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opencv/modules/legacy/src/vecfacetracking.cpp

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/*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*/
/****************************************************************************************\
Contour-based face feature tracking
The code was created by Tatiana Cherepanova (tata@sl.iae.nsk.su)
\****************************************************************************************/
#include "precomp.hpp"
#include "_vectrack.h"
#define NUM_FACE_ELEMENTS 3
enum
{
MOUTH = 0,
LEYE = 1,
REYE = 2
};
#define MAX_LAYERS 64
const double pi = 3.1415926535;
struct CvFaceTracker;
struct CvTrackingRect;
class CvFaceElement;
void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, float &step, float& power, int iHistMin /*= HIST_MIN*/);
int ChoiceTrackingFace3(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy);
int ChoiceTrackingFace2(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy, int noel);
inline int GetEnergy(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl);
inline int GetEnergy2(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl, int* element);
inline double CalculateTransformationLMS3_0( CvPoint* pTemplPoints, CvPoint* pSrcPoints);
inline double CalculateTransformationLMS3( CvPoint* pTemplPoints,
CvPoint* pSrcPoints,
double* pdbAverageScale,
double* pdbAverageRotate,
double* pdbAverageShiftX,
double* pdbAverageShiftY );
struct CvTrackingRect
{
CvRect r;
CvPoint ptCenter;
int iColor;
int iEnergy;
int nRectsInThis;
int nRectsOnLeft;
int nRectsOnRight;
int nRectsOnTop;
int nRectsOnBottom;
CvTrackingRect() { memset(this, 0, sizeof(CvTrackingRect)); };
int Energy(const CvTrackingRect& prev)
{
int prev_color = 0 == prev.iColor ? iColor : prev.iColor;
iEnergy = 1 * pow2(r.width - prev.r.width) +
1 * pow2(r.height - prev.r.height) +
1 * pow2(iColor - prev_color) / 4 +
- 1 * nRectsInThis +
- 0 * nRectsOnTop +
+ 0 * nRectsOnLeft +
+ 0 * nRectsOnRight +
+ 0 * nRectsOnBottom;
return iEnergy;
}
};
struct CvFaceTracker
{
CvTrackingRect face[NUM_FACE_ELEMENTS];
int iTrackingFaceType;
double dbRotateDelta;
double dbRotateAngle;
CvPoint ptRotate;
CvPoint ptTempl[NUM_FACE_ELEMENTS];
CvRect rTempl[NUM_FACE_ELEMENTS];
IplImage* imgGray;
IplImage* imgThresh;
CvMemStorage* mstgContours;
CvFaceTracker()
{
ptRotate.x = 0;
ptRotate.y = 0;
dbRotateDelta = 0;
dbRotateAngle = 0;
iTrackingFaceType = -1;
imgThresh = NULL;
imgGray = NULL;
mstgContours = NULL;
};
~CvFaceTracker()
{
if (NULL != imgGray)
delete imgGray;
if (NULL != imgThresh)
delete imgThresh;
if (NULL != mstgContours)
cvReleaseMemStorage(&mstgContours);
};
int Init(CvRect* pRects, IplImage* imgray)
{
for (int i = 0; i < NUM_FACE_ELEMENTS; i++)
{
face[i].r = pRects[i];
face[i].ptCenter = Center(face[i].r);
ptTempl[i] = face[i].ptCenter;
rTempl[i] = face[i].r;
}
imgray = cvCreateImage(cvSize(imgray->width, imgray->height), 8, 1);
imgThresh = cvCreateImage(cvSize(imgray->width, imgray->height), 8, 1);
mstgContours = cvCreateMemStorage();
if ((NULL == imgray) ||
(NULL == imgThresh) ||
(NULL == mstgContours))
return FALSE;
return TRUE;
};
int InitNextImage(IplImage* img)
{
CvSize sz = {img->width, img->height};
ReallocImage(&imgGray, sz, 1);
ReallocImage(&imgThresh, sz, 1);
ptRotate = face[MOUTH].ptCenter;
float m[6];
CvMat mat = cvMat( 2, 3, CV_32FC1, m );
if (NULL == imgGray || NULL == imgThresh)
return FALSE;
/*m[0] = (float)cos(-dbRotateAngle*CV_PI/180.);
m[1] = (float)sin(-dbRotateAngle*CV_PI/180.);
m[2] = (float)ptRotate.x;
m[3] = -m[1];
m[4] = m[0];
m[5] = (float)ptRotate.y;*/
cv2DRotationMatrix( cvPointTo32f(ptRotate), -dbRotateAngle, 1., &mat );
cvWarpAffine( img, imgGray, &mat );
if (NULL == mstgContours)
