+++ /dev/null
-/*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.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, 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 "_cvaux.h"
-
-typedef struct DefTrackPoint
-{
- float x,y,r,vx,vy,v;
-} DefTrackPoint;
-
-class DefTrackRec
-{
-private:
- int ID;
-public:
- DefTrackRec(int id = 0,int BlobSize = sizeof(DefTrackPoint))
- {
- ID = id;
- m_pMem = cvCreateMemStorage();
- m_pSeq = cvCreateSeq(0,sizeof(CvSeq),BlobSize,m_pMem);
- }
- ~DefTrackRec()
- {
- cvReleaseMemStorage(&m_pMem);
- };
- inline DefTrackPoint* GetPoint(int PointIndex)
- {
- return (DefTrackPoint*)cvGetSeqElem(m_pSeq,PointIndex);
- };
- inline void DelPoint(int PointIndex)
- {
- cvSeqRemove(m_pSeq,PointIndex);
- };
- inline void Clear()
- {
- cvClearSeq(m_pSeq);
- };
- inline void AddPoint(float x, float y, float r)
- {
- DefTrackPoint p = {x,y,r,0};
- int Num = GetPointNum();
-
- if(Num > 0)
- {
- DefTrackPoint* pPrev = GetPoint(Num-1);
- float Alpha = 0.8f;
- float dx = x-pPrev->x;
- float dy = y-pPrev->y;
- p.vx = Alpha*dx+(1-Alpha)*pPrev->vx;
- p.vy = Alpha*dy+(1-Alpha)*pPrev->vy;
- p.v = Alpha*dx+(1-Alpha)*pPrev->v;
- }
- AddPoint(&p);
- }
-
- inline void AddPoint(DefTrackPoint* pB)
- { /* Add point and recalculate last velocities: */
- int wnd=3;
- int Num;
- int i;
- cvSeqPush(m_pSeq,pB);
-
- Num = GetPointNum();
-
- for(i=MAX(0,Num-wnd-1); i<Num; ++i)
- { /* Next updating point: */
- DefTrackPoint* p = GetPoint(i);
- int j0 = i - wnd;
- int j1 = i + wnd;
-
- if(j0<0) j0 = 0;
- if(j1>=Num)j1=Num-1;
-
- if(j1>j0)
- {
- float dt = (float)(j1-j0);
- DefTrackPoint* p0 = GetPoint(j0);
- DefTrackPoint* p1 = GetPoint(j1);
- p->vx = (p1->x - p0->x) / dt;
- p->vy = (p1->y - p0->y) / dt;
- p->v = (float)sqrt(p->vx*p->vx+p->vy*p->vy);
- }
- } /* Next updating point. */
-
-#if 0
- if(0)
- { /* Debug: */
- int i;
- printf("Blob %d: ",ID);
-
- for(i=0; i<GetPointNum(); ++i)
- {
- DefTrackPoint* p = GetPoint(i);
- printf(",(%.2f,%.2f,%f.2)",p->vx,p->vy,p->v);
- }
- printf("\n");
- }
-#endif
- };
- inline int GetPointNum()
- {
- return m_pSeq->total;
- };
-private:
- CvMemStorage* m_pMem;
- CvSeq* m_pSeq;
-};
-
-/* Fill array pIdxPairs by pair of index of correspondent blobs. */
-/* Return number of pairs. */
-/* pIdxPairs must have size not less that 2*(pSeqNum+pSeqTNum) */
-/* pTmp is pointer to memory which size is pSeqNum*pSeqTNum*16 */
-typedef struct DefMatch
-{
- int Idx; /* Previous best blob index. */
- int IdxT; /* Previous best template blob index. */
- double D; /* Blob to blob distance sum. */
-} DefMatch;
-
-static int cvTrackMatch(DefTrackRec* pSeq, int MaxLen, DefTrackRec* pSeqT, int* pIdxPairs, void* pTmp)
-{
- int NumPair = 0;
- DefMatch* pMT = (DefMatch*)pTmp;
