ObjectState HTCamshift::update(InputArray _rgbFrame, InputArray _depthFrame, InputArray _mask) {
CV_Assert(_rgbFrame.size() == rgbFrameSize && _rgbFrame.type() == rgbFrameType);
if(useDepth == true) {
CV_Assert(_depthFrame.size() == depthFrameSize && _depthFrame.type() == depthFrameType);
}
split(_rgbFrame, channels);
if(state.valid == false) {
calculateFeatureSet(_rgbFrame, _depthFrame);
}
calculateBackPro(_rgbFrame, _depthFrame, _mask);
Rect bounding = state.location.boundingRect();
state.location = CamShift(backPro, bounding, term);
return state;
}
int track(Mat &image,Rect &rect)
{
int status=0;
cvtColor(image, hsv, CV_BGR2HSV_FULL);
selection=rect;
if(rect.width!=0&&rect.height!=0)
{
if(trackObject==false)
buildHistogram ();
if(trackObject==true)
{
Rect trackWindow=selection;
Mat backproj=calcProbability ();
RotatedRect trackBox = CamShift(backproj,trackWindow,TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
if( trackWindow.area() <= 1 )
{
int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
trackWindow = Rect(0,0,0,0);
trackObject=false;
}
else
{
Point2f rect_points[4]; trackBox.points( rect_points );
for( int j = 0; j < 4; j++ )
line( image, rect_points[j], rect_points[(j+1)%4], Scalar(0,0,255), 1, 8 );
}
}
}
else
{
trackObject=false;
}
status=1;
return status;
}
void FindObjectMain::process_camshift()
{
// Some user defined parameters
int vmin = config.vmin;
int vmax = config.vmax;
int smin = config.smin;
float hranges[] = { 0, 180 };
const float* phranges = hranges;
// Create aligned, RGB images
if(!object_image)
{
object_image = cvCreateImage(
cvSize(object_image_w, object_image_h),
8,
3);
}
if(!scene_image)
{
scene_image = cvCreateImage(
cvSize(scene_image_w, scene_image_h),
8,
3);
}
// Temporary row pointers
unsigned char **object_rows = new unsigned char*[object_image_h];
unsigned char **scene_rows = new unsigned char*[scene_image_h];
for(int i = 0; i < object_image_h; i++)
{
object_rows[i] = (unsigned char*)(object_image->imageData + i * object_image_w * 3);
}
for(int i = 0; i < scene_image_h; i++)
{
scene_rows[i] = (unsigned char*)(scene_image->imageData + i * scene_image_w * 3);
}
// Transfer object & scene to RGB images for OpenCV
if(!prev_object) prev_object = new unsigned char[object_image_w * object_image_h * 3];
// Back up old object image
memcpy(prev_object, object_image->imageData, object_image_w * object_image_h * 3);
BC_CModels::transfer(object_rows,
get_input(object_layer)->get_rows(),
0,
0,
0,
0,
0,
0,
object_x1,
object_y1,
object_w,
object_h,
0,
0,
object_w,
object_h,
get_input(object_layer)->get_color_model(),
BC_RGB888,
0,
0,
0);
BC_CModels::transfer(scene_rows,
get_input(scene_layer)->get_rows(),
0,
0,
0,
0,
0,
0,
scene_x1,
scene_y1,
scene_w,
scene_h,
0,
0,
scene_w,
scene_h,
get_input(scene_layer)->get_color_model(),
BC_RGB888,
0,
0,
0);
delete [] object_rows;
delete [] scene_rows;
// from camshiftdemo.cpp
// Compute new object
if(memcmp(prev_object,
object_image->imageData,
object_image_w * object_image_h * 3) ||
!hist.dims)
{
Mat image(object_image);
Mat hsv, hue, mask;
cvtColor(image, hsv, CV_RGB2HSV);
int _vmin = vmin, _vmax = vmax;
//printf("FindObjectMain::process_camshift %d\n", __LINE__);
inRange(hsv,
Scalar(0, smin, MIN(_vmin,_vmax)),
Scalar(180, 256, MAX(_vmin, _vmax)),
mask);
int ch[] = { 0, 0 };
hue.create(hsv.size(), hsv.depth());
mixChannels(&hsv, 1, &hue, 1, ch, 1);
Rect selection = Rect(0, 0, object_w, object_h);
trackWindow = selection;
