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