+++ /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
-//
-// 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*/
-
-/*
-This file implements the virtual interface defined as "CvBlobDetector".
-This implementation based on a simple algorithm:
-A new blob is detected when several successive frames contains connected components
-which have uniform motion not at an unreasonably high speed.
-Separation from border and already tracked blobs are also considered.
-
-For an entrypoint into the literature see:
-
- Appearance Models for Occlusion Handling
- Andrew Senior &t al, 8p 2001
- http://www.research.ibm.com/peoplevision/PETS2001.pdf
-
-*/
-
-//#define USE_OBJECT_DETECTOR
-
-#include "_cvaux.h"
-
-static int CompareContour(const void* a, const void* b, void* )
-{
- float dx,dy;
- float h,w,ht,wt;
- CvPoint2D32f pa,pb;
- CvRect ra,rb;
- CvSeq* pCA = *(CvSeq**)a;
- CvSeq* pCB = *(CvSeq**)b;
- ra = ((CvContour*)pCA)->rect;
- rb = ((CvContour*)pCB)->rect;
- pa.x = ra.x + ra.width*0.5f;
- pa.y = ra.y + ra.height*0.5f;
- pb.x = rb.x + rb.width*0.5f;
- pb.y = rb.y + rb.height*0.5f;
- w = (ra.width+rb.width)*0.5f;
- h = (ra.height+rb.height)*0.5f;
-
- dx = (float)(fabs(pa.x - pb.x)-w);
- dy = (float)(fabs(pa.y - pb.y)-h);
-
- //wt = MAX(ra.width,rb.width)*0.1f;
- wt = 0;
- ht = MAX(ra.height,rb.height)*0.3f;
- return (dx < wt && dy < ht);
-}
-
-void cvFindBlobsByCCClasters(IplImage* pFG, CvBlobSeq* pBlobs, CvMemStorage* storage)
-{ /* Create contours: */
- IplImage* pIB = NULL;
- CvSeq* cnt = NULL;
- CvSeq* cnt_list = cvCreateSeq(0,sizeof(CvSeq),sizeof(CvSeq*), storage );
- CvSeq* clasters = NULL;
- int claster_cur, claster_num;
-
- pIB = cvCloneImage(pFG);
- cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
- cvFindContours(pIB,storage, &cnt, sizeof(CvContour), CV_RETR_EXTERNAL);
- cvReleaseImage(&pIB);
-
- /* Create cnt_list. */
- /* Process each contour: */
- for(; cnt; cnt=cnt->h_next)
- {
- cvSeqPush( cnt_list, &cnt);
- }
-
- claster_num = cvSeqPartition( cnt_list, storage, &clasters, CompareContour, NULL );
-
- for(claster_cur=0; claster_cur<claster_num; ++claster_cur)
- {
- int cnt_cur;
- CvBlob NewBlob;
- double M00,X,Y,XX,YY; /* image moments */
- CvMoments m;
- CvRect rect_res = cvRect(-1,-1,-1,-1);
- CvMat mat;
-
- for(cnt_cur=0; cnt_cur<clasters->total; ++cnt_cur)
- {
- CvRect rect;
- CvSeq* cnt;
- int k = *(int*)cvGetSeqElem( clasters, cnt_cur );
- if(k!=claster_cur) continue;
- cnt = *(CvSeq**)cvGetSeqElem( cnt_list, cnt_cur );
- rect = ((CvContour*)cnt)->rect;
-
- if(rect_res.height<0)
- {
- rect_res = rect;
- }
- else
- { /* Unite rects: */
- int x0,x1,y0,y1;
- x0 = MIN(rect_res.x,rect.x);
- y0 = MIN(rect_res.y,rect.y);
- x1 = MAX(rect_res.x+rect_res.width,rect.x+rect.width);
- y1 = MAX(rect_res.y+rect_res.height,rect.y+rect.height);
- rect_res.x = x0;
- rect_res.y = y0;
- rect_res.width = x1-x0;
- rect_res.height = y1-y0;
- }
- }
-
- if(rect_res.height < 1 || rect_res.width < 1)
- {
- X = 0;
- Y = 0;
- XX = 0;
- YY = 0;
- }
- else
- {
- cvMoments( cvGetSubRect(pFG,&mat,rect_res), &m, 0 );
- M00 = cvGetSpatialMoment( &m, 0, 0 );
- if(M00 <= 0 ) continue;
- X = cvGetSpatialMoment( &m, 1, 0 )/M00;
- Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
- XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
- YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
- }
- NewBlob = cvBlob(rect_res.x+(float)X,rect_res.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