mstgContours = cvCreateMemStorage();
else
cvClearMemStorage(mstgContours);
if (NULL == mstgContours)
return FALSE;
return TRUE;
}
};
class CvFaceElement
{
public:
CvSeq* m_seqRects;
CvMemStorage* m_mstgRects;
CvRect m_rROI;
CvTrackingRect m_trPrev;
inline CvFaceElement()
{
m_seqRects = NULL;
m_mstgRects = NULL;
m_rROI.x = 0;
m_rROI.y = 0;
m_rROI.width = 0;
m_rROI.height = 0;
};
inline int Init(const CvRect& roi, const CvTrackingRect& prev, CvMemStorage* mstg = NULL)
{
m_rROI = roi;
m_trPrev = prev;
if (NULL != mstg)
m_mstgRects = mstg;
if (NULL == m_mstgRects)
return FALSE;
if (NULL == m_seqRects)
m_seqRects = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvTrackingRect), m_mstgRects);
else
cvClearSeq(m_seqRects);
if (NULL == m_seqRects)
return FALSE;
return TRUE;
};
void FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize);
protected:
void FindContours(IplImage* img, IplImage* thresh, int nLayers, int dMinSize);
void MergeRects(int d);
void Energy();
}; //class CvFaceElement
inline int CV_CDECL CompareEnergy(const void* el1, const void* el2, void*)
{
return ((CvTrackingRect*)el1)->iEnergy - ((CvTrackingRect*)el2)->iEnergy;
}// int CV_CDECL CompareEnergy(const void* el1, const void* el2, void*)
void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
{
FindContours(img, thresh, nLayers, dMinSize / 4);
if (0 == m_seqRects->total)
return;
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
CvTrackingRect* pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
if (m_seqRects->total < 32)
{
MergeRects(dMinSize / 8);
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
}
pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
if ((pR->iEnergy > 100 && m_seqRects->total < 32) || (m_seqRects->total < 16))
{
MergeRects(dMinSize / 4);
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
}
pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
if ((pR->iEnergy > 100 && m_seqRects->total < 16) || (pR->iEnergy > 200 && m_seqRects->total < 32))
{
MergeRects(dMinSize / 2);
Energy();
cvSeqSort(m_seqRects, CompareEnergy, NULL);
}
}// void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
void CvFaceElement::FindContours(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
{
CvSeq* seq;
CvRect roi = m_rROI;
Extend(roi, 1);
cvSetImageROI(img, roi);
cvSetImageROI(thresh, roi);
// layers
int colors[MAX_LAYERS] = {0};
int iMinLevel = 0, iMaxLevel = 255;
float step, power;
ThresholdingParam(img, nLayers / 2, iMinLevel, iMaxLevel, step, power, 4);
int iMinLevelPrev = iMinLevel;
int iMaxLevelPrev = iMinLevel;
if (m_trPrev.iColor != 0)
{
iMinLevelPrev = m_trPrev.iColor - nLayers / 2;
iMaxLevelPrev = m_trPrev.iColor + nLayers / 2;
}
if (iMinLevelPrev < iMinLevel)
{
iMaxLevelPrev += iMinLevel - iMinLevelPrev;
iMinLevelPrev = iMinLevel;
}
if (iMaxLevelPrev > iMaxLevel)
{
iMinLevelPrev -= iMaxLevelPrev - iMaxLevel;
if (iMinLevelPrev < iMinLevel)
iMinLevelPrev = iMinLevel;
iMaxLevelPrev = iMaxLevel;
}
int n = nLayers;
n -= (iMaxLevelPrev - iMinLevelPrev + 1) / 2;
step = float(iMinLevelPrev - iMinLevel + iMaxLevel - iMaxLevelPrev) / float(n);
int j = 0;
float level;
for (level = (float)iMinLevel; level < iMinLevelPrev && j < nLayers; level += step, j++)
colors[j] = int(level + 0.5);
for (level = (float)iMinLevelPrev; level < iMaxLevelPrev && j < nLayers; level += 2.0, j++)
colors[j] = int(level + 0.5);
for (level = (float)iMaxLevelPrev; level < iMaxLevel && j < nLayers; level += step, j++)
colors[j] = int(level + 0.5);
//
for (int i = 0; i < nLayers; i++)
{
cvThreshold(img, thresh, colors[i], 255.0, CV_THRESH_BINARY);
if (cvFindContours(thresh, m_mstgRects, &seq, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE))
{
CvTrackingRect cr;
