363 lines
12 KiB
C++
363 lines
12 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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// Intel License Agreement
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//
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// Copyright (C) 2000, Intel Corporation, 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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CvBGCodeBookModel* cvCreateBGCodeBookModel()
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{
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CvBGCodeBookModel* model = (CvBGCodeBookModel*)cvAlloc( sizeof(*model) );
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memset( model, 0, sizeof(*model) );
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model->cbBounds[0] = model->cbBounds[1] = model->cbBounds[2] = 10;
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model->modMin[0] = 3;
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model->modMax[0] = 10;
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model->modMin[1] = model->modMin[2] = 1;
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model->modMax[1] = model->modMax[2] = 1;
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model->storage = cvCreateMemStorage();
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return model;
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}
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void cvReleaseBGCodeBookModel( CvBGCodeBookModel** model )
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{
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if( model && *model )
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{
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cvReleaseMemStorage( &(*model)->storage );
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memset( *model, 0, sizeof(**model) );
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cvFree( model );
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}
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}
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static uchar satTab8u[768];
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#undef SAT_8U
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#define SAT_8U(x) satTab8u[(x) + 255]
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static void icvInitSatTab()
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{
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static int initialized = 0;
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if( !initialized )
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{
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for( int i = 0; i < 768; i++ )
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{
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int v = i - 255;
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satTab8u[i] = (uchar)(v < 0 ? 0 : v > 255 ? 255 : v);
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}
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initialized = 1;
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}
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}
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void cvBGCodeBookUpdate( CvBGCodeBookModel* model, const CvArr* _image,
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CvRect roi, const CvArr* _mask )
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{
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CV_FUNCNAME( "cvBGCodeBookUpdate" );
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__BEGIN__;
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CvMat stub, *image = cvGetMat( _image, &stub );
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CvMat mstub, *mask = _mask ? cvGetMat( _mask, &mstub ) : 0;
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int i, x, y, T;
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int nblocks;
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uchar cb0, cb1, cb2;
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CvBGCodeBookElem* freeList;
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CV_ASSERT( model && CV_MAT_TYPE(image->type) == CV_8UC3 &&
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(!mask || (CV_IS_MASK_ARR(mask) && CV_ARE_SIZES_EQ(image, mask))) );
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if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
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{
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roi.width = image->cols;
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roi.height = image->rows;
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}
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else
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CV_ASSERT( (unsigned)roi.x < (unsigned)image->cols &&
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(unsigned)roi.y < (unsigned)image->rows &&
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roi.width >= 0 && roi.height >= 0 &&
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roi.x + roi.width <= image->cols &&
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roi.y + roi.height <= image->rows );
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if( image->cols != model->size.width || image->rows != model->size.height )
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{
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cvClearMemStorage( model->storage );
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model->freeList = 0;
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cvFree( &model->cbmap );
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int bufSz = image->cols*image->rows*sizeof(model->cbmap[0]);
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model->cbmap = (CvBGCodeBookElem**)cvAlloc(bufSz);
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memset( model->cbmap, 0, bufSz );
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model->size = cvSize(image->cols, image->rows);
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}
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icvInitSatTab();
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cb0 = model->cbBounds[0];
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cb1 = model->cbBounds[1];
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cb2 = model->cbBounds[2];
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T = ++model->t;
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freeList = model->freeList;
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nblocks = (int)((model->storage->block_size - sizeof(CvMemBlock))/sizeof(*freeList));
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nblocks = MIN( nblocks, 1024 );
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CV_ASSERT( nblocks > 0 );
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for( y = 0; y < roi.height; y++ )
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{
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const uchar* p = image->data.ptr + image->step*(y + roi.y) + roi.x*3;
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const uchar* m = mask ? mask->data.ptr + mask->step*(y + roi.y) + roi.x : 0;