- pBlobs->AddBlob(&NewBlob);
-
- } /* Next cluster. */
-
- #if 0
- { // Debug info:
- IplImage* pI = cvCreateImage(cvSize(pFG->width,pFG->height),IPL_DEPTH_8U,3);
- cvZero(pI);
- for(claster_cur=0; claster_cur<claster_num; ++claster_cur)
- {
- int cnt_cur;
- CvScalar color = CV_RGB(rand()%256,rand()%256,rand()%256);
-
- for(cnt_cur=0; cnt_cur<clasters->total; ++cnt_cur)
- {
- CvSeq* cnt;
- int k = *(int*)cvGetSeqElem( clasters, cnt_cur );
- if(k!=claster_cur) continue;
- cnt = *(CvSeq**)cvGetSeqElem( cnt_list, cnt_cur );
- cvDrawContours( pI, cnt, color, color, 0, 1, 8);
- }
-
- CvBlob* pB = pBlobs->GetBlob(claster_cur);
- int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
- cvEllipse( pI,
- cvPointFrom32f(CV_BLOB_CENTER(pB)),
- cvSize(MAX(1,x), MAX(1,y)),
- 0, 0, 360,
- color, 1 );
- }
-
- cvNamedWindow( "Clusters", 0);
- cvShowImage( "Clusters",pI );
-
- cvReleaseImage(&pI);
-
- } /* Debug info. */
- #endif
-
-} /* cvFindBlobsByCCClasters */
-
-/* Simple blob detector. */
-/* Number of successive frame to analyse: */
-#define EBD_FRAME_NUM 5
-class CvBlobDetectorSimple:public CvBlobDetector
-{
-public:
- CvBlobDetectorSimple();
- ~CvBlobDetectorSimple();
- int DetectNewBlob(IplImage* pImg, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList);
- void Release(){delete this;};
-
-protected:
- IplImage* m_pMaskBlobNew;
- IplImage* m_pMaskBlobExist;
- /* Lists of connected components detected on previous frames: */
- CvBlobSeq* m_pBlobLists[EBD_FRAME_NUM];
-};
-
-/* Blob detector creator (sole interface function for this file) */
-CvBlobDetector* cvCreateBlobDetectorSimple(){return new CvBlobDetectorSimple;};
-
-/* Constructor of BlobDetector: */
-CvBlobDetectorSimple::CvBlobDetectorSimple()
-{
- int i = 0;
- m_pMaskBlobNew = NULL;
- m_pMaskBlobExist = NULL;
- for(i=0;i<EBD_FRAME_NUM;++i)m_pBlobLists[i] = NULL;
-}
-
-/* Destructor of BlobDetector: */
-CvBlobDetectorSimple::~CvBlobDetectorSimple()
-{
- int i;
- if(m_pMaskBlobExist) cvReleaseImage(&m_pMaskBlobExist);
- if(m_pMaskBlobNew) cvReleaseImage(&m_pMaskBlobNew);
- for(i=0; i<EBD_FRAME_NUM; ++i) delete m_pBlobLists[i];
-} /* cvReleaseBlobDetector */
-
-/* cvDetectNewBlobs
- * return 1 and fill blob pNewBlob by blob parameters
- * if new blob is detected:
- */
-int CvBlobDetectorSimple::DetectNewBlob(IplImage* /*pImg*/, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList)
-{
- int result = 0;
- CvSize S = cvSize(pFGMask->width,pFGMask->height);
- if(m_pMaskBlobNew == NULL ) m_pMaskBlobNew = cvCreateImage(S,IPL_DEPTH_8U,1);
- if(m_pMaskBlobExist == NULL ) m_pMaskBlobExist = cvCreateImage(S,IPL_DEPTH_8U,1);
-
- /* Shift blob list: */
- {
- int i;
- if(m_pBlobLists[0]) delete m_pBlobLists[0];
- for(i=1;i<EBD_FRAME_NUM;++i)m_pBlobLists[i-1]=m_pBlobLists[i];
- m_pBlobLists[EBD_FRAME_NUM-1] = new CvBlobSeq;
- } /* Shift blob list. */
-
- /* Create exist blob mask: */
- cvCopy(pFGMask, m_pMaskBlobNew);
-
- /* Create contours and add new blobs to blob list: */
- { /* Create blobs: */
- CvBlobSeq Blobs;
- CvMemStorage* storage = cvCreateMemStorage();
-
-#if 1
- { /* Glue contours: */
- cvFindBlobsByCCClasters(m_pMaskBlobNew, &Blobs, storage );
- } /* Glue contours. */
-#else
- { /**/
- IplImage* pIB = cvCloneImage(m_pMaskBlobNew);
- CvSeq* cnts = NULL;
- CvSeq* cnt = NULL;
- cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