for (CvSeq* external = seq; external; external = external->h_next)
{
cr.r = cvContourBoundingRect(external);
Move(cr.r, roi.x, roi.y);
if (RectInRect(cr.r, m_rROI) && cr.r.width > dMinSize && cr.r.height > dMinSize)
{
cr.ptCenter = Center(cr.r);
cr.iColor = colors[i];
cvSeqPush(m_seqRects, &cr);
}
for (CvSeq* internal = external->v_next; internal; internal = internal->h_next)
{
cr.r = cvContourBoundingRect(internal);
Move(cr.r, roi.x, roi.y);
if (RectInRect(cr.r, m_rROI) && cr.r.width > dMinSize && cr.r.height > dMinSize)
{
cr.ptCenter = Center(cr.r);
cr.iColor = colors[i];
cvSeqPush(m_seqRects, &cr);
}
}
}
cvClearSeq(seq);
}
}
cvResetImageROI(img);
cvResetImageROI(thresh);
}//void CvFaceElement::FindContours(IplImage* img, IplImage* thresh, int nLayers)
void CvFaceElement::MergeRects(int d)
{
int nRects = m_seqRects->total;
CvSeqReader reader, reader2;
cvStartReadSeq( m_seqRects, &reader );
int i, j;
for (i = 0; i < nRects; i++)
{
CvTrackingRect* pRect1 = (CvTrackingRect*)(reader.ptr);
cvStartReadSeq( m_seqRects, &reader2 );
cvSetSeqReaderPos(&reader2, i + 1);
for (j = i + 1; j < nRects; j++)
{
CvTrackingRect* pRect2 = (CvTrackingRect*)(reader2.ptr);
if (abs(pRect1->ptCenter.y - pRect2->ptCenter.y) < d &&
abs(pRect1->r.height - pRect2->r.height) < d)
{
CvTrackingRect rNew;
rNew.iColor = (pRect1->iColor + pRect2->iColor + 1) / 2;
rNew.r.x = min(pRect1->r.x, pRect2->r.x);
rNew.r.y = min(pRect1->r.y, pRect2->r.y);
rNew.r.width = max(pRect1->r.x + pRect1->r.width, pRect2->r.x + pRect2->r.width) - rNew.r.x;
rNew.r.height = min(pRect1->r.y + pRect1->r.height, pRect2->r.y + pRect2->r.height) - rNew.r.y;
if (rNew.r != pRect1->r && rNew.r != pRect2->r)
{
rNew.ptCenter = Center(rNew.r);
cvSeqPush(m_seqRects, &rNew);
}
}
CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader2 );
}
CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader );
}
// delete equal rects
for (i = 0; i < m_seqRects->total; i++)
{
CvTrackingRect* pRect1 = (CvTrackingRect*)cvGetSeqElem(m_seqRects, i);
int j_begin = i + 1;
for (j = j_begin; j < m_seqRects->total;)
{
CvTrackingRect* pRect2 = (CvTrackingRect*)cvGetSeqElem(m_seqRects, j);
if (pRect1->r == pRect2->r)
cvSeqRemove(m_seqRects, j);
else
j++;
}
}
}//void CvFaceElement::MergeRects(int d)
void CvFaceElement::Energy()
{
CvSeqReader reader, reader2;
cvStartReadSeq( m_seqRects, &reader );
for (int i = 0; i < m_seqRects->total; i++)
{
CvTrackingRect* pRect = (CvTrackingRect*)(reader.ptr);
// outside and inside rects
cvStartReadSeq( m_seqRects, &reader2 );
for (int j = 0; j < m_seqRects->total; j++)
{
CvTrackingRect* pRect2 = (CvTrackingRect*)(reader2.ptr);
if (i != j)
{
if (RectInRect(pRect2->r, pRect->r))
pRect->nRectsInThis ++;
else if (pRect2->r.y + pRect2->r.height <= pRect->r.y)
pRect->nRectsOnTop ++;
else if (pRect2->r.y >= pRect->r.y + pRect->r.height)
pRect->nRectsOnBottom ++;
else if (pRect2->r.x + pRect2->r.width <= pRect->r.x)
pRect->nRectsOnLeft ++;
else if (pRect2->r.x >= pRect->r.x + pRect->r.width)
pRect->nRectsOnRight ++;
}
CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader2 );
}
// energy
pRect->Energy(m_trPrev);
CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader );
}
}//void CvFaceElement::Energy()
CV_IMPL CvFaceTracker*
cvInitFaceTracker(CvFaceTracker* pFaceTracker, const IplImage* imgGray, CvRect* pRects, int nRects)
{
assert(NULL != imgGray);
assert(NULL != pRects);
assert(nRects >= NUM_FACE_ELEMENTS);
if ((NULL == imgGray) ||
(NULL == pRects) ||
(nRects < NUM_FACE_ELEMENTS))
return NULL;
//int new_face = FALSE;
CvFaceTracker* pFace = pFaceTracker;
if (NULL == pFace)
{
pFace = new CvFaceTracker;
if (NULL == pFace)
return NULL;
//new_face = TRUE;
}
pFace->Init(pRects, (IplImage*)imgGray);
return pFace;
