void bContourFinder::findConvexHulls(){
CvMemStorage *stor = cvCreateMemStorage();
CvSeq * ptseq = cvCreateSeq( CV_SEQ_KIND_CURVE|CV_32SC2,
sizeof(CvContour),
sizeof(CvPoint),
stor );
CvSeq * hull;
CvPoint pt;
this->convexBlobs.clear();
for(int i = 0 ; i < this->blobs.size(); i++){
this->convexBlobs.push_back(ofxCvBlob());
this->convexBlobs[i] = this->blobs[i];
this->convexBlobs[i].pts.clear();
// get blob i
for(int j = 0; j < this->blobs[i].pts.size(); j++){
// fill in blob points
pt.x = this->blobs[i].pts[j].x;
pt.y = this->blobs[i].pts[j].y;
cvSeqPush( ptseq, &pt);
}
hull = cvConvexHull2(ptseq, 0, CV_CLOCKWISE, 0);
// get the points for the blob:
CvPoint pt = **CV_GET_SEQ_ELEM( CvPoint*, hull, hull->total - 1 );
for( int j=0; j < hull->total; j++ ) {
pt = **CV_GET_SEQ_ELEM( CvPoint*, hull, j );
convexBlobs[i].pts.push_back( ofPoint((float)pt.x, (float)pt.y) );
}
convexBlobs[i].nPts = convexBlobs[i].pts.size();
}
cvClearMemStorage( stor );
}
void sceneManager::passInPacket(computerVisionPacket * packet){
memcpy(&(scenes[currentScene]->packet), packet, sizeof(computerVisionPacket));
// this is where we update the blob tracker
networkBlobs.clear();
networkBlobs.assign(packet->nBlobs, ofxCvBlob());
for(int i=0; i<packet->nBlobs; i++) {
networkBlobs[i].hole = packet->bAmInner[i];
networkBlobs[i].boundingRect = packet->rect[i];
networkBlobs[i].centroid = packet->centroid[i];
networkBlobs[i].nPts = packet->nPts[i];
networkBlobs[i].pts.assign(packet->nPts[i], ofPoint());
for (int j = 0; j < packet->nPts[i]; j++) {
float x = packet->pts[i][j].x;
float y = packet->pts[i][j].y;
networkBlobs[i].pts[j].set(x, y);
}
}
// go and track them
tracker.trackBlobs(networkBlobs);
}
void bContourFinder::smoothApproxChains(){ //int smoothMod, float value){
CvMemStorage *stor = cvCreateMemStorage();
CvSeq * ptseq = cvCreateSeq( CV_SEQ_KIND_CURVE | CV_SEQ_ELTYPE_POINT,
sizeof(CvSeq),
sizeof(CvPoint),
stor );
CvSeq * hull;
CvPoint pt;
this->convexBlobs.clear();
for(int i = 0 ; i < this->blobs.size(); i++){
this->convexBlobs.push_back(ofxCvBlob());
this->convexBlobs[i] = this->blobs[i];
this->convexBlobs[i].pts.clear();
// get blob i
for(int j = 0; j < this->blobs[i].pts.size(); j++){
// fill in blob points
pt.x = this->blobs[i].pts[j].x;
pt.y = this->blobs[i].pts[j].y;
cvSeqPush( ptseq, &pt);
}
hull = cvApproxPoly(ptseq, sizeof(CvContour), stor,
CV_POLY_APPROX_DP, cvContourPerimeter(ptseq)*0.004, 0);
// get the points for the blob:
CvPoint pt = **CV_GET_SEQ_ELEM( CvPoint*, hull, hull->total - 1 );
for( int j=0; j < hull->total; j++ ) {
pt = **CV_GET_SEQ_ELEM( CvPoint*, hull, j );
convexBlobs[i].pts.push_back( ofPoint((float)pt.x, (float)pt.y) );
}
convexBlobs[i].nPts = convexBlobs[i].pts.size();
}
cvClearMemStorage( stor );
}
//--------------------------------------------------------------------------------
int ofxCvContourFinder::findContours( ofxCvGrayscaleImage& input,
int minArea,
int maxArea,
int nConsidered,
bool bFindHoles,
bool bUseApproximation) {
// get width/height disregarding ROI
IplImage* ipltemp = input.getCvImage();
_width = ipltemp->width;
_height = ipltemp->height;
reset();
// opencv will clober the image it detects contours on, so we want to
// copy it into a copy before we detect contours. That copy is allocated
// if necessary (necessary = (a) not allocated or (b) wrong size)
// so be careful if you pass in different sized images to "findContours"
// there is a performance penalty, but we think there is not a memory leak
// to worry about better to create mutiple contour finders for different
// sizes, ie, if you are finding contours in a 640x480 image but also a
// 320x240 image better to make two ofxCvContourFinder objects then to use
// one, because you will get penalized less.
