blobtrackingcc.cpp

Using open CV draw color histogram, convert RGB To HSI

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#include "_cvaux.h"

static float CalcAverageMask(CvBlob* pBlob, IplImage* pImgFG )
{/* calc summ of mask */
    double  Area, Aver = 0;
    CvRect  r;
    CvMat   mat;

    if(pImgFG==NULL) return 0;

    r.x = cvRound(pBlob->x - pBlob->w*0.5);
    r.y = cvRound(pBlob->y - pBlob->h*0.5);
    r.width = cvRound(pBlob->w);
    r.height = cvRound(pBlob->h);
    Area = r.width*r.height;
    if(r.x<0){r.width += r.x;r.x = 0;}
    if(r.y<0){r.height += r.y;r.y = 0;}
    if((r.x+r.width)>=pImgFG->width){r.width=pImgFG->width-r.x-1;}
    if((r.y+r.height)>=pImgFG->height){r.height=pImgFG->height-r.y-1;}
    if(r.width>0 && r.height>0)
    {
        double Sum = cvSum(cvGetSubRect(pImgFG,&mat,r)).val[0]/255.0;
        assert(Area>0);
        Aver = Sum/Area;
    }
    return (float)Aver;
}/* calc summ of mask */


/*============== BLOB TRACKERCC CLASS DECLARATION =============== */
typedef struct DefBlobTracker
{
    CvBlob                      blob;
    CvBlobTrackPredictor*       pPredictor;
    CvBlob                      BlobPredict;
    int                         Collision;
    CvBlobSeq*                  pBlobHyp;
    float                       AverFG;
}DefBlobTracker;
void cvFindBlobsByCCClasters(IplImage* pFG, CvBlobSeq* pBlobs, CvMemStorage* storage);

class CvBlobTrackerCC : public CvBlobTracker
{
private:
    float           m_AlphaSize;
    float           m_AlphaPos;
    float           m_Alpha;
    int             m_Collision;
    int             m_ConfidenceType;
    char*           m_ConfidenceTypeStr;
    CvBlobSeq       m_BlobList;
    CvBlobSeq       m_BlobListNew;
//    int             m_LastID;
    CvMemStorage*   m_pMem;
    int             m_ClearHyp;
    IplImage*       m_pImg;
    IplImage*       m_pImgFG;
public:
    CvBlobTrackerCC():m_BlobList(sizeof(DefBlobTracker))
    {
//        m_LastID = 0;
        m_ClearHyp = 0;
        m_pMem = cvCreateMemStorage();
        m_Collision = 1; /* if 1 then collistion will be detected and processed */
        AddParam("Collision",&m_Collision);
        CommentParam("Collision", "if 1 then collision cases are processed in special way");

        m_AlphaSize = 0.02f;
        AddParam("AlphaSize",&m_AlphaSize);
        CommentParam("AlphaSize", "Size update speed (0..1)");

        m_AlphaPos = 1.0f;
        AddParam("AlphaPos",&m_AlphaPos);
        CommentParam("AlphaPos", "Pos update speed (0..1)");

        m_Alpha = 0.001f;
        AddParam("Alpha", &m_Alpha);
        CommentParam("Alpha","Coefficient for model histogramm updating (0 - hist is not upated)");

        m_ConfidenceType=0;
        m_ConfidenceTypeStr = "NearestBlob";
        AddParam("ConfidenceType", &m_ConfidenceTypeStr);
        CommentParam("ConfidenceType","Type of calculated Confidence (NearestBlob, AverFG, BC)");

        SetModuleName("CC");
    };
    ~CvBlobTrackerCC()
    {
        if(m_pMem)cvReleaseMemStorage(&m_pMem);
    };