}//CvFaceTracker* InitFaceTracker(IplImage* imgGray, CvRect* pRects, int nRects)
CV_IMPL void
cvReleaseFaceTracker(CvFaceTracker** ppFaceTracker)
{
if (NULL == *ppFaceTracker)
return;
delete *ppFaceTracker;
*ppFaceTracker = NULL;
}//void ReleaseFaceTracker(CvFaceTracker** ppFaceTracker)
CV_IMPL int
cvTrackFace(CvFaceTracker* pFaceTracker, IplImage* imgGray, CvRect* pRects, int nRects, CvPoint* ptRotate, double* dbAngleRotate)
{
assert(NULL != pFaceTracker);
assert(NULL != imgGray);
assert(NULL != pRects && nRects >= NUM_FACE_ELEMENTS);
if ((NULL == pFaceTracker) ||
(NULL == imgGray))
return FALSE;
pFaceTracker->InitNextImage(imgGray);
*ptRotate = pFaceTracker->ptRotate;
*dbAngleRotate = pFaceTracker->dbRotateAngle;
int nElements = 16;
double dx = pFaceTracker->face[LEYE].ptCenter.x - pFaceTracker->face[REYE].ptCenter.x;
double dy = pFaceTracker->face[LEYE].ptCenter.y - pFaceTracker->face[REYE].ptCenter.y;
double d_eyes = sqrt(dx*dx + dy*dy);
int d = cvRound(0.25 * d_eyes);
int dMinSize = d;
int nRestarts = 0;
int elem;
CvFaceElement big_face[NUM_FACE_ELEMENTS];
START:
// init
for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
{
CvRect r = pFaceTracker->face[elem].r;
Extend(r, d);
if (r.width < 4*d)
{
r.x -= (4*d - r.width) / 2;
r.width += 4*d - r.width;
}
if (r.height < 3*d)
{
r.y -= (3*d - r.height) / 2;
r.height += 3*d - r.height;
}
if (r.x < 1)
r.x = 1;
if (r.y < 1)
r.y = 1;
if (r.x + r.width > pFaceTracker->imgGray->width - 2)
r.width = pFaceTracker->imgGray->width - 2 - r.x;
if (r.y + r.height > pFaceTracker->imgGray->height - 2)
r.height = pFaceTracker->imgGray->height - 2 - r.y;
if (!big_face[elem].Init(r, pFaceTracker->face[elem], pFaceTracker->mstgContours))
return FALSE;
}
// find contours
for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
big_face[elem].FindRects(pFaceTracker->imgGray, pFaceTracker->imgThresh, 32, dMinSize);
// candidats
CvTrackingRect new_face[NUM_FACE_ELEMENTS];
int new_energy = 0;
int found = ChoiceTrackingFace3(pFaceTracker, nElements, big_face, new_face, new_energy);
int restart = FALSE;
int find2 = FALSE;
int noel = -1;
if (found)
{
if (new_energy > 100000 && -1 != pFaceTracker->iTrackingFaceType)
find2 = TRUE;
else if (new_energy > 150000)
{
int elements = 0;
for (int el = 0; el < NUM_FACE_ELEMENTS; el++)
{
if (big_face[el].m_seqRects->total > 16 || (big_face[el].m_seqRects->total > 8 && new_face[el].iEnergy < 100))
elements++;
else
noel = el;
}
if (2 == elements)
find2 = TRUE;
else
restart = TRUE;
}
}
else
{
if (-1 != pFaceTracker->iTrackingFaceType)
find2 = TRUE;
else
restart = TRUE;
}
RESTART:
if (restart)
{
if (nRestarts++ < 2)
{
d = d + d/4;
goto START;
}
}
else if (find2)
{
if (-1 != pFaceTracker->iTrackingFaceType)
noel = pFaceTracker->iTrackingFaceType;
int found2 = ChoiceTrackingFace2(pFaceTracker, nElements, big_face, new_face, new_energy, noel);
if (found2 && new_energy < 100000)
{
pFaceTracker->iTrackingFaceType = noel;
found = TRUE;
}
else
{
restart = TRUE;
goto RESTART;
}
}
if (found)
{
// angle by mouth & eyes
double vx_prev = double(pFaceTracker->face[LEYE].ptCenter.x + pFaceTracker->face[REYE].ptCenter.x) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.x;
double vy_prev = double(pFaceTracker->face[LEYE].ptCenter.y + pFaceTracker->face[REYE].ptCenter.y) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.y;
double vx_prev1 = vx_prev * cos(pFaceTracker->dbRotateDelta) - vy_prev * sin(pFaceTracker->dbRotateDelta);
double vy_prev1 = vx_prev * sin(pFaceTracker->dbRotateDelta) + vy_prev * cos(pFaceTracker->dbRotateDelta);
vx_prev = vx_prev1;
vy_prev = vy_prev1;
for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
pFaceTracker->face[elem] = new_face[elem];