- cvFindContours(pIB,storage, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
-
- /* Process each contour: */
- for(cnt = cnts; cnt; cnt=cnt->h_next)
- {
- CvBlob NewBlob;
-
- /* Image moments: */
- double M00,X,Y,XX,YY;
- CvMoments m;
- CvRect r = ((CvContour*)cnt)->rect;
- CvMat mat;
-
- if(r.height < S.height*0.02 || r.width < S.width*0.02) continue;
-
- cvMoments( cvGetSubRect(m_pMaskBlobNew,&mat,r), &m, 0 );
- M00 = cvGetSpatialMoment( &m, 0, 0 );
-
- if(M00 <= 0 ) continue;
-
- X = cvGetSpatialMoment( &m, 1, 0 )/M00;
- Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
-
- XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
- YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
-
- NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
-
- Blobs.AddBlob(&NewBlob);
-
- } /* Next contour. */
-
- cvReleaseImage(&pIB);
-
- } /* One contour - one blob. */
-#endif
-
- { /* Delete small and intersected blobs: */
- int i;
- for(i=Blobs.GetBlobNum(); i>0; i--)
- {
- CvBlob* pB = Blobs.GetBlob(i-1);
-
- if(pB->h < S.height*0.02 || pB->w < S.width*0.02)
- {
- Blobs.DelBlob(i-1);
- continue;
- }
- if(pOldBlobList)
- {
- int j;
- for(j=pOldBlobList->GetBlobNum(); j>0; j--)
- {
- CvBlob* pBOld = pOldBlobList->GetBlob(j-1);
- if((fabs(pBOld->x-pB->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pB))) &&
- (fabs(pBOld->y-pB->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pB))))
- { /* Intersection is present, so delete blob from list: */
- Blobs.DelBlob(i-1);
- break;
- }
- } /* Check next old blob. */
- } /* if pOldBlobList */
- } /* Check next blob. */
- } /* Delete small and intersected blobs. */
-
- { /* Bubble-sort blobs by size: */
- int N = Blobs.GetBlobNum();
- int i,j;
- for(i=1; i<N; ++i)
- {
- for(j=i; j>0; --j)
- {
- CvBlob temp;
- float AreaP, AreaN;
- CvBlob* pP = Blobs.GetBlob(j-1);
- CvBlob* pN = Blobs.GetBlob(j);
- AreaP = CV_BLOB_WX(pP)*CV_BLOB_WY(pP);
- AreaN = CV_BLOB_WX(pN)*CV_BLOB_WY(pN);
- if(AreaN < AreaP)break;
- temp = pN[0];
- pN[0] = pP[0];
- pP[0] = temp;
- }
- }
-
- /* Copy only first 10 blobs: */
- for(i=0; i<MIN(N,10); ++i)
- {
- m_pBlobLists[EBD_FRAME_NUM-1]->AddBlob(Blobs.GetBlob(i));
- }
-
- } /* Sort blobs by size. */
-
- cvReleaseMemStorage(&storage);
-
- } /* Create blobs. */
-
- /* Analyze blob list to find best blob trajectory: */
- {
- int Count = 0;
- int pBLIndex[EBD_FRAME_NUM];
- int pBL_BEST[EBD_FRAME_NUM];
- int i;
- int finish = 0;
- double BestError = -1;
- int Good = 1;
-
- for(i=0; i<EBD_FRAME_NUM; ++i)
- {
- pBLIndex[i] = 0;
- pBL_BEST[i] = 0;
- }
-
- /* Check configuration exist: */
- for(i=0; Good && (i<EBD_FRAME_NUM); ++i)
- if(m_pBlobLists[i] == NULL || m_pBlobLists[i]->GetBlobNum() == 0)
- Good = 0;
-
- if(Good)
- do{ /* For each configuration: */
- CvBlob* pBL[EBD_FRAME_NUM];
- int Good = 1;
- double Error = 0;
- CvBlob* pBNew = m_pBlobLists[EBD_FRAME_NUM-1]->GetBlob(pBLIndex[EBD_FRAME_NUM-1]);
-
- for(i=0; i<EBD_FRAME_NUM; ++i) pBL[i] = m_pBlobLists[i]->GetBlob(pBLIndex[i]);
-
- Count++;
-
- /* Check intersection last blob with existed: */
- if(Good && pOldBlobList)
- { /* Check intersection last blob with existed: */
- int k;
- for(k=pOldBlobList->GetBlobNum(); k>0; --k)
- {
- CvBlob* pBOld = pOldBlobList->GetBlob(k-1);
- if((fabs(pBOld->x-pBNew->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pBNew))) &&
- (fabs(pBOld->y-pBNew->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pBNew))))
