138 lines
4.6 KiB
C++
138 lines
4.6 KiB
C++
//*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/contrib/hybridtracker.hpp"
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using namespace cv;
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using namespace std;
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CvMeanShiftTracker::CvMeanShiftTracker(CvMeanShiftTrackerParams _params) : params(_params)
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{
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}
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CvMeanShiftTracker::~CvMeanShiftTracker()
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{
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}
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void CvMeanShiftTracker::newTrackingWindow(Mat image, Rect selection)
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{
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hist.release();
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int channels[] = { 0, 0 , 1, 1};
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float hrange[] = { 0, 180 };
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float srange[] = { 0, 1 };
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const float* ranges[] = {hrange, srange};
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cvtColor(image, hsv, CV_BGR2HSV);
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inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask);
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hue.create(hsv.size(), CV_8UC2);
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mixChannels(&hsv, 1, &hue, 1, channels, 2);
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Mat roi(hue, selection);
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Mat maskroi(mask, selection);
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int ch[] = {0, 1};
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int chsize[] = {32, 32};
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calcHist(&roi, 1, ch, maskroi, hist, 1, chsize, ranges);
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normalize(hist, hist, 0, 255, CV_MINMAX);
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prev_trackwindow = selection;
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}
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RotatedRect CvMeanShiftTracker::updateTrackingWindow(Mat image)
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{
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int channels[] = { 0, 0 , 1, 1};
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float hrange[] = { 0, 180 };
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float srange[] = { 0, 1 };
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const float* ranges[] = {hrange, srange};
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cvtColor(image, hsv, CV_BGR2HSV);
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inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask);
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hue.create(hsv.size(), CV_8UC2);
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mixChannels(&hsv, 1, &hue, 1, channels, 2);
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int ch[] = {0, 1};
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calcBackProject(&hue, 1, ch, hist, backproj, ranges);
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backproj &= mask;
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prev_trackbox = CamShift(backproj, prev_trackwindow, TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1));
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int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5) / 6;
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prev_trackwindow = Rect(prev_trackwindow.x - r, prev_trackwindow.y - r, prev_trackwindow.x + r,
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prev_trackwindow.y + r) & Rect(0, 0, cols, rows);
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prev_center.x = (float)(prev_trackwindow.x + prev_trackwindow.width / 2);
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prev_center.y = (float)(prev_trackwindow.y + prev_trackwindow.height / 2);
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#ifdef DEBUG_HYTRACKER
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ellipse(image, prev_trackbox, Scalar(0, 0, 255), 1, CV_AA);
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#endif
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return prev_trackbox;
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}
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Mat CvMeanShiftTracker::getHistogramProjection(int type)
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{
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Mat ms_backproj_f(backproj.size(), type);
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backproj.convertTo(ms_backproj_f, type);
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return ms_backproj_f;
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}
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void CvMeanShiftTracker::setTrackingWindow(Rect window)
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{
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prev_trackwindow = window;
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}
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Rect CvMeanShiftTracker::getTrackingWindow()
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{
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return prev_trackwindow;
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}
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RotatedRect CvMeanShiftTracker::getTrackingEllipse()
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{
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return prev_trackbox;
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}
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Point2f CvMeanShiftTracker::getTrackingCenter()
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{
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return prev_center;
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}
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