- int Num = pSeq->GetPointNum();
- int NumT = pSeqT->GetPointNum();
- int i,it;
- int i0=0; /* Last point in the track sequence. */
-
- if(MaxLen > 0 && Num > MaxLen)
- { /* Set new point seq len and new last point in this seq: */
- Num = MaxLen;
- i0 = pSeq->GetPointNum() - Num;
- }
-
- for(i=0; i<Num; ++i)
- { /* For each point row: */
- for(it=0; it<NumT; ++it)
- { /* For each point template column: */
- DefTrackPoint* pB = pSeq->GetPoint(i+i0);
- DefTrackPoint* pBT = pSeqT->GetPoint(it);
- DefMatch* pMT_cur = pMT + i*NumT + it;
- double dx = pB->x-pBT->x;
- double dy = pB->y-pBT->y;
- double D = dx*dx+dy*dy;
- int DI[3][2] = {{-1,-1},{-1,0},{0,-1}};
- int iDI;
-
- pMT_cur->D = D;
- pMT_cur->Idx = -1;
- pMT_cur->IdxT = 0;
-
- if(i==0) continue;
-
- for(iDI=0; iDI<3; ++iDI)
- {
- int i_prev = i+DI[iDI][0];
- int it_prev = it+DI[iDI][1];
-
- if(i_prev >= 0 && it_prev>=0)
- {
- double D_cur = D+pMT[NumT*i_prev+it_prev].D;
-
- if(pMT_cur->D > D_cur || (pMT_cur->Idx<0) )
- { /* Set new best local way: */
- pMT_cur->D = D_cur;
- pMT_cur->Idx = i_prev;
- pMT_cur->IdxT = it_prev;
- }
- }
- } /* Check next direction. */
- } /* Fill next colum from table. */
- } /* Fill next row. */
-
- { /* Back tracking. */
- /* Find best end in template: */
- int it_best = 0;
- DefMatch* pMT_best = pMT + (Num-1)*NumT;
- i = Num-1; /* set current i to last position */
-
- for(it=1; it<NumT; ++it)
- {
- DefMatch* pMT_new = pMT + it + i*NumT;
-
- if(pMT_best->D > pMT_new->D)
- {
- pMT_best->D = pMT_new->D;
- it_best = it;
- }
- } /* Find best end template point. */
-
- /* Back tracking whole sequence: */
- for(it = it_best;i>=0 && it>=0;)
- {
- DefMatch* pMT_new = pMT + it + i*NumT;
- pIdxPairs[2*NumPair] = i+i0;
- pIdxPairs[2*NumPair+1] = it;
- NumPair++;
-
- it = pMT_new->IdxT;
- i = pMT_new->Idx;
- }
- } /* End back tracing. */
-
- return NumPair;
-} /* cvTrackMatch. */
-
-typedef struct DefTrackForDist
-{
- CvBlob blob;
- DefTrackRec* pTrack;
- int LastFrame;
- float state;
- /* for debug */
- int close;
-} DefTrackForDist;
-
-class CvBlobTrackAnalysisTrackDist : public CvBlobTrackAnalysis
-{
- /*---------------- Internal functions: --------------------*/
-private:
- char* m_pDebugAVIName; /* For debugging. */
- //CvVideoWriter* m_pDebugAVI; /* For debugging. */
- IplImage* m_pDebugImg; /* For debugging. */
-
- char m_DataFileName[1024];
- CvBlobSeq m_Tracks;
- CvBlobSeq m_TrackDataBase;
- int m_Frame;
- void* m_pTempData;
- int m_TempDataSize;
- int m_TraceLen;
- float m_AbnormalThreshold;
- float m_PosThreshold;
- float m_VelThreshold;
- inline void* ReallocTempData(int Size)
- {
- if(Size <= m_TempDataSize && m_pTempData) return m_pTempData;
- cvFree(&m_pTempData);
- m_TempDataSize = 0;