- Good = 0;
- }
- } /* Check intersection last blob with existed. */
-
- /* Check distance to image border: */
- if(Good)
- { /* Check distance to image border: */
- CvBlob* pB = pBNew;
- float dx = MIN(pB->x,S.width-pB->x)/CV_BLOB_RX(pB);
- float dy = MIN(pB->y,S.height-pB->y)/CV_BLOB_RY(pB);
-
- if(dx < 1.1 || dy < 1.1) Good = 0;
- } /* Check distance to image border. */
-
- /* Check uniform motion: */
- if(Good)
- {
- int N = EBD_FRAME_NUM;
- float sum[2] = {0,0};
- float jsum[2] = {0,0};
- float a[2],b[2]; /* estimated parameters of moving x(t) = a*t+b*/
-
- int j;
- for(j=0; j<N; ++j)
- {
- float x = pBL[j]->x;
- float y = pBL[j]->y;
- sum[0] += x;
- jsum[0] += j*x;
- sum[1] += y;
- jsum[1] += j*y;
- }
-
- a[0] = 6*((1-N)*sum[0]+2*jsum[0])/(N*(N*N-1));
- b[0] = -2*((1-2*N)*sum[0]+3*jsum[0])/(N*(N+1));
- a[1] = 6*((1-N)*sum[1]+2*jsum[1])/(N*(N*N-1));
- b[1] = -2*((1-2*N)*sum[1]+3*jsum[1])/(N*(N+1));
-
- for(j=0; j<N; ++j)
- {
- Error +=
- pow(a[0]*j+b[0]-pBL[j]->x,2)+
- pow(a[1]*j+b[1]-pBL[j]->y,2);
- }
-
- Error = sqrt(Error/N);
-
- if( Error > S.width*0.01 ||
- fabs(a[0])>S.width*0.1 ||
- fabs(a[1])>S.height*0.1)
- Good = 0;
-
- } /* Check configuration. */
-
-
- /* New best trajectory: */
- if(Good && (BestError == -1 || BestError > Error))
- {
- for(i=0; i<EBD_FRAME_NUM; ++i)
- {
- pBL_BEST[i] = pBLIndex[i];
- }
- BestError = Error;
- } /* New best trajectory. */
-
- /* Set next configuration: */
- for(i=0; i<EBD_FRAME_NUM; ++i)
- {
- pBLIndex[i]++;
- if(pBLIndex[i] != m_pBlobLists[i]->GetBlobNum()) break;
- pBLIndex[i]=0;
- } /* Next time shift. */
-
- if(i==EBD_FRAME_NUM)finish=1;
-
- } while(!finish); /* Check next time configuration of connected components. */
-
- #if 0
- {/**/
- printf("BlobDetector configurations = %d [",Count);
- int i;
- for(i=0; i<EBD_FRAME_NUM; ++i)
- {
- printf("%d,",m_pBlobLists[i]?m_pBlobLists[i]->GetBlobNum():0);
- }
- printf("]\n");
-
- }
- #endif
-
- if(BestError != -1)
- { /* Write new blob to output and delete from blob list: */
- CvBlob* pNewBlob = m_pBlobLists[EBD_FRAME_NUM-1]->GetBlob(pBL_BEST[EBD_FRAME_NUM-1]);
- pNewBlobList->AddBlob(pNewBlob);
-
- for(i=0; i<EBD_FRAME_NUM; ++i)
- { /* Remove blob from each list: */
- m_pBlobLists[i]->DelBlob(pBL_BEST[i]);
- } /* Remove blob from each list. */
-
- result = 1;
-
- } /* Write new blob to output and delete from blob list. */
- } /* Analyze blob list to find best blob trajectory. */
-
- return result;
-
-} /* cvDetectNewBlob */
-
-
-
-
-/* Simple blob detector2. */
-/* Number of successive frames to analyse: */
-#define SEQ_SIZE_MAX 30
-#define SEQ_NUM 1000
-typedef struct
-{
- int size;
- CvBlob* pBlobs[SEQ_SIZE_MAX];
-} DefSeq;
-
-class CvBlobDetectorCC:public CvBlobDetector
-{
-public:
- CvBlobDetectorCC();
- ~CvBlobDetectorCC();
- int DetectNewBlob(IplImage* pImg, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList);
- void Release(){delete this;};
-
- virtual void ParamUpdate()
- {
- if(SEQ_SIZE<1)SEQ_SIZE=1;
- if(SEQ_SIZE>SEQ_SIZE_MAX)SEQ_SIZE=SEQ_SIZE_MAX;
-
-#ifdef USE_OBJECT_DETECTOR
- if( m_param_split_detector_file_name )
- {
- m_split_detector = new CvObjectDetector();
- if( !m_split_detector->Load( m_param_split_detector_file_name ) )
- {
- delete m_split_detector;
- m_split_detector = 0;
- }
- else
- {
- m_min_window_size = m_split_detector->GetMinWindowSize();
- m_max_border = m_split_detector->GetMaxBorderSize();
