?? camshift.cpp
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#include "Common.h"#include "CamShift.h"#include "Exceptions.h"CamShift::CamShift() : m_bins(20), m_threshold(0), m_Smin(20), m_Vmin(40), m_Vmax(255), m_tracking(false), m_pProbProv(NULL){}void CamShift::Initialize(int width, int height){ m_img_width = width; m_img_height = height; m_prob_map = cvCreateImage(cvSize(width, height), IPL_DEPTH_8U, 1);}//// Process//// init or adjust CamShift //void CamShift::PrepareTracking(IplImage* image, const ProbDistrProvider* pProbProv, const CRect& area){ m_pProbProv = pProbProv; if (m_pProbProv) { m_comp.rect.x = area.left; m_comp.rect.y = area.top; m_comp.rect.width = area.right-area.left; m_comp.rect.height = area.bottom-area.top; DoExternal(image); } else { m_object.x = area.left; m_object.y = area.top; m_object.width = area.right-area.left; m_object.height = area.bottom-area.top; ASSERT(image->roi==0); DoHSV(image, true); } m_tracking = true;} // Start//// Process//// init or adjust CamShift //void CamShift::Track(IplImage* image){ if (m_tracking) { if (m_pProbProv) { DoExternal(image); } else { DoHSV(image, false); } }} // Process//// Draw//void CamShift::DrawOverlay(IplImage* image, int overlay_level) const{ if (m_tracking && overlay_level>1) { if (overlay_level>2 && m_pProbProv==NULL) { CheckBackProject(image, 1); } DrawCross(image); }} // Drawvoid CamShift::DoHSV(IplImage* image, bool initialize){ m_cCamShift.set_hist_dims( 1, &m_bins ); m_cCamShift.set_hist_bin_range( 0, 0, 180 ); m_cCamShift.set_threshold( 0 ); m_cCamShift.set_min_ch_val( 1, m_Smin ); m_cCamShift.set_max_ch_val( 1, 255 ); m_cCamShift.set_min_ch_val( 2, m_Vmin ); m_cCamShift.set_max_ch_val( 2, m_Vmax ); CvSize size; cvGetImageRawData( image, 0, 0, &size ); if( m_object.x < 0 ) m_object.x = 0; if( m_object.x > size.width - m_object.width - 1 ) m_object.x = MAX(0, size.width - m_object.width - 1); if( m_object.y < 0 ) m_object.y = 0; if( m_object.y > size.height - m_object.height - 1 ) m_object.y = MAX(0, size.height - m_object.height - 1); if( m_object.width > size.width - m_object.x ) m_object.width = MIN(size.width, size.width - m_object.x); if( m_object.height > size.height - m_object.y ) m_object.height = MIN(size.height, size.height - m_object.y); m_cCamShift.set_window(m_object); if (initialize) { m_cCamShift.reset_histogram(); m_cCamShift.update_histogram( image ); } m_cCamShift.track_object( image ); m_object = m_cCamShift.get_window();}void CamShift::DoExternal(IplImage* image){ ASSERT(m_pProbProv); ASSERT(m_comp.rect.width != 0 && m_comp.rect.height != 0); CvRect rect = m_comp.rect; if( rect.x < 0 ) rect.x = 0; if( rect.x + rect.width > m_img_width ) rect.width = m_img_width - rect.x; if( rect.y < 0 ) rect.y = 0; if( rect.y + rect.height > m_img_height ) rect.height = m_img_height - rect.y; CRect roi; roi.left = m_comp.rect.x-m_comp.rect.width/2; roi.right = roi.left+m_comp.rect.width*2; roi.top = m_comp.rect.y-m_comp.rect.height/2; roi.bottom = roi.top+m_comp.rect.height*2; m_pProbProv->CreateMap(image, m_prob_map, roi); cvCamShift(m_prob_map, rect, cvTermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1), &m_comp, &m_box ); if( m_comp.rect.width == 0 || m_comp.rect.height == 0 ) m_comp.rect = rect; // do not allow tracker to loose the object}void CamShift::CheckBackProject(IplImage* image, int view) const{ if( view == 1 ) { IplImage* src = ((CvCamShiftTracker&)m_cCamShift).get_back_project(); if( src && src->imageData && image ) { cvSetImageROI( image, cvRect( m_object.x, m_object.y, m_object.width, m_object.height )); cvSetImageROI( src, cvRect( m_object.x, m_object.y, m_object.width, m_object.height )); cvCvtColor( src, image, CV_GRAY2BGR ); cvResetImageROI( image ); cvResetImageROI( src ); } } else if( view == 2 && m_tracking ) { int i, dims; CvSize size; m_cCamShift.get_hist_dims( &dims ); cvGetImageRawData( image, 0, 0, &size ); for( i = 0; i < dims; i++ ) { int val = cvRound(m_cCamShift.query(&i)); CvPoint p[4]; p[0].x = p[1].x = i*size.width/(2*dims); p[2].x = p[3].x = (i+1)*size.width/(2*dims); p[1].y = p[2].y = 0; p[0].y = p[3].y = (val*size.height)/(3*255); cvFillConvexPoly( image, p, 4, CV_RGB(255,0,0)); } }}void CamShift::DrawCross( IplImage* image ) const{ if (m_pProbProv) { float cs = (float)cos( m_box.angle ); float sn = (float)sin( m_box.angle ); int x = m_comp.rect.x + m_comp.rect.width / 2; int y = m_comp.rect.y + m_comp.rect.height / 2; CvPoint p1 = {(int)(x + m_box.size.height * cs / 2), (int)(y + m_box.size.height * sn / 2)}; CvPoint p2 = {(int)(x - m_box.size.height * cs / 2), (int)(y - m_box.size.height * sn / 2)}; CvPoint p3 = {(int)(x + m_box.size.width * sn / 2), (int)(y - m_box.size.width * cs / 2)}; CvPoint p4 = {(int)(x - m_box.size.width * sn / 2), (int)(y + m_box.size.width * cs / 2)}; cvLine( image, p1, p2, CV_RGB(0,255,0) ); cvLine( image, p4, p3, CV_RGB(0,255,0) ); } else { float cs = (float)cos( m_cCamShift.get_orientation() ); float sn = (float)sin( m_cCamShift.get_orientation() ); int x = m_object.x + m_object.width / 2; int y = m_object.y + m_object.height / 2; CvPoint p1 = {(int)(x + m_cCamShift.get_length() * cs / 2), (int)(y + m_cCamShift.get_length() * sn / 2)}; CvPoint p2 = {(int)(x - m_cCamShift.get_length() * cs / 2), (int)(y - m_cCamShift.get_length() * sn / 2)}; CvPoint p3 = {(int)(x + m_cCamShift.get_width() * sn / 2), (int)(y - m_cCamShift.get_width() * cs / 2)}; CvPoint p4 = {(int)(x - m_cCamShift.get_width() * sn / 2), (int)(y + m_cCamShift.get_width() * cs / 2)}; cvLine( image, p1, p2, CV_RGB(255,255,255) ); cvLine( image, p4, p3, CV_RGB(255,255,255) ); }}void CamShift::GetArea(CRect& area) const { if (m_pProbProv) { area.left = m_comp.rect.x; area.top = m_comp.rect.y; area.right = m_comp.rect.x+m_comp.rect.width; area.bottom = m_comp.rect.y+m_comp.rect.height; } else { area.left = m_object.x; area.top = m_object.y; area.right = m_object.x+m_object.width; area.bottom = m_object.y+m_object.height; }}?? 快捷鍵說明
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