double vx = double(pFaceTracker->face[LEYE].ptCenter.x + pFaceTracker->face[REYE].ptCenter.x) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.x;
double vy = double(pFaceTracker->face[LEYE].ptCenter.y + pFaceTracker->face[REYE].ptCenter.y) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.y;
pFaceTracker->dbRotateDelta = 0;
double n1_n2 = (vx * vx + vy * vy) * (vx_prev * vx_prev + vy_prev * vy_prev);
if (n1_n2 != 0)
pFaceTracker->dbRotateDelta = asin((vx * vy_prev - vx_prev * vy) / sqrt(n1_n2));
pFaceTracker->dbRotateAngle -= pFaceTracker->dbRotateDelta;
}
else
{
pFaceTracker->dbRotateDelta = 0;
pFaceTracker->dbRotateAngle = 0;
}
if ((pFaceTracker->dbRotateAngle >= pi/2 && pFaceTracker->dbRotateAngle > 0) ||
(pFaceTracker->dbRotateAngle <= -pi/2 && pFaceTracker->dbRotateAngle < 0))
{
pFaceTracker->dbRotateDelta = 0;
pFaceTracker->dbRotateAngle = 0;
found = FALSE;
}
if (found)
{
for (int i = 0; i < NUM_FACE_ELEMENTS && i < nRects; i++)
pRects[i] = pFaceTracker->face[i].r;
}
return found;
}//int FindFaceTracker(CvFaceTracker* pFaceTracker, IplImage* imgGray, CvRect* pRects, int nRects, CvPoint& ptRotate, double& dbAngleRotate)
void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, float &step, float& power, int iHistMin /*= HIST_MIN*/)
{
assert(imgGray != NULL);
assert(imgGray->nChannels == 1);
int i, j;
// create histogram
int histImg[256] = {0};
uchar* buffImg = (uchar*)imgGray->imageData;
CvRect rROI = cvGetImageROI(imgGray);
buffImg += rROI.y * imgGray->widthStep + rROI.x;
for (j = 0; j < rROI.height; j++)
{
for (i = 0; i < rROI.width; i++)
histImg[buffImg[i]] ++;
buffImg += imgGray->widthStep;
}
// params
for (i = 0; i < 256; i++)
{
if (histImg[i] > iHistMin)
break;
}
iMinLevel = i;
for (i = 255; i >= 0; i--)
{
if (histImg[i] > iHistMin)
break;
}
iMaxLevel = i;
if (iMaxLevel <= iMinLevel)
{
iMaxLevel = 255;
iMinLevel = 0;
}
// power
double black = 1;
double white = 1;
for (i = iMinLevel; i < (iMinLevel + iMaxLevel) / 2; i++)
black += histImg[i];
for (i = (iMinLevel + iMaxLevel) / 2; i < iMaxLevel; i++)
white += histImg[i];
power = float(black) / float(2 * white);
//
step = float(iMaxLevel - iMinLevel) / float(iNumLayers);
if (step < 1.0)
step = 1.0;
}// void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, int &iStep)
int ChoiceTrackingFace3(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy)
{
CvTrackingRect* curr_face[NUM_FACE_ELEMENTS] = {NULL};
CvTrackingRect* new_face[NUM_FACE_ELEMENTS] = {NULL};
new_energy = 0x7fffffff;
int curr_energy = 0x7fffffff;
int found = FALSE;
int N = 0;
CvSeqReader reader_m, reader_l, reader_r;
cvStartReadSeq( big_face[MOUTH].m_seqRects, &reader_m );
for (int i_mouth = 0; i_mouth < big_face[MOUTH].m_seqRects->total && i_mouth < nElements; i_mouth++)
{
curr_face[MOUTH] = (CvTrackingRect*)(reader_m.ptr);
cvStartReadSeq( big_face[LEYE].m_seqRects, &reader_l );
for (int i_left = 0; i_left < big_face[LEYE].m_seqRects->total && i_left < nElements; i_left++)
{
curr_face[LEYE] = (CvTrackingRect*)(reader_l.ptr);
if (curr_face[LEYE]->r.y + curr_face[LEYE]->r.height < curr_face[MOUTH]->r.y)
{
cvStartReadSeq( big_face[REYE].m_seqRects, &reader_r );
for (int i_right = 0; i_right < big_face[REYE].m_seqRects->total && i_right < nElements; i_right++)
{
curr_face[REYE] = (CvTrackingRect*)(reader_r.ptr);
if (curr_face[REYE]->r.y + curr_face[REYE]->r.height < curr_face[MOUTH]->r.y &&
curr_face[REYE]->r.x > curr_face[LEYE]->r.x + curr_face[LEYE]->r.width)
{
curr_energy = GetEnergy(curr_face, pTF->face, pTF->ptTempl, pTF->rTempl);
if (curr_energy < new_energy)
{
for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
new_face[elem] = curr_face[elem];
new_energy = curr_energy;
found = TRUE;
}
N++;
}
}
}
}
}
if (found)
{
for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
