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Open Source Computer Vision Library
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313 lines
10 KiB
313 lines
10 KiB
/*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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// For Open Source Computer Vision Library |
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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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/*F/////////////////////////////////////////////////////////////////////////////////////// |
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// Name: cvMeanShift |
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// Purpose: MeanShift algorithm |
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// Context: |
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// Parameters: |
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// imgProb - 2D object probability distribution |
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// windowIn - CvRect of CAMSHIFT Window intial size |
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// numIters - If CAMSHIFT iterates this many times, stop |
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// windowOut - Location, height and width of converged CAMSHIFT window |
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// len - If != NULL, return equivalent len |
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// width - If != NULL, return equivalent width |
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// itersUsed - Returns number of iterations CAMSHIFT took to converge |
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// Returns: |
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// The function itself returns the area found |
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// Notes: |
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//F*/ |
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CV_IMPL int |
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cvMeanShift( const void* imgProb, CvRect windowIn, |
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CvTermCriteria criteria, CvConnectedComp* comp ) |
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{ |
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CvMoments moments; |
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int i = 0, eps; |
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CvMat stub, *mat = (CvMat*)imgProb; |
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CvMat cur_win; |
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CvRect cur_rect = windowIn; |
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if( comp ) |
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comp->rect = windowIn; |
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moments.m00 = moments.m10 = moments.m01 = 0; |
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mat = cvGetMat( mat, &stub ); |
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if( CV_MAT_CN( mat->type ) > 1 ) |
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CV_Error( CV_BadNumChannels, cvUnsupportedFormat ); |
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if( windowIn.height <= 0 || windowIn.width <= 0 ) |
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CV_Error( CV_StsBadArg, "Input window has non-positive sizes" ); |
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windowIn = cv::Rect(windowIn) & cv::Rect(0, 0, mat->cols, mat->rows); |
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criteria = cvCheckTermCriteria( criteria, 1., 100 ); |
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eps = cvRound( criteria.epsilon * criteria.epsilon ); |
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for( i = 0; i < criteria.max_iter; i++ ) |
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{ |
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int dx, dy, nx, ny; |
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double inv_m00; |
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cur_rect = cv::Rect(cur_rect) & cv::Rect(0, 0, mat->cols, mat->rows); |
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cvGetSubRect( mat, &cur_win, cur_rect ); |
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cvMoments( &cur_win, &moments ); |
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/* Calculating center of mass */ |
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if( fabs(moments.m00) < DBL_EPSILON ) |
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break; |
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inv_m00 = moments.inv_sqrt_m00*moments.inv_sqrt_m00; |
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dx = cvRound( moments.m10 * inv_m00 - windowIn.width*0.5 ); |
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dy = cvRound( moments.m01 * inv_m00 - windowIn.height*0.5 ); |
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nx = cur_rect.x + dx; |
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ny = cur_rect.y + dy; |
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if( nx < 0 ) |
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nx = 0; |
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else if( nx + cur_rect.width > mat->cols ) |
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nx = mat->cols - cur_rect.width; |
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if( ny < 0 ) |
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ny = 0; |
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else if( ny + cur_rect.height > mat->rows ) |
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ny = mat->rows - cur_rect.height; |
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dx = nx - cur_rect.x; |
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dy = ny - cur_rect.y; |
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cur_rect.x = nx; |
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cur_rect.y = ny; |
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/* Check for coverage centers mass & window */ |
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if( dx*dx + dy*dy < eps ) |
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break; |
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} |
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if( comp ) |
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{ |
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comp->rect = cur_rect; |
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comp->area = (float)moments.m00; |
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} |
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return i; |
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} |
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/*F/////////////////////////////////////////////////////////////////////////////////////// |
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// Name: cvCamShift |
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// Purpose: CAMSHIFT algorithm |
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// Context: |
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// Parameters: |
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// imgProb - 2D object probability distribution |
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// windowIn - CvRect of CAMSHIFT Window intial size |
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// criteria - criteria of stop finding window |
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// windowOut - Location, height and width of converged CAMSHIFT window |
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// orientation - If != NULL, return distribution orientation |
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// len - If != NULL, return equivalent len |
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// width - If != NULL, return equivalent width |
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// area - sum of all elements in result window |
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// itersUsed - Returns number of iterations CAMSHIFT took to converge |
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// Returns: |
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// The function itself returns the area found |
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// Notes: |
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//F*/ |
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CV_IMPL int |
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cvCamShift( const void* imgProb, CvRect windowIn, |
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CvTermCriteria criteria, |
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CvConnectedComp* _comp, |
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CvBox2D* box ) |
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{ |
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const int TOLERANCE = 10; |
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CvMoments moments; |
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double m00 = 0, m10, m01, mu20, mu11, mu02, inv_m00; |
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double a, b, c, xc, yc; |
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double rotate_a, rotate_c; |
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double theta = 0, square; |
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double cs, sn; |
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double length = 0, width = 0; |