    /* blob functions*/
    virtual int     GetBlobNum() {return m_BlobList.GetBlobNum();};
    virtual CvBlob* GetBlob(int BlobIndex){return m_BlobList.GetBlob(BlobIndex);};
    virtual void    SetBlob(int BlobIndex, CvBlob* pBlob)
    {
        CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
        if(pB) pB[0] = pBlob[0];
    };
    virtual CvBlob* GetBlobByID(int BlobID){return m_BlobList.GetBlobByID(BlobID);};
    virtual void    DelBlob(int BlobIndex)
    {
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
        if(pBT==NULL) return;
        if(pBT->pPredictor)
        {
            pBT->pPredictor->Release();
        }
        else
        {
            printf("WARNING!!! Invalid Predictor in CC tracker");
        }
        delete pBT->pBlobHyp;
        m_BlobList.DelBlob(BlobIndex);
    };
#if 0
    virtual void    DelBlobByID(int BlobID)
    {
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlobByID(BlobID);
        pBT->pPredictor->Release();
        delete pBT->pBlobHyp;
        m_BlobList.DelBlobByID(BlobID);
    };
#endif
    virtual void    Release(){delete this;};

    /* Add new blob to track it and assign to this blob personal ID */
    /* pBlob - pinter to structure with blob parameters (ID is ignored)*/
    /* pImg - current image */
    /* pImgFG - current foreground mask */
    /* return pointer to new added blob */
    virtual CvBlob* AddBlob(CvBlob* pB, IplImage* /*pImg*/, IplImage* pImgFG = NULL )
    {
        assert(pImgFG); /* this tracker use only foreground mask */
        DefBlobTracker NewB;
        NewB.blob = pB[0];
//        CV_BLOB_ID(&NewB) = m_LastID;
        NewB.pBlobHyp = new CvBlobSeq;
        NewB.pPredictor = cvCreateModuleBlobTrackPredictKalman(); /* module for predict position */
        NewB.pPredictor->Update(pB);
        NewB.AverFG = pImgFG?CalcAverageMask(pB,pImgFG):0;
        m_BlobList.AddBlob((CvBlob*)&NewB);
        return m_BlobList.GetBlob(m_BlobList.GetBlobNum()-1);
    };
    virtual void    Process(IplImage* pImg, IplImage* pImgFG = NULL)
    {
        CvSeq*      cnts;
        CvSeq*      cnt;
        int i;

        m_pImg = pImg;
        m_pImgFG = pImgFG;

        if(m_BlobList.GetBlobNum() <= 0 ) return;
        
        /* clear blob list for new blobs */
        m_BlobListNew.Clear();

        assert(m_pMem);
        cvClearMemStorage(m_pMem);
        assert(pImgFG);

        
        /* find CC */
#if 0
        {// by contur clastring
            cvFindBlobsByCCClasters(pImgFG, &m_BlobListNew, m_pMem);
        }
#else
        {/* one contour - one blob */
            IplImage* pBin = cvCloneImage(pImgFG);
            assert(pBin);
            cvThreshold(pBin,pBin,128,255,CV_THRESH_BINARY);
            cvFindContours(pBin, m_pMem, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
            /* process each contours*/
            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 < 3 || r.width < 3) continue;
                cvMoments( cvGetSubRect(pImgFG,&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)));
                m_BlobListNew.AddBlob(&NewBlob);
            }/* next contour */
            cvReleaseImage(&pBin);
        }
#endif        
        for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* predict new blob position */
            CvBlob*         pB=NULL;
            DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(i-1);

            /* update predictor by previouse value of blob*/
            pBT->pPredictor->Update(&(pBT->blob));
            
            /* predict current position */
            pB = pBT->pPredictor->Predict();
            
            if(pB)
            {
                pBT->BlobPredict = pB[0];
            }
            else
            {
                pBT->BlobPredict = pBT->blob;
            }
        }/* predict new blob position */

        if(m_Collision)
        for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* predict collision */
            int             Collision = 0;
            int             j;
            DefBlobTracker* pF = (DefBlobTracker*)m_BlobList.GetBlob(i-1);
            for(j=m_BlobList.GetBlobNum();j>0;--j)