- m_pTempData = cvAlloc(Size);
- if(m_pTempData) m_TempDataSize = Size;
- return m_pTempData;
- } /* ReallocTempData. */
-
-public:
- CvBlobTrackAnalysisTrackDist():m_Tracks(sizeof(DefTrackForDist)),m_TrackDataBase(sizeof(DefTrackForDist))
- {
- m_pDebugImg = 0;
- //m_pDebugAVI = 0;
- m_Frame = 0;
- m_pTempData = NULL;
- m_TempDataSize = 0;
-
- m_pDebugAVIName = NULL;
- AddParam("DebugAVI",&m_pDebugAVIName);
- CommentParam("DebugAVI","Name of AVI file to save images from debug window");
-
- m_TraceLen = 50;
- AddParam("TraceLen",&m_TraceLen);
- CommentParam("TraceLen","Length (in frames) of trajectory part that is used for comparison");
-
- m_AbnormalThreshold = 0.02f;
- AddParam("AbnormalThreshold",&m_AbnormalThreshold);
- CommentParam("AbnormalThreshold","If trajectory is equal with less then <AbnormalThreshold*DataBaseTrackNum> tracks then trajectory is abnormal");
-
- m_PosThreshold = 1.25;
- AddParam("PosThreshold",&m_PosThreshold);
- CommentParam("PosThreshold","Minimal allowd distance in blob width that is allowed");
-
- m_VelThreshold = 0.5;
- AddParam("VelThreshold",&m_VelThreshold);
- CommentParam("VelThreshold","Minimal allowed relative difference between blob speed");
-
- } /* Constructor. */
-
- ~CvBlobTrackAnalysisTrackDist()
- {
- int i;
- for(i=m_Tracks.GetBlobNum(); i>0; --i)
- {
- DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlob(i-1);
- delete pF->pTrack;
- }
- if(m_pDebugImg) cvReleaseImage(&m_pDebugImg);
- //if(m_pDebugAVI) cvReleaseVideoWriter(&m_pDebugAVI);
- } /* Destructor. */
-
- /*----------------- Interface: --------------------*/
- virtual void AddBlob(CvBlob* pBlob)
- {
- DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlobByID(CV_BLOB_ID(pBlob));
-
- if(pF == NULL)
- { /* Create new TRack record: */
- DefTrackForDist F;
- F.state = 0;
- F.blob = pBlob[0];
- F.LastFrame = m_Frame;
- F.pTrack = new DefTrackRec(CV_BLOB_ID(pBlob));
- m_Tracks.AddBlob((CvBlob*)&F);
- pF = (DefTrackForDist*)m_Tracks.GetBlobByID(CV_BLOB_ID(pBlob));
- }
-
- assert(pF);
- assert(pF->pTrack);
- pF->pTrack->AddPoint(pBlob->x,pBlob->y,pBlob->w*0.5f);
- pF->blob = pBlob[0];
- pF->LastFrame = m_Frame;
- };
-
- virtual void Process(IplImage* pImg, IplImage* /*pFG*/)
- {
- int i;
- double MinTv = pImg->width/1440.0; /* minimal threshold for speed difference */
- double MinTv2 = MinTv*MinTv;
-
- for(i=m_Tracks.GetBlobNum(); i>0; --i)
- {
- DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlob(i-1);
- pF->state = 0;
-
- if(pF->LastFrame == m_Frame || pF->LastFrame+1 == m_Frame)
- { /* Process one blob trajectory: */
- int NumEq = 0;
- int it;
-
- for(it=m_TrackDataBase.GetBlobNum(); it>0; --it)
- { /* Check template: */
- DefTrackForDist* pFT = (DefTrackForDist*)m_TrackDataBase.GetBlob(it-1);