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int itersUsed = 0; |
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CvConnectedComp comp; |
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CvMat cur_win, stub, *mat = (CvMat*)imgProb; |
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comp.rect = windowIn; |
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mat = cvGetMat( mat, &stub ); |
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itersUsed = cvMeanShift( mat, windowIn, criteria, &comp ); |
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windowIn = comp.rect; |
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windowIn.x -= TOLERANCE; |
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if( windowIn.x < 0 ) |
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windowIn.x = 0; |
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windowIn.y -= TOLERANCE; |
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if( windowIn.y < 0 ) |
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windowIn.y = 0; |
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windowIn.width += 2 * TOLERANCE; |
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if( windowIn.x + windowIn.width > mat->width ) |
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windowIn.width = mat->width - windowIn.x; |
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windowIn.height += 2 * TOLERANCE; |
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if( windowIn.y + windowIn.height > mat->height ) |
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windowIn.height = mat->height - windowIn.y; |
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cvGetSubRect( mat, &cur_win, windowIn ); |
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/* Calculating moments in new center mass */ |
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cvMoments( &cur_win, &moments ); |
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m00 = moments.m00; |
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m10 = moments.m10; |
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m01 = moments.m01; |
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mu11 = moments.mu11; |
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mu20 = moments.mu20; |
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mu02 = moments.mu02; |
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if( fabs(m00) < DBL_EPSILON ) |
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return -1; |
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inv_m00 = 1. / m00; |
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xc = cvRound( m10 * inv_m00 + windowIn.x ); |
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yc = cvRound( m01 * inv_m00 + windowIn.y ); |
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a = mu20 * inv_m00; |
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b = mu11 * inv_m00; |
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c = mu02 * inv_m00; |
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/* Calculating width & height */ |
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square = sqrt( 4 * b * b + (a - c) * (a - c) ); |
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/* Calculating orientation */ |
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theta = atan2( 2 * b, a - c + square ); |
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/* Calculating width & length of figure */ |
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cs = cos( theta ); |
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sn = sin( theta ); |
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rotate_a = cs * cs * mu20 + 2 * cs * sn * mu11 + sn * sn * mu02; |
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rotate_c = sn * sn * mu20 - 2 * cs * sn * mu11 + cs * cs * mu02; |
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length = sqrt( rotate_a * inv_m00 ) * 4; |
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width = sqrt( rotate_c * inv_m00 ) * 4; |
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/* In case, when tetta is 0 or 1.57... the Length & Width may be exchanged */ |
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if( length < width ) |
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{ |
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double t; |
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CV_SWAP( length, width, t ); |
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CV_SWAP( cs, sn, t ); |
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theta = CV_PI*0.5 - theta; |
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} |
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/* Saving results */ |
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if( _comp || box ) |
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{ |
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int t0, t1; |
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int _xc = cvRound( xc ); |
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int _yc = cvRound( yc ); |
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t0 = cvRound( fabs( length * cs )); |
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t1 = cvRound( fabs( width * sn )); |
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t0 = MAX( t0, t1 ) + 2; |
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comp.rect.width = MIN( t0, (mat->width - _xc) * 2 ); |
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t0 = cvRound( fabs( length * sn )); |
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t1 = cvRound( fabs( width * cs )); |
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t0 = MAX( t0, t1 ) + 2; |
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comp.rect.height = MIN( t0, (mat->height - _yc) * 2 ); |
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comp.rect.x = MAX( 0, _xc - comp.rect.width / 2 ); |
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comp.rect.y = MAX( 0, _yc - comp.rect.height / 2 ); |
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comp.rect.width = MIN( mat->width - comp.rect.x, comp.rect.width ); |
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comp.rect.height = MIN( mat->height - comp.rect.y, comp.rect.height ); |
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comp.area = (float) m00; |
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} |
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if( _comp ) |
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*_comp = comp; |
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if( box ) |
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{ |
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box->size.height = (float)length; |
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box->size.width = (float)width; |
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box->angle = (float)((CV_PI*0.5+theta)*180./CV_PI); |
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while(box->angle < 0) |
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box->angle += 360; |
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while(box->angle >= 360) |
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box->angle -= 360; |
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if(box->angle >= 180) |
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box->angle -= 180; |
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box->center = cvPoint2D32f( comp.rect.x + comp.rect.width*0.5f, |
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comp.rect.y + comp.rect.height*0.5f); |
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} |
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return itersUsed; |
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} |
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cv::RotatedRect cv::CamShift( const InputArray& _probImage, Rect& window, |
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TermCriteria criteria ) |
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{ |
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CvConnectedComp comp; |
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CvBox2D box; |
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CvMat c_probImage = _probImage.getMat(); |
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cvCamShift(&c_probImage, window, (CvTermCriteria)criteria, &comp, &box); |
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window = comp.rect; |
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return RotatedRect(Point2f(box.center), Size2f(box.size), box.angle); |
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} |
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int cv::meanShift( const InputArray& _probImage, Rect& window, TermCriteria criteria ) |
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{ |
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CvConnectedComp comp; |
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CvMat c_probImage = _probImage.getMat(); |
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int iters = cvMeanShift(&c_probImage, window, (CvTermCriteria)criteria, &comp ); |
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window = comp.rect; |
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return iters; |
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} |
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/* End of file. */
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