face[elem] = *(new_face[elem]);
}
return found;
} // int ChoiceTrackingFace3(const CvTrackingRect* tr_face, CvTrackingRect* new_face, int& new_energy)
int ChoiceTrackingFace2(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy, int noel)
{
int element[NUM_FACE_ELEMENTS];
for (int i = 0, elem = 0; i < NUM_FACE_ELEMENTS; i++)
{
if (i != noel)
{
element[elem] = i;
elem ++;
}
else
element[2] = i;
}
CvTrackingRect* curr_face[NUM_FACE_ELEMENTS] = {NULL};
CvTrackingRect* new_face[NUM_FACE_ELEMENTS] = {NULL};
new_energy = 0x7fffffff;
int curr_energy = 0x7fffffff;
int found = FALSE;
int N = 0;
CvSeqReader reader0, reader1;
cvStartReadSeq( big_face[element[0]].m_seqRects, &reader0 );
for (int i0 = 0; i0 < big_face[element[0]].m_seqRects->total && i0 < nElements; i0++)
{
curr_face[element[0]] = (CvTrackingRect*)(reader0.ptr);
cvStartReadSeq( big_face[element[1]].m_seqRects, &reader1 );
for (int i1 = 0; i1 < big_face[element[1]].m_seqRects->total && i1 < nElements; i1++)
{
curr_face[element[1]] = (CvTrackingRect*)(reader1.ptr);
curr_energy = GetEnergy2(curr_face, pTF->face, pTF->ptTempl, pTF->rTempl, element);
if (curr_energy < new_energy)
{
for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
new_face[elem] = curr_face[elem];
new_energy = curr_energy;
found = TRUE;
}
N++;
}
}
if (found)
{
face[element[0]] = *(new_face[element[0]]);
face[element[1]] = *(new_face[element[1]]);
// 3 element find by template
CvPoint templ_v01 = {pTF->ptTempl[element[1]].x - pTF->ptTempl[element[0]].x, pTF->ptTempl[element[1]].y - pTF->ptTempl[element[0]].y};
CvPoint templ_v02 = {pTF->ptTempl[element[2]].x - pTF->ptTempl[element[0]].x, pTF->ptTempl[element[2]].y - pTF->ptTempl[element[0]].y};
CvPoint prev_v01 = {pTF->face[element[1]].ptCenter.x - pTF->face[element[0]].ptCenter.x, pTF->face[element[1]].ptCenter.y - pTF->face[element[0]].ptCenter.y};
CvPoint prev_v02 = {pTF->face[element[2]].ptCenter.x - pTF->face[element[0]].ptCenter.x, pTF->face[element[2]].ptCenter.y - pTF->face[element[0]].ptCenter.y};
CvPoint new_v01 = {new_face[element[1]]->ptCenter.x - new_face[element[0]]->ptCenter.x, new_face[element[1]]->ptCenter.y - new_face[element[0]]->ptCenter.y};
double templ_d01 = sqrt((double)templ_v01.x*templ_v01.x + templ_v01.y*templ_v01.y);
double templ_d02 = sqrt((double)templ_v02.x*templ_v02.x + templ_v02.y*templ_v02.y);
double prev_d01 = sqrt((double)prev_v01.x*prev_v01.x + prev_v01.y*prev_v01.y);
double prev_d02 = sqrt((double)prev_v02.x*prev_v02.x + prev_v02.y*prev_v02.y);
double new_d01 = sqrt((double)new_v01.x*new_v01.x + new_v01.y*new_v01.y);
double scale = templ_d01 / new_d01;
double new_d02 = templ_d02 / scale;
double sin_a = double(prev_v01.x * prev_v02.y - prev_v01.y * prev_v02.x) / (prev_d01 * prev_d02);
double cos_a = cos(asin(sin_a));
double x = double(new_v01.x) * cos_a - double(new_v01.y) * sin_a;
double y = double(new_v01.x) * sin_a + double(new_v01.y) * cos_a;
x = x * new_d02 / new_d01;
y = y * new_d02 / new_d01;
CvPoint new_v02 = {int(x + 0.5), int(y + 0.5)};
face[element[2]].iColor = 0;
face[element[2]].iEnergy = 0;
face[element[2]].nRectsInThis = 0;
face[element[2]].nRectsOnBottom = 0;
face[element[2]].nRectsOnLeft = 0;
face[element[2]].nRectsOnRight = 0;
face[element[2]].nRectsOnTop = 0;
face[element[2]].ptCenter.x = new_v02.x + new_face[element[0]]->ptCenter.x;
face[element[2]].ptCenter.y = new_v02.y + new_face[element[0]]->ptCenter.y;
face[element[2]].r.width = int(double(pTF->rTempl[element[2]].width) / (scale) + 0.5);
face[element[2]].r.height = int(double(pTF->rTempl[element[2]].height) / (scale) + 0.5);
face[element[2]].r.x = face[element[2]].ptCenter.x - (face[element[2]].r.width + 1) / 2;
face[element[2]].r.y = face[element[2]].ptCenter.y - (face[element[2]].r.height + 1) / 2;