- }
- }
-#endif
- }
-
-private:
- /* Lists of connected components detected on previous frames: */
- CvBlobSeq* m_pBlobLists[SEQ_SIZE_MAX];
- DefSeq m_TrackSeq[SEQ_NUM];
- int m_TrackNum;
- float m_HMin;
- float m_WMin;
- float m_MinDistToBorder;
- int m_Clastering;
- int SEQ_SIZE;
-
- /* If not 0 then the detector is loaded from the specified file
- * and it is applied for splitting blobs which actually correspond
- * to groups of objects:
- */
- char* m_param_split_detector_file_name;
- float m_param_roi_scale;
- int m_param_only_roi;
-
- CvObjectDetector* m_split_detector;
- CvSize m_min_window_size;
- int m_max_border;
-
- CvBlobSeq m_detected_blob_seq;
- CvSeq* m_roi_seq;
-
- CvBlobSeq m_debug_blob_seq;
-};
-
-/* Blob detector creator (sole interface function for this file): */
-CvBlobDetector* cvCreateBlobDetectorCC(){return new CvBlobDetectorCC;}
-
-/* Constructor for BlobDetector: */
-CvBlobDetectorCC::CvBlobDetectorCC() :
- m_split_detector(0),
- m_detected_blob_seq(sizeof(CvDetectedBlob)),
- m_roi_seq(0),
- m_debug_blob_seq(sizeof(CvDetectedBlob))
-{
- /*CvDrawShape shapes[] =
- {
- { CvDrawShape::RECT, {{255,255,255}} },
- { CvDrawShape::RECT, {{0,0,255}} },
- { CvDrawShape::ELLIPSE, {{0,255,0}} }
- };
- int num_shapes = sizeof(shapes) / sizeof(shapes[0]);*/
-
- int i = 0;
- SEQ_SIZE = 10;
- AddParam("Latency",&SEQ_SIZE);
- for(i=0;i<SEQ_SIZE_MAX;++i)m_pBlobLists[i] = NULL;
- for(i=0;i<SEQ_NUM;++i)m_TrackSeq[i].size = 0;
- m_TrackNum = 0;
-
- m_HMin = 0.02f;
- m_WMin = 0.01f;
- AddParam("HMin",&m_HMin);
- AddParam("WMin",&m_WMin);
- m_MinDistToBorder = 1.1f;
- AddParam("MinDistToBorder",&m_MinDistToBorder);
- CommentParam("MinDistToBorder","Minimal allowed distance from blob center to image border in blob sizes");
-
- m_Clastering=1;
- AddParam("Clastering",&m_Clastering);
- CommentParam("Clastering","Minimal allowed distance from blob center to image border in blob sizes");
-
- m_param_split_detector_file_name = 0;
-#ifdef USE_OBJECT_DETECTOR
- AddParam("Detector", &m_param_split_detector_file_name);
- CommentParam("Detector", "Detector file name");
-#endif
-
- m_param_roi_scale = 1.5F;
- AddParam("ROIScale", &m_param_roi_scale);
- CommentParam("ROIScale", "Determines the size of search window around a blob");
-
- m_param_only_roi = 1;
- AddParam("OnlyROI", &m_param_only_roi);
- CommentParam("OnlyROI", "Shows the whole debug image (0) or only ROIs where the detector was applied (1)");
-
- m_min_window_size = cvSize(0,0);
- m_max_border = 0;
- m_roi_seq = cvCreateSeq( 0, sizeof(*m_roi_seq), sizeof(CvRect), cvCreateMemStorage() );
-
- SetModuleName("BD_CC");
-}
-
-/* Destructor for BlobDetector: */
-CvBlobDetectorCC::~CvBlobDetectorCC()
-{
- int i;
- for(i=0; i<SEQ_SIZE_MAX; ++i)
- {
- if(m_pBlobLists[i])
- delete m_pBlobLists[i];
- }
-
- if( m_roi_seq )
- {
- cvReleaseMemStorage( &m_roi_seq->storage );
- m_roi_seq = 0;
- }
- //cvDestroyWindow( "EnteringBlobDetectionDebug" );
-} /* cvReleaseBlobDetector */
-
-
-/* cvDetectNewBlobs
- * Return 1 and fill blob pNewBlob with
- * blob parameters if new blob is detected:
- */
-int CvBlobDetectorCC::DetectNewBlob(IplImage* /*pImg*/, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList)
-{
- int result = 0;
- CvSize S = cvSize(pFGMask->width,pFGMask->height);
-
- /* Shift blob list: */
- {
- int i;
- if(m_pBlobLists[SEQ_SIZE-1]) delete m_pBlobLists[SEQ_SIZE-1];
-