- int Num = pF->pTrack->GetPointNum();
- int NumT = pFT->pTrack->GetPointNum();
- int* pPairIdx = (int*)ReallocTempData(sizeof(int)*2*(Num+NumT)+sizeof(DefMatch)*Num*NumT);
- void* pTmpData = pPairIdx+2*(Num+NumT);
- int PairNum = 0;
- int k;
- int Equal = 1;
- int UseVel = 0;
- int UsePos = 0;
-
- if(i==it) continue;
-
- /* Match track: */
- PairNum = cvTrackMatch( pF->pTrack, m_TraceLen, pFT->pTrack, pPairIdx, pTmpData );
- Equal = MAX(1,cvRound(PairNum*0.1));
-
- UseVel = 3*pF->pTrack->GetPointNum() > m_TraceLen;
- UsePos = 10*pF->pTrack->GetPointNum() > m_TraceLen;
-
- { /* Check continues: */
- float D;
- int DI = pPairIdx[0*2+0]-pPairIdx[(PairNum-1)*2+0];
- int DIt = pPairIdx[0*2+1]-pPairIdx[(PairNum-1)*2+1];
- if(UseVel && DI != 0)
- {
- D = (float)(DI-DIt)/(float)DI;
- if(fabs(D)>m_VelThreshold)Equal=0;
- if(fabs(D)>m_VelThreshold*0.5)Equal/=2;
- }
- } /* Check continues. */
-
- for(k=0; Equal>0 && k<PairNum; ++k)
- { /* Compare with threshold: */
- int j = pPairIdx[k*2+0];
- int jt = pPairIdx[k*2+1];
- DefTrackPoint* pB = pF->pTrack->GetPoint(j);
- DefTrackPoint* pBT = pFT->pTrack->GetPoint(jt);
- double dx = pB->x-pBT->x;
- double dy = pB->y-pBT->y;
- double dvx = pB->vx - pBT->vx;
- double dvy = pB->vy - pBT->vy;
- //double dv = pB->v - pBT->v;
- double D = dx*dx+dy*dy;
- double Td = pBT->r*m_PosThreshold;
- double dv2 = dvx*dvx+dvy*dvy;
- double Tv2 = (pBT->vx*pBT->vx+pBT->vy*pBT->vy)*m_VelThreshold*m_VelThreshold;
- double Tvm = pBT->v*m_VelThreshold;
-
-
- if(Tv2 < MinTv2) Tv2 = MinTv2;
- if(Tvm < MinTv) Tvm = MinTv;
-
- /* Check trajectory position: */
- if(UsePos && D > Td*Td)
- {
- Equal--;
- }
- else
- /* Check trajectory velocity. */
- /* Don't consider trajectory tail because its unstable for velocity computation. */
- if(UseVel && j>5 && jt>5 && dv2 > Tv2 )
- {
- Equal--;
- }
- } /* Compare with threshold. */
-
- if(Equal>0)
- {
- NumEq++;
- pFT->close++;
- }
- } /* Next template. */
-
- { /* Calculate state: */
- float T = m_TrackDataBase.GetBlobNum() * m_AbnormalThreshold; /* calc threshold */
-
- if(T>0)
- {
- pF->state = (T - NumEq)/(T*0.2f) + 0.5f;
- }
- if(pF->state<0)pF->state=0;
- if(pF->state>1)pF->state=1;
-
- /*if(0)if(pF->state>0)
- {// if abnormal blob
- printf("Abnormal blob(%d) %d < %f, state=%f\n",CV_BLOB_ID(pF),NumEq,T, pF->state);
- }*/
- } /* Calculate state. */
- } /* Process one blob trajectory. */
- else
- { /* Move track to tracks data base: */
- m_TrackDataBase.AddBlob((CvBlob*)pF);
- m_Tracks.DelBlob(i-1);
- }
- } /* Next blob. */
-
-
- if(m_Wnd)
- { /* Debug output: */
- int i;
-
- if(m_pDebugImg==NULL)
- m_pDebugImg = cvCloneImage(pImg);
- else
- cvCopyImage(pImg, m_pDebugImg);
-
- for(i=m_TrackDataBase.GetBlobNum(); i>0; --i)
