy=1.8,dw=.01,dh=.01,dtheta=.05;
CvBox2D box = cvBox2D(dx*lin, dy*lin, dw*lin, dh*lin, dtheta);
cvParticleStateConfig( m_particle, m_imsize, box);
}
{
// CvMat * imgYpatch =
// cvCreateMat(initROI.height, initROI.width, CV_8U);
// CvMat * imgUpatch =
// cvCreateMat(initROI.height, initROI.width, CV_8U);
// CvMat * imgVpatch =
// cvCreateMat(initROI.height, initROI.width, CV_8U);
// cvGetSubRect(m_imgY, imgYpatch, initROI);
// cvGetSubRect(m_imgU, imgUpatch, initROI);
// cvGetSubRect(m_imgV, imgVpatch, initROI);
// // CV_SHOW(imgYpatch);
// m_observer.update(imgYpatch, imgUpatch, imgVpatch);
// int pnr=(roi.height/2)*2,pnc=(roi.width/2)*2;
// CvMat * imgYpatch = cvCreateMat(pnr, pnc, CV_8U);
// CvMat * imgUpatch = cvCreateMat(pnr, pnc, CV_8U);
// CvMat * imgVpatch = cvCreateMat(pnr, pnc, CV_8U);
// CvMat * mask = cvCreateMat(pnr, pnc, CV_8U);
// float warp_p_data[3]={1,roi.x,roi.y};
// CvMat warp_p = cvMat(3,1,CV_32F,warp_p_data);
// icvWarp(m_imgY, imgYpatch, &warp_p);
// icvWarp(m_imgU, imgUpatch, &warp_p);
// icvWarp(m_imgV, imgVpatch, &warp_p);
// CvMat * subdx = cvCreateMat(pnr, pnc, CV_8U);
// CvMat * subdy = cvCreateMat(pnr, pnc, CV_8U);
// icvWarp(m_tracker.dx, subdx, &warp_p);
// icvWarp(m_tracker.dy, subdy, &warp_p);
// m_observer.update(imgYpatch, imgUpatch, imgVpatch, mask);
m_observer.initialize(roi);
// cvReleaseMat(&subdx);
// cvReleaseMat(&subdy);
// cvReleaseMat(&imgYpatch);
// cvReleaseMat(&imgUpatch);
// cvReleaseMat(&imgVpatch);
// cvReleaseMat(&mask);
}
m_initialized = 1;
}
/**************************** Main ********************************/
int main( int argc, char** argv )
{
IplImage *frame;
CvCapture* video;
int frame_num = 0;
int i;
arg_parse( argc, argv );
// initialization
cvParticleObserveInitialize( featsize );
// read a video
if( !vid_file || (isdigit(vid_file[0]) && vid_file[1] == '\0') )
video = cvCaptureFromCAM( !vid_file ? 0 : vid_file[0] - '0' );
else
video = cvCaptureFromAVI( vid_file );
if( (frame = cvQueryFrame( video )) == NULL )
{
fprintf( stderr, "Video %s is not loadable.\n", vid_file );
usage();
exit(1);
}
// allows user to select initial region
CvRect region;
icvGetRegion( frame, ®ion );
// configure particle filter
bool logprob = true;
CvParticle *particle = cvCreateParticle( num_states, num_particles, logprob );
CvParticleState std = cvParticleState (
std_x,
std_y,
std_w,
std_h,
std_r
);
cvParticleStateConfig( particle, cvGetSize(frame), std );
// initialize particle filter
CvParticleState s;
CvParticle *init_particle;
init_particle = cvCreateParticle( num_states, 1 );
CvRect32f region32f = cvRect32fFromRect( region );
CvBox32f box = cvBox32fFromRect32f( region32f ); // centerize
s = cvParticleState( box.cx, box.cy, box.width, box.height, 0.0 );
cvParticleStateSet( init_particle, 0, s );
cvParticleInit( particle, init_particle );
cvReleaseParticle( &init_particle );
// template
IplImage* reference = cvCreateImage( featsize, frame->depth, frame->nChannels );
IplImage* tmp = cvCreateImage( cvSize(region.width,region.height), frame->depth, frame->nChannels );
cvCropImageROI( frame, tmp, region32f );
cvResize( tmp, reference );
cvReleaseImage( &tmp );
while( ( frame = cvQueryFrame( video ) ) != NULL )
{
// Draw new particles
cvParticleTransition( particle );
// Measurements
cvParticleObserveMeasure( particle, frame, reference );
// Draw all particles
for( i = 0; i < particle->num_particles; i++ )
{
CvParticleState s = cvParticleStateGet( particle, i );
cvParticleStateDisplay( s, frame, CV_RGB(0,0,255) );
}
// Draw most probable particle
//printf( "Most probable particle's state\n" );
int maxp_id = cvParticleGetMax( particle );
CvParticleState maxs = cvParticleStateGet( particle, maxp_id );
cvParticleStateDisplay( maxs, frame, CV_RGB(255,0,0) );
///cvParticleStatePrint( maxs );
// Save pictures
if( arg_export ) {
sprintf( export_filename, export_format, vid_file, frame_num );
printf( "Export: %s\n", export_filename ); fflush( stdout );
cvSaveImage( export_filename, frame );
}
cvShowImage( "Select an initial region > SPACE > ESC", frame );
// Normalize
cvParticleNormalize( particle);
// Resampling
cvParticleResample( particle );
char c = cvWaitKey( 1000 );
if(c == '\x1b')
break;
}
cvParticleObserveFinalize();
cvDestroyWindow( "Select an initial region > SPACE > ESC" );
cvReleaseImage( &reference );
cvReleaseParticle( &particle );
cvReleaseCapture( &video );
return 0;
}