- for(i=SEQ_SIZE-1; i>0; --i) m_pBlobLists[i] = m_pBlobLists[i-1];
-
- m_pBlobLists[0] = new CvBlobSeq;
-
- } /* Shift blob list. */
-
- /* Create contours and add new blobs to blob list: */
- { /* Create blobs: */
- CvBlobSeq Blobs;
- CvMemStorage* storage = cvCreateMemStorage();
-
- if(m_Clastering)
- { /* Glue contours: */
- cvFindBlobsByCCClasters(pFGMask, &Blobs, storage );
- } /* Glue contours. */
- else
- { /**/
- IplImage* pIB = cvCloneImage(pFGMask);
- CvSeq* cnts = NULL;
- CvSeq* cnt = NULL;
- cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
- cvFindContours(pIB,storage, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
-
- /* Process each contour: */
- for(cnt = cnts; cnt; cnt=cnt->h_next)
- {
- CvBlob NewBlob;
- /* Image moments: */
- double M00,X,Y,XX,YY;
- CvMoments m;
- CvRect r = ((CvContour*)cnt)->rect;
- CvMat mat;
- if(r.height < S.height*m_HMin || r.width < S.width*m_WMin) continue;
- cvMoments( cvGetSubRect(pFGMask,&mat,r), &m, 0 );
- M00 = cvGetSpatialMoment( &m, 0, 0 );
- if(M00 <= 0 ) continue;
- X = cvGetSpatialMoment( &m, 1, 0 )/M00;
- Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
- XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
- YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
- NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
- Blobs.AddBlob(&NewBlob);
-
- } /* Next contour. */
-
- cvReleaseImage(&pIB);
-
- } /* One contour - one blob. */
-
- { /* Delete small and intersected blobs: */
- int i;
- for(i=Blobs.GetBlobNum(); i>0; i--)
- {
- CvBlob* pB = Blobs.GetBlob(i-1);
-
- if(pB->h < S.height*m_HMin || pB->w < S.width*m_WMin)
- {
- Blobs.DelBlob(i-1);
- continue;
- }
-
- if(pOldBlobList)
- {
- int j;
- for(j=pOldBlobList->GetBlobNum(); j>0; j--)
- {
- CvBlob* pBOld = pOldBlobList->GetBlob(j-1);
- if((fabs(pBOld->x-pB->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pB))) &&
- (fabs(pBOld->y-pB->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pB))))
- { /* Intersection detected, delete blob from list: */
- Blobs.DelBlob(i-1);
- break;
- }
- } /* Check next old blob. */
- } /* if pOldBlobList. */
- } /* Check next blob. */
- } /* Delete small and intersected blobs. */
-
- { /* Bubble-sort blobs by size: */
- int N = Blobs.GetBlobNum();
- int i,j;
- for(i=1; i<N; ++i)
- {
- for(j=i; j>0; --j)
- {
- CvBlob temp;
- float AreaP, AreaN;
- CvBlob* pP = Blobs.GetBlob(j-1);
- CvBlob* pN = Blobs.GetBlob(j);
- AreaP = CV_BLOB_WX(pP)*CV_BLOB_WY(pP);
- AreaN = CV_BLOB_WX(pN)*CV_BLOB_WY(pN);
- if(AreaN < AreaP)break;
- temp = pN[0];
- pN[0] = pP[0];
- pP[0] = temp;
- }
- }
-
- /* Copy only first 10 blobs: */
- for(i=0; i<MIN(N,10); ++i)
- {
- m_pBlobLists[0]->AddBlob(Blobs.GetBlob(i));
- }
-
- } /* Sort blobs by size. */
-
- cvReleaseMemStorage(&storage);
-
- } /* Create blobs. */
-
- { /* Shift each track: */
- int j;
- for(j=0; j<m_TrackNum; ++j)
- {
- int i;
- DefSeq* pTrack = m_TrackSeq+j;
-
- for(i=SEQ_SIZE-1; i>0; --i)
- pTrack->pBlobs[i] = pTrack->pBlobs[i-1];
-
- pTrack->pBlobs[0] = NULL;
- if(pTrack->size == SEQ_SIZE)pTrack->size--;
- }
- } /* Shift each track. */
-
- /* Analyze blob list to find best blob trajectory: */
- {
- double BestError = -1;
- int BestTrack = -1;;
- CvBlobSeq* pNewBlobs = m_pBlobLists[0];
- int i;
- int NewTrackNum = 0;
- for(i=pNewBlobs->GetBlobNum(); i>0; --i)
- {
- CvBlob* pBNew = pNewBlobs->GetBlob(i-1);
- int j;
- int AsignedTrack = 0;
- for(j=0; j<m_TrackNum; ++j)