- { /* Draw all elements in track data base: */
- int j;
- DefTrackForDist* pF = (DefTrackForDist*)m_TrackDataBase.GetBlob(i-1);
- CvScalar color = CV_RGB(0,0,0);
- if(!pF->close) continue;
- if(pF->close)
- {
- color = CV_RGB(0,0,255);
- }
- else
- {
- color = CV_RGB(0,0,128);
- }
-
- for(j=pF->pTrack->GetPointNum(); j>0; j--)
- {
- DefTrackPoint* pB = pF->pTrack->GetPoint(j-1);
- int r = 0;//MAX(cvRound(pB->r),1);
- cvCircle(m_pDebugImg, cvPoint(cvRound(pB->x),cvRound(pB->y)), r, color);
- }
- pF->close = 0;
- } /* Draw all elements in track data base. */
-
- for(i=m_Tracks.GetBlobNum(); i>0; --i)
- { /* Draw all elements for all trajectories: */
- DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlob(i-1);
- int j;
- int c = cvRound(pF->state*255);
- CvScalar color = CV_RGB(c,255-c,0);
- CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pF));
- int x = cvRound(CV_BLOB_RX(pF)), y = cvRound(CV_BLOB_RY(pF));
- CvSize s = cvSize(MAX(1,x), MAX(1,y));
-
- cvEllipse( m_pDebugImg,
- p,
- s,
- 0, 0, 360,
- CV_RGB(c,255-c,0), cvRound(1+(0*c)/255) );
-
- for(j=pF->pTrack->GetPointNum(); j>0; j--)
- {
- DefTrackPoint* pB = pF->pTrack->GetPoint(j-1);
- if(pF->pTrack->GetPointNum()-j > m_TraceLen) break;
- cvCircle(m_pDebugImg, cvPoint(cvRound(pB->x),cvRound(pB->y)), 0, color);
- }
- pF->close = 0;
-
- } /* Draw all elements for all trajectories. */
-
- //cvNamedWindow("Tracks",0);
- //cvShowImage("Tracks", m_pDebugImg);
- } /* Debug output. */
-
-#if 0
- if(m_pDebugImg && m_pDebugAVIName)
- {
- if(m_pDebugAVI==NULL)
- { /* Create avi file for writing: */
- m_pDebugAVI = cvCreateVideoWriter(
- m_pDebugAVIName,
- CV_FOURCC('x','v','i','d'),
- 25,
- cvSize(m_pDebugImg->width,m_pDebugImg->height));
-
- if(m_pDebugAVI == NULL)
- {
- printf("WARNING!!! Can not create AVI file %s for writing\n",m_pDebugAVIName);
- }
- } /* Create avi file for writing. */
-
- if(m_pDebugAVI)cvWriteFrame( m_pDebugAVI, m_pDebugImg );
- } /* Write debug window to AVI file. */
-#endif
- m_Frame++;
- };
- float GetState(int BlobID)
- {
- DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlobByID(BlobID);
- return pF?pF->state:0.0f;
- };
-
- /* Return 0 if trajectory is normal;
- return >0 if trajectory abnormal. */
- virtual char* GetStateDesc(int BlobID)
- {
- if(GetState(BlobID)>0.5) return "abnormal";
- return NULL;
- }
-
- virtual void SetFileName(char* DataBaseName)
- {
- m_DataFileName[0] = 0;
- if(DataBaseName)
- {
- strncpy(m_DataFileName,DataBaseName,1000);
- strcat(m_DataFileName, ".yml");
- }
- };
-
- virtual void Release(){ delete this; };
-};
-
-
-
-CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisTrackDist()
-{return (CvBlobTrackAnalysis*) new CvBlobTrackAnalysisTrackDist;}
-
projects / opencv / blobdiff