if( inputCopy.getWidth() == 0 ) {
inputCopy.setUseTexture(false);
inputCopy.allocate( _width, _height );
} else if( inputCopy.getWidth() != _width || inputCopy.getHeight() != _height ) {
// reallocate to new size
inputCopy.clear();
inputCopy.setUseTexture(false);
inputCopy.allocate( _width, _height );
}
inputCopy.setROI( input.getROI() );
inputCopy = input;
CvSeq* contour_list = NULL;
contour_storage = cvCreateMemStorage( 1000 );
storage = cvCreateMemStorage( 1000 );
CvContourRetrievalMode retrieve_mode
= (bFindHoles) ? CV_RETR_LIST : CV_RETR_EXTERNAL;
cvFindContours( inputCopy.getCvImage(), contour_storage, &contour_list,
sizeof(CvContour), retrieve_mode, bUseApproximation ? CV_CHAIN_APPROX_SIMPLE : CV_CHAIN_APPROX_NONE );
CvSeq* contour_ptr = contour_list;
// put the contours from the linked list, into an array for sorting
while( (contour_ptr != NULL) ) {
float area = fabs( cvContourArea(contour_ptr, CV_WHOLE_SEQ) );
if( (area > minArea) && (area < maxArea) ) {
cvSeqBlobs.push_back(contour_ptr);
}
contour_ptr = contour_ptr->h_next;
}
// sort the pointers based on size
if( cvSeqBlobs.size() > 1 ) {
sort( cvSeqBlobs.begin(), cvSeqBlobs.end(), sort_carea_compare );
}
// now, we have cvSeqBlobs.size() contours, sorted by size in the array
// cvSeqBlobs let's get the data out and into our structures that we like
for( int i = 0; i < MIN(nConsidered, (int)cvSeqBlobs.size()); i++ ) {
blobs.push_back( ofxCvBlob() );
float area = cvContourArea( cvSeqBlobs[i], CV_WHOLE_SEQ );
CvRect rect = cvBoundingRect( cvSeqBlobs[i], 0 );
cvMoments( cvSeqBlobs[i], myMoments );
blobs[i].area = fabs(area);
blobs[i].hole = area < 0 ? true : false;
blobs[i].length = cvArcLength(cvSeqBlobs[i]);
blobs[i].boundingRect.x = rect.x;
blobs[i].boundingRect.y = rect.y;
blobs[i].boundingRect.width = rect.width;
blobs[i].boundingRect.height = rect.height;
blobs[i].centroid.x = (myMoments->m10 / myMoments->m00);
blobs[i].centroid.y = (myMoments->m01 / myMoments->m00);
// get the points for the blob:
CvPoint pt;
CvSeqReader reader;
cvStartReadSeq( cvSeqBlobs[i], &reader, 0 );
for( int j=0; j < cvSeqBlobs[i]->total; j++ ) {
CV_READ_SEQ_ELEM( pt, reader );
blobs[i].pts.push_back( ofPoint((float)pt.x, (float)pt.y) );
}
blobs[i].nPts = blobs[i].pts.size();
}
nBlobs = blobs.size();
// Free the storage memory.