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CvBGCodeBookElem** cb = model->cbmap + image->cols*(y + roi.y) + roi.x;
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for( x = 0; x < roi.width; x++, p += 3, cb++ )
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{
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CvBGCodeBookElem *e, *found = 0;
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uchar p0, p1, p2, l0, l1, l2, h0, h1, h2;
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int negRun;
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if( m && m[x] == 0 )
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continue;
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p0 = p[0]; p1 = p[1]; p2 = p[2];
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l0 = SAT_8U(p0 - cb0); l1 = SAT_8U(p1 - cb1); l2 = SAT_8U(p2 - cb2);
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h0 = SAT_8U(p0 + cb0); h1 = SAT_8U(p1 + cb1); h2 = SAT_8U(p2 + cb2);
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for( e = *cb; e != 0; e = e->next )
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{
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if( e->learnMin[0] <= p0 && p0 <= e->learnMax[0] &&
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e->learnMin[1] <= p1 && p1 <= e->learnMax[1] &&
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e->learnMin[2] <= p2 && p2 <= e->learnMax[2] )
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{
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e->tLastUpdate = T;
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e->boxMin[0] = MIN(e->boxMin[0], p0);
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e->boxMax[0] = MAX(e->boxMax[0], p0);
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e->boxMin[1] = MIN(e->boxMin[1], p1);
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e->boxMax[1] = MAX(e->boxMax[1], p1);
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e->boxMin[2] = MIN(e->boxMin[2], p2);
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e->boxMax[2] = MAX(e->boxMax[2], p2);
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// no need to use SAT_8U for updated learnMin[i] & learnMax[i] here,
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// as the bounding li & hi are already within 0..255.
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if( e->learnMin[0] > l0 ) e->learnMin[0]--;
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if( e->learnMax[0] < h0 ) e->learnMax[0]++;
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if( e->learnMin[1] > l1 ) e->learnMin[1]--;
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if( e->learnMax[1] < h1 ) e->learnMax[1]++;
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if( e->learnMin[2] > l2 ) e->learnMin[2]--;
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if( e->learnMax[2] < h2 ) e->learnMax[2]++;
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found = e;
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break;
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}
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negRun = T - e->tLastUpdate;
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e->stale = MAX( e->stale, negRun );
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}
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for( ; e != 0; e = e->next )
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{
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negRun = T - e->tLastUpdate;
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e->stale = MAX( e->stale, negRun );
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}
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if( !found )
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{
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if( !freeList )
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{
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freeList = (CvBGCodeBookElem*)cvMemStorageAlloc(model->storage,
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nblocks*sizeof(*freeList));
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for( i = 0; i < nblocks-1; i++ )
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freeList[i].next = &freeList[i+1];
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freeList[nblocks-1].next = 0;
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}
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e = freeList;
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freeList = freeList->next;
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e->learnMin[0] = l0; e->learnMax[0] = h0;
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e->learnMin[1] = l1; e->learnMax[1] = h1;
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e->learnMin[2] = l2; e->learnMax[2] = h2;
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e->boxMin[0] = e->boxMax[0] = p0;
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e->boxMin[1] = e->boxMax[1] = p1;
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e->boxMin[2] = e->boxMax[2] = p2;
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e->tLastUpdate = T;
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e->stale = 0;
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e->next = *cb;
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*cb = e;
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}
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}
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}
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model->freeList = freeList;
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__END__;
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}
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int cvBGCodeBookDiff( const CvBGCodeBookModel* model, const CvArr* _image,
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CvArr* _fgmask, CvRect roi )
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{
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int maskCount = -1;
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CV_FUNCNAME( "cvBGCodeBookDiff" );
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__BEGIN__;
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CvMat stub, *image = cvGetMat( _image, &stub );
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CvMat mstub, *mask = cvGetMat( _fgmask, &mstub );
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int x, y;
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uchar m0, m1, m2, M0, M1, M2;
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CV_ASSERT( model && CV_MAT_TYPE(image->type) == CV_8UC3 &&
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image->cols == model->size.width && image->rows == model->size.height &&
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CV_IS_MASK_ARR(mask) && CV_ARE_SIZES_EQ(image, mask) );
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if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
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{
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roi.width = image->cols;
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roi.height = image->rows;
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}
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else