int hsize = 16;
Mat roi(hue, selection), maskroi(mask, selection);
calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
normalize(hist, hist, 0, 255, CV_MINMAX);
}
// compute scene
Mat image(scene_image);
Mat hsv, hue, mask, backproj;
cvtColor(image, hsv, CV_RGB2HSV);
int _vmin = vmin, _vmax = vmax;
inRange(hsv,
Scalar(0, smin, MIN(_vmin,_vmax)),
Scalar(180, 256, MAX(_vmin, _vmax)),
mask);
int ch[] = {0, 0};
hue.create(hsv.size(), hsv.depth());
mixChannels(&hsv, 1, &hue, 1, ch, 1);
//printf("FindObjectMain::process_camshift %d %d %d\n", __LINE__, hist.dims, hist.size[1]);
RotatedRect trackBox = RotatedRect(
Point2f((object_x1 + object_x2) / 2, (object_y1 + object_y2) / 2),
Size2f(object_w, object_h),
0);
trackWindow = Rect(0,
0,
scene_w,
scene_h);
if(hist.dims > 0)
{
calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
backproj &= mask;
//printf("FindObjectMain::process_camshift %d\n", __LINE__);
// if(trackWindow.width <= 0 ||
// trackWindow.height <= 0)
// {
// trackWindow.width = object_w;
// trackWindow.height = object_h;
// }
trackBox = CamShift(backproj,
trackWindow,
TermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));
//printf("FindObjectMain::process_camshift %d\n", __LINE__);
// if( trackWindow.area() <= 1 )
// {
// int cols = backproj.cols;
// int rows = backproj.rows;
// int r = (MIN(cols, rows) + 5) / 6;
// trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
// trackWindow.x + r, trackWindow.y + r) &
// Rect(0, 0, cols, rows);
// }
}
// printf("FindObjectMain::process_camshift %d %d %d %d %d\n",
// __LINE__,
// trackWindow.x,
// trackWindow.y,
// trackWindow.width,
// trackWindow.height);
// Draw mask over scene
if(config.draw_keypoints)
{
for(int i = 0; i < scene_h; i++)
{
switch(get_input(scene_layer)->get_color_model())
{
case BC_YUV888:
{
unsigned char *input = backproj.data + i * scene_image_w;
unsigned char *output = get_input(scene_layer)->get_rows()[i + scene_y1] + scene_x1 * 3;
for(int j = 0; j < scene_w; j++)
{
output[0] = *input;
output[1] = 0x80;
output[2] = 0x80;
output += 3;
input++;
}
break;
}
}
}
}
// Get object outline in the scene layer
// printf("FindObjectMain::process_camshift %d %d %d %d %d %d\n",
// __LINE__,
// (int)trackBox.center.x,
// (int)trackBox.center.y,
// (int)trackBox.size.width,
// (int)trackBox.size.height,
// (int)trackBox.angle);
double angle = trackBox.angle * 2 * M_PI / 360;
double angle1 = atan2(-(double)trackBox.size.height / 2, -(double)trackBox.size.width / 2) + angle;
double angle2 = atan2(-(double)trackBox.size.height / 2, (double)trackBox.size.width / 2) + angle;
double angle3 = atan2((double)trackBox.size.height / 2, (double)trackBox.size.width / 2) + angle;
double angle4 = atan2((double)trackBox.size.height / 2, -(double)trackBox.size.width / 2) + angle;
double radius = sqrt(SQR(trackBox.size.height / 2) + SQR(trackBox.size.width / 2));
border_x1 = (int)(trackBox.center.x + cos(angle1) * radius) + scene_x1;
border_y1 = (int)(trackBox.center.y + sin(angle1) * radius) + scene_y1;
border_x2 = (int)(trackBox.center.x + cos(angle2) * radius) + scene_x1;
border_y2 = (int)(trackBox.center.y + sin(angle2) * radius) + scene_y1;
border_x3 = (int)(trackBox.center.x + cos(angle3) * radius) + scene_x1;
border_y3 = (int)(trackBox.center.y + sin(angle3) * radius) + scene_y1;
border_x4 = (int)(trackBox.center.x + cos(angle4) * radius) + scene_x1;
border_y4 = (int)(trackBox.center.y + sin(angle4) * radius) + scene_y1;
}
