void PalBattleStateMachine::MouseRUp(int xPos, int yPos) { if(getCurrState() != NULL) { getCurrState()->MouseRUp(xPos, yPos); } }
bool PalBattleStateMachine::Render() { if(getCurrState() != NULL) { getCurrState()->Render(); } return true; }
//========================================= CvRect camKalTrack(IplImage* frame, camshift_kalman_tracker& camKalTrk) { //========================================= if (!frame) printf("Input frame empty!\n"); cvCopy(frame, camKalTrk.image, 0); cvCvtColor(camKalTrk.image, camKalTrk.hsv, CV_BGR2HSV); // BGR to HSV if (camKalTrk.trackObject) { int _vmin = vmin, _vmax = vmax; cvInRangeS(camKalTrk.hsv, cvScalar(0, smin, MIN(_vmin,_vmax), 0), cvScalar(180, 256, MAX(_vmin,_vmax), 0), camKalTrk.mask); // MASK cvSplit(camKalTrk.hsv, camKalTrk.hue, 0, 0, 0); // HUE if (camKalTrk.trackObject < 0) { float max_val = 0.f; boundaryCheck(camKalTrk.originBox, frame->width, frame->height); cvSetImageROI(camKalTrk.hue, camKalTrk.originBox); // for ROI cvSetImageROI(camKalTrk.mask, camKalTrk.originBox); // for camKalTrk.mask cvCalcHist(&camKalTrk.hue, camKalTrk.hist, 0, camKalTrk.mask); // cvGetMinMaxHistValue(camKalTrk.hist, 0, &max_val, 0, 0); cvConvertScale(camKalTrk.hist->bins, camKalTrk.hist->bins, max_val ? 255. / max_val : 0., 0); // bin [0,255] cvResetImageROI(camKalTrk.hue); // remove ROI cvResetImageROI(camKalTrk.mask); camKalTrk.trackWindow = camKalTrk.originBox; camKalTrk.trackObject = 1; camKalTrk.lastpoint = camKalTrk.predictpoint = cvPoint(camKalTrk.trackWindow.x + camKalTrk.trackWindow.width / 2, camKalTrk.trackWindow.y + camKalTrk.trackWindow.height / 2); getCurrState(camKalTrk.kalman, camKalTrk.lastpoint, camKalTrk.predictpoint);//input curent state } //(x,y,vx,vy), camKalTrk.prediction = cvKalmanPredict(camKalTrk.kalman, 0);//predicton=kalman->state_post camKalTrk.predictpoint = cvPoint(cvRound(camKalTrk.prediction->data.fl[0]), cvRound(camKalTrk.prediction->data.fl[1])); camKalTrk.trackWindow = cvRect(camKalTrk.predictpoint.x - camKalTrk.trackWindow.width / 2, camKalTrk.predictpoint.y - camKalTrk.trackWindow.height / 2, camKalTrk.trackWindow.width, camKalTrk.trackWindow.height); camKalTrk.trackWindow = checkRectBoundary(cvRect(0, 0, frame->width, frame->height), camKalTrk.trackWindow); camKalTrk.searchWindow = cvRect(camKalTrk.trackWindow.x - region, camKalTrk.trackWindow.y - region, camKalTrk.trackWindow.width + 2 * region, camKalTrk.trackWindow.height + 2 * region); camKalTrk.searchWindow = checkRectBoundary(cvRect(0, 0, frame->width, frame->height), camKalTrk.searchWindow); cvSetImageROI(camKalTrk.hue, camKalTrk.searchWindow); cvSetImageROI(camKalTrk.mask, camKalTrk.searchWindow); cvSetImageROI(camKalTrk.backproject, camKalTrk.searchWindow); cvCalcBackProject( &camKalTrk.hue, camKalTrk.backproject, camKalTrk.hist ); // back project cvAnd(camKalTrk.backproject, camKalTrk.mask, camKalTrk.backproject, 0); camKalTrk.trackWindow = cvRect(region, region, camKalTrk.trackWindow.width, camKalTrk.trackWindow.height); if (camKalTrk.trackWindow.height > 5 && camKalTrk.trackWindow.width > 5) { // calling CAMSHIFT cvCamShift(camKalTrk.backproject, camKalTrk.trackWindow, cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1), &camKalTrk.trackComp, &camKalTrk.trackBox); /*cvMeanShift( camKalTrk.backproject, camKalTrk.trackWindow, cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ), &camKalTrk.trackComp);*/ } else { camKalTrk.trackComp.rect.x = 0; camKalTrk.trackComp.rect.y = 0; camKalTrk.trackComp.rect.width = 0; camKalTrk.trackComp.rect.height = 0; } cvResetImageROI(camKalTrk.hue); cvResetImageROI(camKalTrk.mask); cvResetImageROI(camKalTrk.backproject); camKalTrk.trackWindow = camKalTrk.trackComp.rect; camKalTrk.trackWindow = cvRect(camKalTrk.trackWindow.x + camKalTrk.searchWindow.x, camKalTrk.trackWindow.y + camKalTrk.searchWindow.y, camKalTrk.trackWindow.width, camKalTrk.trackWindow.height); camKalTrk.measurepoint = cvPoint(camKalTrk.trackWindow.x + camKalTrk.trackWindow.width / 2, camKalTrk.trackWindow.y + camKalTrk.trackWindow.height / 2); camKalTrk.realposition->data.fl[0] = camKalTrk.measurepoint.x; camKalTrk.realposition->data.fl[1] = camKalTrk.measurepoint.y; camKalTrk.realposition->data.fl[2] = camKalTrk.measurepoint.x - camKalTrk.lastpoint.x; camKalTrk.realposition->data.fl[3] = camKalTrk.measurepoint.y - camKalTrk.lastpoint.y; camKalTrk.lastpoint = camKalTrk.measurepoint;//keep the current real position //measurement x,y cvMatMulAdd( camKalTrk.kalman->measurement_matrix/*2x4*/, camKalTrk.realposition/*4x1*/,/*measurementstate*/0, camKalTrk.measurement ); cvKalmanCorrect(camKalTrk.kalman, camKalTrk.measurement); cvRectangle(frame, cvPoint(camKalTrk.trackWindow.x, camKalTrk.trackWindow.y), cvPoint(camKalTrk.trackWindow.x + camKalTrk.trackWindow.width, camKalTrk.trackWindow.y + camKalTrk.trackWindow.height), CV_RGB(255,128,0), 4, 8, 0); } // set new selection if it exists if (camKalTrk.selectObject && camKalTrk.selection.width > 0 && camKalTrk.selection.height > 0) { cvSetImageROI(camKalTrk.image, camKalTrk.selection); cvXorS(camKalTrk.image, cvScalarAll(255), camKalTrk.image, 0); cvResetImageROI(camKalTrk.image); } return camKalTrk.trackWindow; }