CvRect combi_track(IplImage * pImg,KalmanFilter &kfilter)
{
CvRect predrect=kfilter.predictionReport(prevHandRect);
//if((predrect.x<0)||(predrect.y<0)||((predrect.x+predrect.width)>pImg->width)||((predrect.y+predrect.height)>pImg->height))
// return NULL;
CvConnectedComp components;
// Create a new hue image
updateHueImage(pImg);
// Create a probability image based on the hand histogram
cvCalcBackProject( &pHueImg, pProbImg, pHist );
cvAnd( pProbImg, pMask, pProbImg, 0 );
//cvSetImageROI(pProbImg,predrect);
// Use CamShift to find the center of the new hand probability
if(!((predrect.x<0)||(predrect.y<0)||((predrect.x+predrect.width)>pImg->width)||((predrect.y+predrect.height)>pImg->height))) {
cvCamShift( pProbImg, predrect, cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),&components, handBox );
// Update hand location and angle
prevHandRect = components.rect;
}
else
//cvCamShift( pProbImg, prevHandRect, cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),&components, handBox );
prevHandRect.x=-1;
//if(!pImg->origin)
// handBox->angle = -handBox->angle;
//cvResetImageROI(pProbImg);
return prevHandRect;
}
// startTracking()
//
void startTracking(IplImage * pImg, CvRect pHandRect,KalmanFilter &kfilter)
{
float maxVal = 0.f;
// Make sure internal data structures have been allocated
if( !pHist ) createTracker(pImg);
// Create a new hue image
updateHueImage(pImg);
if(!((pHandRect.x<0)||(pHandRect.y<0)||((pHandRect.x+pHandRect.width)>pImg->width)||((pHandRect.y+pHandRect.height)>pImg->height))) {
// Create a histogram representation for the hand
cvSetImageROI( pHueImg, pHandRect );
cvSetImageROI( pMask, pHandRect );
cvCalcHist( &pHueImg, pHist, 0, pMask );
cvGetMinMaxHistValue( pHist, 0, &maxVal, 0, 0 );
cvConvertScale( pHist->bins, pHist->bins, maxVal? 255.0/maxVal : 0, 0 );
cvResetImageROI( pHueImg );
cvResetImageROI( pMask );
}
// Store the previous hand location
prevHandRect =pHandRect;
prevHandRect2 =pHandRect;
//Pass the hand location to kalman initializer
kfilter.predictionBegin(prevHandRect);
}
int track(camshift * cs, IplImage * img, CvBox2D * fBox)
{
CvConnectedComp components;
updateHueImage(cs, img);
cvCalcBackProject( &cs->hueImg, cs->probImg, cs->hist );
cvAnd( cs->probImg, cs->mask, cs->probImg, 0 );
CvSize size = cvGetSize(cs->probImg);
// printf("%d %d %d %d\n", cs->prevFaceRect.x, cs->prevFaceRect.y, cs->prevFaceRect.width, cs->prevFaceRect.height);
if (cs->prevFaceRect.x <= 0) {
return 0;
}
if (cs->prevFaceRect.x > size.width) {
return 0;
}
if (cs->prevFaceRect.y <= 0) {
return 0;
}
if (cs->prevFaceRect.y > size.height) {
return 0;
}
if (cs->prevFaceRect.x + cs->prevFaceRect.width > size.width) {
return 0;
}
if (cs->prevFaceRect.y + cs->prevFaceRect.height > size.height) {
return 0;
}
if (cs->prevFaceRect.width <= 0) {
return 0;
}
if (cs->prevFaceRect.height <= 0) {
return 0;
}
cvCamShift( cs->probImg, cs->prevFaceRect,
cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
&components, &cs->faceBox );
cs->prevFaceRect = components.rect;
cs->faceBox.angle = -cs->faceBox.angle;
*fBox = cs->faceBox;
return 1;
}
void initTracking(camshift * cs, IplImage * img, CvRect * faceRect)
{
float maxVal = 0.f;
updateHueImage(cs, img);
cvSetImageROI( cs->hueImg, *faceRect );
cvSetImageROI( cs->mask, *faceRect );
cvCalcHist( &cs->hueImg, cs->hist, 0, cs->mask );
cvGetMinMaxHistValue( cs->hist, 0, &maxVal, 0, 0 );