// Warning: do this inside this function otherwise a strange memory leak
if( contour_storage != NULL ) { cvReleaseMemStorage(&contour_storage); }
if( storage != NULL ) { cvReleaseMemStorage(&storage); }
return nBlobs;
}
ofxCvBlob JCHaarFinder::makeBlob(int x, int y, int w, int h) {
ofxCvBlob blob = ofxCvBlob();
blob.boundingRect = ofRectangle(x, y, w, h);
return blob;
}
//--------------------------------------------------------------------------------
void blobTracker::track(vector<ofVec3f>& points, int aliveFrames, float speedThreshold){
///Массив с информацией о пользователях на новом кадре
vector<touch> newTouchList;
///Шаг 1. Задаем всем новым блобам - вероятным пользователям id = -1 и копируем данные блоба
for(unsigned int i = 0; i < points.size(); i++){
touch t;
t.id = -1;
t.blob = ofxCvBlob();
t.blob.centroid = points[i];
t.framesToLive = aliveFrames;
newTouchList.push_back(t);
newTouchList.back().filter.setup(2,15,1,1);
newTouchList.back().filter.setState(points[i], 0.1);
}
///Шаг 2. Делаем трекинг блобов с предыдущего кадра - находим среди новых ближайший
for(unsigned int i = 0; i < touchList.size(); i++){
int resultIndex = trackKnn(&newTouchList, &(touchList[i].blob), 3);
if(resultIndex == -1){
///Защита от промаргивания
touchList[i].framesToLive--;
if(touchList[i].framesToLive <= 0)
touchList[i].id = -1;///Удаление пользователя
}
else{///Пользователь найден в списке
///Если для нового блоба оказался другой возможный вариант - сравниваем их
if(newTouchList[resultIndex].id != -1){
unsigned int j;
for(j = 0; j < touchList.size(); j++){
if(touchList[j].id == newTouchList[resultIndex].id)
break;
}
if(j == touchList.size()){
newTouchList[resultIndex].id = touchList[i].id;
touchList[i] = newTouchList[resultIndex];
}
///Сравнение с блобом-"конкурентом"
else{
double x = newTouchList[resultIndex].blob.centroid.x;
double y = newTouchList[resultIndex].blob.centroid.y;
double xOld = touchList[j].blob.centroid.x;
double yOld = touchList[j].blob.centroid.y;
double xNew = touchList[i].blob.centroid.x;
double yNew = touchList[i].blob.centroid.y;
double distOld = (x-xOld)*(x-xOld)+(y-yOld)*(y-yOld);
double distNew = (x-xNew)*(x-xNew)+(y-yNew)*(y-yNew);
if(distNew < distOld){
newTouchList[resultIndex].id = touchList[i].id;
touchList[j].id = -1;
}
else touchList[i].id = -1;
}
}
///Трекинг прошел без конфликтов
else newTouchList[resultIndex].id = touchList[i].id;
}
}
///Шаг 3. Обновление позиций пользователей с предыдущего кадра, удаление тех, которые не были обнаружены
for(unsigned int i = 0; i < touchList.size(); i++)
{
if(touchList[i].id == -1){///Удаление пользователя
ofNotifyEvent(blobDeleted, touchList[i].blob);
touchList.erase(touchList.begin() + i, touchList.begin() + i + 1);
i--;
}
else{
for(unsigned int j = 0; j < newTouchList.size(); j++)
if(touchList[i].id == newTouchList[j].id){
///Обновление данных
ofVec3f lastCentroid = touchList[i].blob.centroid;///Центроид с предыдущего кадра
touchList[i].blob = newTouchList[j].blob;
touchList[i].framesToLive = aliveFrames;
ofVec3f positionDifference;
positionDifference.set(touchList[i].blob.centroid.x - lastCentroid.x, touchList[i].blob.centroid.y - lastCentroid.y);
///Фрагмент кода из CCV
//float posDelta = sqrtf((positionDifference.x*positionDifference.x)+(positionDifference.y*positionDifference.y));
//int MOVEMENT_FILTERING = 0;
//float a = 1.0f - 1.0f / expf(posDelta / (1.0f + (float)MOVEMENT_FILTERING*10));
//users[i].blob.centroid.x = a * users[i].blob.centroid.x + (1-a) * lastCentroid.x;
//users[i].blob.centroid.y = a * users[i].blob.centroid.y + (1-a) * lastCentroid.y;
///Конец фрагмента из CCV
/// Фильтр Калмана
if(positionDifference.length() > speedThreshold){
touchList[i].blob.centroid = touchList[i].filter.getCorrect(touchList[i].blob.centroid);
ofNotifyEvent(blobMoved, touchList[i].blob);
}
else touchList[i].blob.centroid = lastCentroid;
/*touchList[i].blob.D.set(touchList[i].blob.centroid.x - lastCentroid.x,
touchList[i].blob.centroid.y - lastCentroid.y);*/
}
}
}
///Шаг 4. Добавляем новых возможных пользователей
for(unsigned int i = 0; i < newTouchList.size(); i++){
if(newTouchList[i].id == -1){
newTouchList[i].id = idCounter;
idCounter++;
touchList.push_back(newTouchList[i]);
touchList.back().blob.id = touchList.back().id;
ofNotifyEvent(blobAdded, touchList.back().blob);
}
}
}