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CV_ASSERT( (unsigned)roi.x < (unsigned)image->cols &&
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(unsigned)roi.y < (unsigned)image->rows &&
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roi.width >= 0 && roi.height >= 0 &&
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roi.x + roi.width <= image->cols &&
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roi.y + roi.height <= image->rows );
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m0 = model->modMin[0]; M0 = model->modMax[0];
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m1 = model->modMin[1]; M1 = model->modMax[1];
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m2 = model->modMin[2]; M2 = model->modMax[2];
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maskCount = roi.height*roi.width;
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for( y = 0; y < roi.height; y++ )
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{
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const uchar* p = image->data.ptr + image->step*(y + roi.y) + roi.x*3;
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uchar* m = mask->data.ptr + mask->step*(y + roi.y) + roi.x;
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CvBGCodeBookElem** cb = model->cbmap + image->cols*(y + roi.y) + roi.x;
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for( x = 0; x < roi.width; x++, p += 3, cb++ )
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{
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CvBGCodeBookElem *e;
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uchar p0 = p[0], p1 = p[1], p2 = p[2];
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int l0 = p0 + m0, l1 = p1 + m1, l2 = p2 + m2;
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int h0 = p0 - M0, h1 = p1 - M1, h2 = p2 - M2;
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m[x] = (uchar)255;
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for( e = *cb; e != 0; e = e->next )
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{
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if( e->boxMin[0] <= l0 && h0 <= e->boxMax[0] &&
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e->boxMin[1] <= l1 && h1 <= e->boxMax[1] &&
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e->boxMin[2] <= l2 && h2 <= e->boxMax[2] )
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{
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m[x] = 0;
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maskCount--;
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break;
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}
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}
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}
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}
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__END__;
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return maskCount;
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}
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void cvBGCodeBookClearStale( CvBGCodeBookModel* model, int staleThresh,
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CvRect roi, const CvArr* _mask )
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{
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CV_FUNCNAME( "cvBGCodeBookClearStale" );
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__BEGIN__;
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CvMat mstub, *mask = _mask ? cvGetMat( _mask, &mstub ) : 0;
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int x, y, T;
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CvBGCodeBookElem* freeList;
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CV_ASSERT( model && (!mask || (CV_IS_MASK_ARR(mask) &&
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mask->cols == model->size.width && mask->rows == model->size.height)) );
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if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
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{
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roi.width = model->size.width;
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roi.height = model->size.height;
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}
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else
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CV_ASSERT( (unsigned)roi.x < (unsigned)mask->cols &&
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(unsigned)roi.y < (unsigned)mask->rows &&
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roi.width >= 0 && roi.height >= 0 &&
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roi.x + roi.width <= mask->cols &&
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roi.y + roi.height <= mask->rows );
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icvInitSatTab();
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freeList = model->freeList;
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T = model->t;
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for( y = 0; y < roi.height; y++ )
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{
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const uchar* m = mask ? mask->data.ptr + mask->step*(y + roi.y) + roi.x : 0;
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CvBGCodeBookElem** cb = model->cbmap + model->size.width*(y + roi.y) + roi.x;
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for( x = 0; x < roi.width; x++, cb++ )
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{
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CvBGCodeBookElem *e, first, *prev = &first;
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if( m && m[x] == 0 )
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continue;
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for( first.next = e = *cb; e != 0; e = prev->next )
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{
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if( e->stale > staleThresh )
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{
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prev->next = e->next;
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e->next = freeList;
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freeList = e;
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}
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else
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{
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e->stale = 0;
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e->tLastUpdate = T;
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prev = e;
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}
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}
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*cb = first.next;
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}
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}
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model->freeList = freeList;
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__END__;
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}
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/* End of file. */
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