assert(face[LEYE].r.x + face[LEYE].r.width <= face[REYE].r.x);
}
return found;
} // int ChoiceTrackingFace3(const CvTrackingRect* tr_face, CvTrackingRect* new_face, int& new_energy)
inline int GetEnergy(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl)
{
int energy = 0;
CvPoint ptNew[NUM_FACE_ELEMENTS];
CvPoint ptPrev[NUM_FACE_ELEMENTS];
for (int i = 0; i < NUM_FACE_ELEMENTS; i++)
{
ptNew[i] = ppNew[i]->ptCenter;
ptPrev[i] = pPrev[i].ptCenter;
energy += ppNew[i]->iEnergy - 2 * ppNew[i]->nRectsInThis;
}
double dx = 0, dy = 0, scale = 1, rotate = 0;
double e_templ = CalculateTransformationLMS3(ptTempl, ptNew, &scale, &rotate, &dx, &dy);
double e_prev = CalculateTransformationLMS3_0(ptPrev, ptNew);
double w_eye = double(ppNew[LEYE]->r.width + ppNew[REYE]->r.width) * scale / 2.0;
double h_eye = double(ppNew[LEYE]->r.height + ppNew[REYE]->r.height) * scale / 2.0;
double w_mouth = double(ppNew[MOUTH]->r.width) * scale;
double h_mouth = double(ppNew[MOUTH]->r.height) * scale;
energy +=
int(512.0 * (e_prev + 16.0 * e_templ)) +
4 * pow2(ppNew[LEYE]->r.width - ppNew[REYE]->r.width) +
4 * pow2(ppNew[LEYE]->r.height - ppNew[REYE]->r.height) +
4 * (int)pow(w_eye - double(rTempl[LEYE].width + rTempl[REYE].width) / 2.0, 2) +
2 * (int)pow(h_eye - double(rTempl[LEYE].height + rTempl[REYE].height) / 2.0, 2) +
1 * (int)pow(w_mouth - double(rTempl[MOUTH].width), 2) +
1 * (int)pow(h_mouth - double(rTempl[MOUTH].height), 2) +
0;
return energy;
}
inline int GetEnergy2(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl, int* element)
{
CvPoint new_v = {ppNew[element[0]]->ptCenter.x - ppNew[element[1]]->ptCenter.x,
ppNew[element[0]]->ptCenter.y - ppNew[element[1]]->ptCenter.y};
CvPoint prev_v = {pPrev[element[0]].ptCenter.x - pPrev[element[1]].ptCenter.x,
pPrev[element[0]].ptCenter.y - pPrev[element[1]].ptCenter.y};
double new_d = sqrt((double)new_v.x*new_v.x + new_v.y*new_v.y);
double prev_d = sqrt((double)prev_v.x*prev_v.x + prev_v.y*prev_v.y);
double dx = ptTempl[element[0]].x - ptTempl[element[1]].x;
double dy = ptTempl[element[0]].y - ptTempl[element[1]].y;
double templ_d = sqrt(dx*dx + dy*dy);
double scale_templ = new_d / templ_d;
double w0 = (double)ppNew[element[0]]->r.width * scale_templ;
double h0 = (double)ppNew[element[0]]->r.height * scale_templ;
double w1 = (double)ppNew[element[1]]->r.width * scale_templ;
double h1 = (double)ppNew[element[1]]->r.height * scale_templ;
int energy = ppNew[element[0]]->iEnergy + ppNew[element[1]]->iEnergy +
- 2 * (ppNew[element[0]]->nRectsInThis - ppNew[element[1]]->nRectsInThis) +
(int)pow(w0 - (double)rTempl[element[0]].width, 2) +
(int)pow(h0 - (double)rTempl[element[0]].height, 2) +
(int)pow(w1 - (double)rTempl[element[1]].width, 2) +
(int)pow(h1 - (double)rTempl[element[1]].height, 2) +
(int)pow(new_d - prev_d, 2) +
0;
return energy;
}
inline double CalculateTransformationLMS3( CvPoint* pTemplPoints,
CvPoint* pSrcPoints,
double* pdbAverageScale,
double* pdbAverageRotate,
double* pdbAverageShiftX,
double* pdbAverageShiftY )
{
// double WS = 0;
double dbAverageScale = 1;
double dbAverageRotate = 0;
double dbAverageShiftX = 0;
double dbAverageShiftY = 0;
double dbLMS = 0;
assert( NULL != pTemplPoints);
assert( NULL != pSrcPoints);
double dbXt = double(pTemplPoints[0].x + pTemplPoints[1].x + pTemplPoints[2].x) / 3.0;
double dbYt = double(pTemplPoints[0].y + pTemplPoints[1].y + pTemplPoints[2].y ) / 3.0;
double dbXs = double(pSrcPoints[0].x + pSrcPoints[1].x + pSrcPoints[2].x) / 3.0;
double dbYs = double(pSrcPoints[0].y + pSrcPoints[1].y + pSrcPoints[2].y) / 3.0;
double dbXtXt = double(pow2(pTemplPoints[0].x) + pow2(pTemplPoints[1].x) + pow2(pTemplPoints[2].x)) / 3.0;