cvConvertScale( cs->hist->bins, cs->hist->bins,
maxVal? 255.0/maxVal : 0, 0 );
cvResetImageROI( cs->hueImg );
cvResetImageROI( cs->mask );
cs->prevFaceRect = *faceRect;
}
//////////////////////////////////
// track()
//
CvBox2D track(camshift * cs, IplImage * pImg)
{
CvConnectedComp components;
// Create a new hue image
updateHueImage(cs, pImg);
// Create a probability image based on the face histogram
cvCalcBackProject( &cs->pHueImg, cs->pProbImg, cs->pHist );
cvAnd( cs->pProbImg, cs->pMask, cs->pProbImg, 0 );
// Use CamShift to find the center of the new face probability
CvSize size = cvGetSize(cs->pProbImg);
if (cs->prevFaceRect.x < 0) {
cs->prevFaceRect.x = 0;
}
if (cs->prevFaceRect.x >= size.width) {
cs->prevFaceRect.x = size.width - 1;
}
if (cs->prevFaceRect.y < 0) {
cs->prevFaceRect.y = 0;
}
if (cs->prevFaceRect.y >= size.height) {
cs->prevFaceRect.y = size.height - 1;
}
if (cs->prevFaceRect.x + cs->prevFaceRect.width > size.width) {
cs->prevFaceRect.width = size.width - cs->prevFaceRect.x;
}
if (cs->prevFaceRect.y + cs->prevFaceRect.height > size.height) {
cs->prevFaceRect.height = size.height - cs->prevFaceRect.y;
}
cvCamShift( cs->pProbImg, cs->prevFaceRect,
cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
&components, &cs->faceBox );
// Update face location and angle
cs->prevFaceRect = components.rect;
cs->faceBox.angle = -cs->faceBox.angle;
return cs->faceBox;
}
//////////////////////////////////
// track()
//
CvRect camshift_track(IplImage * pImg)
{
CvConnectedComp components;
// Create a new hue image
updateHueImage(pImg);
// Create a probability image based on the hand histogram
cvCalcBackProject( &pHueImg, pProbImg, pHist );
cvAnd( pProbImg, pMask, pProbImg, 0 );
//cvSetImageROI(pProbImg,predrect);
// Use CamShift to find the center of the new hand probability
cvCamShift( pProbImg, prevHandRect2, cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),&components, handBox );
// Update hand location and angle
prevHandRect2 = components.rect;
//if(!pImg->origin)
// handBox->angle = -handBox->angle;
//cvResetImageROI(pProbImg);
return prevHandRect2;
}
//////////////////////////////////
// track()
//
CvBox2D track(IplImage * pImg)
{
CvConnectedComp components;
// Create a new hue image
updateHueImage(pImg);
// Create a probability image based on the face histogram
cvCalcBackProject( &pHueImg, pProbImg, pHist );
cvAnd( pProbImg, pMask, pProbImg, 0 );
// Use CamShift to find the center of the new face probability
cvCamShift( pProbImg, prevFaceRect,
cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
&components, &faceBox );
// Update face location and angle
prevFaceRect = components.rect;
faceBox.angle = -faceBox.angle;
return faceBox;
}
//////////////////////////////////
// startTracking()
//
void startTracking(IplImage * pImg, CvRect * pFaceRect)
{
float maxVal = 0.f;
// Make sure internal data structures have been allocated
if( !pHist ) createTracker(pImg);
// Create a new hue image
updateHueImage(pImg);
// Create a histogram representation for the face
cvSetImageROI( pHueImg, *pFaceRect );
cvSetImageROI( pMask, *pFaceRect );
cvCalcHist( &pHueImg, pHist, 0, pMask );
cvGetMinMaxHistValue( pHist, 0, &maxVal, 0, 0 );
cvConvertScale( pHist->bins, pHist->bins, maxVal? 255.0/maxVal : 0, 0 );
cvResetImageROI( pHueImg );
cvResetImageROI( pMask );
// Store the previous face location
prevFaceRect = *pFaceRect;
}