- {
- double dx,dy;
- DefSeq* pTrack = m_TrackSeq+j;
- CvBlob* pLastBlob = pTrack->size>0?pTrack->pBlobs[1]:NULL;
- if(pLastBlob == NULL) continue;
- dx = fabs(CV_BLOB_X(pLastBlob)-CV_BLOB_X(pBNew));
- dy = fabs(CV_BLOB_Y(pLastBlob)-CV_BLOB_Y(pBNew));
- if(dx > 2*CV_BLOB_WX(pLastBlob) || dy > 2*CV_BLOB_WY(pLastBlob)) continue;
- AsignedTrack++;
-
- if(pTrack->pBlobs[0]==NULL)
- { /* Fill existed track: */
- pTrack->pBlobs[0] = pBNew;
- pTrack->size++;
- }
- else if((m_TrackNum+NewTrackNum)<SEQ_NUM)
- { /* Duplicate existed track: */
- m_TrackSeq[m_TrackNum+NewTrackNum] = pTrack[0];
- m_TrackSeq[m_TrackNum+NewTrackNum].pBlobs[0] = pBNew;
- NewTrackNum++;
- }
- } /* Next track. */
-
- if(AsignedTrack==0 && (m_TrackNum+NewTrackNum)<SEQ_NUM )
- { /* Initialize new track: */
- m_TrackSeq[m_TrackNum+NewTrackNum].size = 1;
- m_TrackSeq[m_TrackNum+NewTrackNum].pBlobs[0] = pBNew;
- NewTrackNum++;
- }
- } /* Next new blob. */
-
- m_TrackNum += NewTrackNum;
-
- /* Check each track: */
- for(i=0; i<m_TrackNum; ++i)
- {
- int Good = 1;
- DefSeq* pTrack = m_TrackSeq+i;
- CvBlob* pBNew = pTrack->pBlobs[0];
- if(pTrack->size != SEQ_SIZE) continue;
- if(pBNew == NULL ) continue;
-
- /* Check intersection last blob with existed: */
- if(Good && pOldBlobList)
- {
- int k;
- for(k=pOldBlobList->GetBlobNum(); k>0; --k)
- {
- CvBlob* pBOld = pOldBlobList->GetBlob(k-1);
- if((fabs(pBOld->x-pBNew->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pBNew))) &&
- (fabs(pBOld->y-pBNew->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pBNew))))
- Good = 0;
- }
- } /* Check intersection last blob with existed. */
-
- /* Check distance to image border: */
- if(Good)
- { /* Check distance to image border: */
- float dx = MIN(pBNew->x,S.width-pBNew->x)/CV_BLOB_RX(pBNew);
- float dy = MIN(pBNew->y,S.height-pBNew->y)/CV_BLOB_RY(pBNew);
- if(dx < m_MinDistToBorder || dy < m_MinDistToBorder) Good = 0;
- } /* Check distance to image border. */
-
- /* Check uniform motion: */
- if(Good)
- { /* Check uniform motion: */
- double Error = 0;
- int N = pTrack->size;
- CvBlob** pBL = pTrack->pBlobs;
- float sum[2] = {0,0};
- float jsum[2] = {0,0};
- float a[2],b[2]; /* estimated parameters of moving x(t) = a*t+b*/
- int j;
-
- for(j=0; j<N; ++j)
- {
- float x = pBL[j]->x;
- float y = pBL[j]->y;
- sum[0] += x;
- jsum[0] += j*x;
- sum[1] += y;
- jsum[1] += j*y;
- }
-
- a[0] = 6*((1-N)*sum[0]+2*jsum[0])/(N*(N*N-1));
- b[0] = -2*((1-2*N)*sum[0]+3*jsum[0])/(N*(N+1));
- a[1] = 6*((1-N)*sum[1]+2*jsum[1])/(N*(N*N-1));
- b[1] = -2*((1-2*N)*sum[1]+3*jsum[1])/(N*(N+1));
-
- for(j=0; j<N; ++j)
- {
- Error +=
- pow(a[0]*j+b[0]-pBL[j]->x,2)+
- pow(a[1]*j+b[1]-pBL[j]->y,2);
- }
-
- Error = sqrt(Error/N);
-
- if( Error > S.width*0.01 ||
- fabs(a[0])>S.width*0.1 ||
- fabs(a[1])>S.height*0.1)
- Good = 0;
-
- /* New best trajectory: */
- if(Good && (BestError == -1 || BestError > Error))
- { /* New best trajectory: */
- BestTrack = i;
- BestError = Error;
- } /* New best trajectory. */
- } /* Check uniform motion. */
- } /* Next track. */
-
- #if 0
- { /**/
- printf("BlobDetector configurations = %d [",m_TrackNum);
- int i;
- for(i=0; i<SEQ_SIZE; ++i)
- {
- printf("%d,",m_pBlobLists[i]?m_pBlobLists[i]->GetBlobNum():0);
- }
- printf("]\n");
- }
- #endif
-
- if(BestTrack >= 0)
- { /* Put new blob to output and delete from blob list: */
- assert(m_TrackSeq[BestTrack].size == SEQ_SIZE);