double dbYtYt = double(pow2(pTemplPoints[0].y) + pow2(pTemplPoints[1].y) + pow2(pTemplPoints[2].y)) / 3.0;
double dbXsXs = double(pow2(pSrcPoints[0].x) + pow2(pSrcPoints[1].x) + pow2(pSrcPoints[2].x)) / 3.0;
double dbYsYs = double(pow2(pSrcPoints[0].y) + pow2(pSrcPoints[1].y) + pow2(pSrcPoints[2].y)) / 3.0;
double dbXtXs = double(pTemplPoints[0].x * pSrcPoints[0].x +
pTemplPoints[1].x * pSrcPoints[1].x +
pTemplPoints[2].x * pSrcPoints[2].x) / 3.0;
double dbYtYs = double(pTemplPoints[0].y * pSrcPoints[0].y +
pTemplPoints[1].y * pSrcPoints[1].y +
pTemplPoints[2].y * pSrcPoints[2].y) / 3.0;
double dbXtYs = double(pTemplPoints[0].x * pSrcPoints[0].y +
pTemplPoints[1].x * pSrcPoints[1].y +
pTemplPoints[2].x * pSrcPoints[2].y) / 3.0;
double dbYtXs = double(pTemplPoints[0].y * pSrcPoints[0].x +
pTemplPoints[1].y * pSrcPoints[1].x +
pTemplPoints[2].y * pSrcPoints[2].x ) / 3.0;
dbXtXt -= dbXt * dbXt;
dbYtYt -= dbYt * dbYt;
dbXsXs -= dbXs * dbXs;
dbYsYs -= dbYs * dbYs;
dbXtXs -= dbXt * dbXs;
dbYtYs -= dbYt * dbYs;
dbXtYs -= dbXt * dbYs;
dbYtXs -= dbYt * dbXs;
dbAverageRotate = atan2( dbXtYs - dbYtXs, dbXtXs + dbYtYs );
double cosR = cos(dbAverageRotate);
double sinR = sin(dbAverageRotate);
double del = dbXsXs + dbYsYs;
if( del != 0 )
{
dbAverageScale = (double(dbXtXs + dbYtYs) * cosR + double(dbXtYs - dbYtXs) * sinR) / del;
dbLMS = dbXtXt + dbYtYt - ((double)pow(dbXtXs + dbYtYs,2) + (double)pow(dbXtYs - dbYtXs,2)) / del;
}
dbAverageShiftX = double(dbXt) - dbAverageScale * (double(dbXs) * cosR + double(dbYs) * sinR);
dbAverageShiftY = double(dbYt) - dbAverageScale * (double(dbYs) * cosR - double(dbXs) * sinR);
if( pdbAverageScale != NULL ) *pdbAverageScale = dbAverageScale;
if( pdbAverageRotate != NULL ) *pdbAverageRotate = dbAverageRotate;
if( pdbAverageShiftX != NULL ) *pdbAverageShiftX = dbAverageShiftX;
if( pdbAverageShiftY != NULL ) *pdbAverageShiftY = dbAverageShiftY;
assert(dbLMS >= 0);
return dbLMS;
}
inline double CalculateTransformationLMS3_0( CvPoint* pTemplPoints, CvPoint* pSrcPoints)
{
double dbLMS = 0;
assert( NULL != pTemplPoints);
assert( NULL != pSrcPoints);
double dbXt = double(pTemplPoints[0].x + pTemplPoints[1].x + pTemplPoints[2].x) / 3.0;
double dbYt = double(pTemplPoints[0].y + pTemplPoints[1].y + pTemplPoints[2].y ) / 3.0;
double dbXs = double(pSrcPoints[0].x + pSrcPoints[1].x + pSrcPoints[2].x) / 3.0;
double dbYs = double(pSrcPoints[0].y + pSrcPoints[1].y + pSrcPoints[2].y) / 3.0;
double dbXtXt = double(pow2(pTemplPoints[0].x) + pow2(pTemplPoints[1].x) + pow2(pTemplPoints[2].x)) / 3.0;
double dbYtYt = double(pow2(pTemplPoints[0].y) + pow2(pTemplPoints[1].y) + pow2(pTemplPoints[2].y)) / 3.0;
double dbXsXs = double(pow2(pSrcPoints[0].x) + pow2(pSrcPoints[1].x) + pow2(pSrcPoints[2].x)) / 3.0;
double dbYsYs = double(pow2(pSrcPoints[0].y) + pow2(pSrcPoints[1].y) + pow2(pSrcPoints[2].y)) / 3.0;
double dbXtXs = double(pTemplPoints[0].x * pSrcPoints[0].x +
pTemplPoints[1].x * pSrcPoints[1].x +
pTemplPoints[2].x * pSrcPoints[2].x) / 3.0;
double dbYtYs = double(pTemplPoints[0].y * pSrcPoints[0].y +
pTemplPoints[1].y * pSrcPoints[1].y +
pTemplPoints[2].y * pSrcPoints[2].y) / 3.0;
double dbXtYs = double(pTemplPoints[0].x * pSrcPoints[0].y +
pTemplPoints[1].x * pSrcPoints[1].y +
pTemplPoints[2].x * pSrcPoints[2].y) / 3.0;
double dbYtXs = double(pTemplPoints[0].y * pSrcPoints[0].x +
pTemplPoints[1].y * pSrcPoints[1].x +
pTemplPoints[2].y * pSrcPoints[2].x ) / 3.0;
dbXtXt -= dbXt * dbXt;
dbYtYt -= dbYt * dbYt;
dbXsXs -= dbXs * dbXs;
dbYsYs -= dbYs * dbYs;
dbXtXs -= dbXt * dbXs;
dbYtYs -= dbYt * dbYs;
dbXtYs -= dbXt * dbYs;
dbYtXs -= dbYt * dbXs;
double del = dbXsXs + dbYsYs;
if( del != 0 )
dbLMS = dbXtXt + dbYtYt - ((double)pow(dbXtXs + dbYtYs,2) + (double)pow(dbXtYs - dbYtXs,2)) / del;
return dbLMS;
}