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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.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencv2/contrib/hybridtracker.hpp"
using namespace cv;
using namespace std;
CvMeanShiftTracker::CvMeanShiftTracker(CvMeanShiftTrackerParams _params) : params(_params)
{
}
CvMeanShiftTracker::~CvMeanShiftTracker()
{
}
void CvMeanShiftTracker::newTrackingWindow(Mat image, Rect selection)
{
hist.release();
int channels[] = { 0, 0 , 1, 1};
float hrange[] = { 0, 180 };
float srange[] = { 0, 1 };
const float* ranges[] = {hrange, srange};
cvtColor(image, hsv, CV_BGR2HSV);
inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask);
hue.create(hsv.size(), CV_8UC2);
mixChannels(&hsv, 1, &hue, 1, channels, 2);
Mat roi(hue, selection);
Mat mskroi(mask, selection);
int ch[] = {0, 1};
int chsize[] = {32, 32};
calcHist(&roi, 1, ch, mskroi, hist, 1, chsize, ranges);
normalize(hist, hist, 0, 255, CV_MINMAX);
prev_trackwindow = selection;
}
RotatedRect CvMeanShiftTracker::updateTrackingWindow(Mat image)
{
int channels[] = { 0, 0 , 1, 1};
float hrange[] = { 0, 180 };
float srange[] = { 0, 1 };
const float* ranges[] = {hrange, srange};
cvtColor(image, hsv, CV_BGR2HSV);
inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask);
hue.create(hsv.size(), CV_8UC2);
mixChannels(&hsv, 1, &hue, 1, channels, 2);
int ch[] = {0, 1};
calcBackProject(&hue, 1, ch, hist, backproj, ranges);
backproj &= mask;
prev_trackbox = CamShift(backproj, prev_trackwindow, TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1));
int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5) / 6;
prev_trackwindow = Rect(prev_trackwindow.x - r, prev_trackwindow.y - r, prev_trackwindow.x + r,
prev_trackwindow.y + r) & Rect(0, 0, cols, rows);
prev_center.x = (float)(prev_trackwindow.x + prev_trackwindow.width / 2);
prev_center.y = (float)(prev_trackwindow.y + prev_trackwindow.height / 2);
#ifdef DEBUG_HYTRACKER
ellipse(image, prev_trackbox, Scalar(0, 0, 255), 1, CV_AA);
#endif
return prev_trackbox;
}
Mat CvMeanShiftTracker::getHistogramProjection(int type)
{
Mat ms_backproj_f(backproj.size(), type);
backproj.convertTo(ms_backproj_f, type);
return ms_backproj_f;
}
void CvMeanShiftTracker::setTrackingWindow(Rect window)
{
prev_trackwindow = window;
}
Rect CvMeanShiftTracker::getTrackingWindow()
{
return prev_trackwindow;
}
RotatedRect CvMeanShiftTracker::getTrackingEllipse()
{
return prev_trackbox;
}
Point2f CvMeanShiftTracker::getTrackingCenter()
{
return prev_center;
}