- assert(m_TrackSeq[BestTrack].pBlobs[0]);
- pNewBlobList->AddBlob(m_TrackSeq[BestTrack].pBlobs[0]);
- m_TrackSeq[BestTrack].pBlobs[0] = NULL;
- m_TrackSeq[BestTrack].size--;
- result = 1;
- } /* Put new blob to output and mark in blob list to delete. */
- } /* Analyze blod list to find best blob trajectory. */
-
- { /* Delete bad tracks: */
- int i;
- for(i=m_TrackNum-1; i>=0; --i)
- { /* Delete bad tracks: */
- if(m_TrackSeq[i].pBlobs[0]) continue;
- if(m_TrackNum>0)
- m_TrackSeq[i] = m_TrackSeq[--m_TrackNum];
- } /* Delete bad tracks: */
- }
-
-#ifdef USE_OBJECT_DETECTOR
- if( m_split_detector && pNewBlobList->GetBlobNum() > 0 )
- {
- int num_new_blobs = pNewBlobList->GetBlobNum();
- int i = 0;
-
- if( m_roi_seq ) cvClearSeq( m_roi_seq );
- m_debug_blob_seq.Clear();
- for( i = 0; i < num_new_blobs; ++i )
- {
- CvBlob* b = pNewBlobList->GetBlob(i);
- CvMat roi_stub;
- CvMat* roi_mat = 0;
- CvMat* scaled_roi_mat = 0;
-
- CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 0 );
- m_debug_blob_seq.AddBlob(&d_b);
-
- float scale = m_param_roi_scale * m_min_window_size.height / CV_BLOB_WY(b);
-
- float b_width = MAX(CV_BLOB_WX(b), m_min_window_size.width / scale)
- + (m_param_roi_scale - 1.0F) * (m_min_window_size.width / scale)
- + 2.0F * m_max_border / scale;
- float b_height = CV_BLOB_WY(b) * m_param_roi_scale + 2.0F * m_max_border / scale;
-
- CvRect roi = cvRectIntersection( cvRect( cvFloor(CV_BLOB_X(b) - 0.5F*b_width),
- cvFloor(CV_BLOB_Y(b) - 0.5F*b_height),
- cvCeil(b_width), cvCeil(b_height) ),
- cvRect( 0, 0, pImg->width, pImg->height ) );
- if( roi.width <= 0 || roi.height <= 0 )
- continue;
-
- if( m_roi_seq ) cvSeqPush( m_roi_seq, &roi );
-
- roi_mat = cvGetSubRect( pImg, &roi_stub, roi );
- scaled_roi_mat = cvCreateMat( cvCeil(scale*roi.height), cvCeil(scale*roi.width), CV_8UC3 );
- cvResize( roi_mat, scaled_roi_mat );
-
- m_detected_blob_seq.Clear();
- m_split_detector->Detect( scaled_roi_mat, &m_detected_blob_seq );
- cvReleaseMat( &scaled_roi_mat );
-
- for( int k = 0; k < m_detected_blob_seq.GetBlobNum(); ++k )
- {
- CvDetectedBlob* b = (CvDetectedBlob*) m_detected_blob_seq.GetBlob(k);
-
- /* scale and shift each detected blob back to the original image coordinates */
- CV_BLOB_X(b) = CV_BLOB_X(b) / scale + roi.x;
- CV_BLOB_Y(b) = CV_BLOB_Y(b) / scale + roi.y;
- CV_BLOB_WX(b) /= scale;
- CV_BLOB_WY(b) /= scale;
-
- CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 1,
- b->response );
- m_debug_blob_seq.AddBlob(&d_b);
- }
-
- if( m_detected_blob_seq.GetBlobNum() > 1 )
- {
- /*
- * Split blob.
- * The original blob is replaced by the first detected blob,
- * remaining detected blobs are added to the end of the sequence:
- */
- CvBlob* first_b = m_detected_blob_seq.GetBlob(0);
- CV_BLOB_X(b) = CV_BLOB_X(first_b); CV_BLOB_Y(b) = CV_BLOB_Y(first_b);
- CV_BLOB_WX(b) = CV_BLOB_WX(first_b); CV_BLOB_WY(b) = CV_BLOB_WY(first_b);
-
- for( int j = 1; j < m_detected_blob_seq.GetBlobNum(); ++j )
- {
- CvBlob* detected_b = m_detected_blob_seq.GetBlob(j);
- pNewBlobList->AddBlob(detected_b);
- }
- }
- } /* For each new blob. */
-
- for( i = 0; i < pNewBlobList->GetBlobNum(); ++i )
- {
- CvBlob* b = pNewBlobList->GetBlob(i);
- CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 2 );
- m_debug_blob_seq.AddBlob(&d_b);
- }
- } // if( m_split_detector )
-#endif
-
- return result;
-
-} /* cvDetectNewBlob */
-
-
projects / opencv / blobdiff