float thresh[CV_MAX_DIM][2]; /* for uniform histograms */
float** thresh2; /* for non-uniform histograms */
CvMatND mat; /* embedded matrix header for array histograms */
}
CvHistogram;
\end{lstlisting}
\fi
\ifPy
A CvHistogram is a multi-dimensional histogram, created by function \cross{CreateHist}. It has an attribute \texttt{bins} a \cross{CvMatND} containing the histogram counts.
\cvarg{image}{Source images (though you may pass CvMat** as well)}
\cvarg{back\_project}{Destination back projection image of the same type as the source images}
\cvarg{hist}{Histogram}
\end{description}
The function calculates the back project of the histogram. For each
tuple of pixels at the same position of all input single-channel images
the function puts the value of the histogram bin, corresponding to the
tuple in the destination image. In terms of statistics, the value of
each output image pixel is the probability of the observed tuple given
the distribution (histogram). For example, to find a red object in the
picture, one may do the following:
\begin{enumerate}
\item Calculate a hue histogram for the red object assuming the image contains only this object. The histogram is likely to have a strong maximum, corresponding to red color.
\item Calculate back projection of a hue plane of input image where the object is searched, using the histogram. Threshold the image.
\item Find connected components in the resulting picture and choose the right component using some additional criteria, for example, the largest connected component.
\end{enumerate}
That is the approximate algorithm of Camshift color object tracker, except for the 3rd step, instead of which CAMSHIFT algorithm is used to locate the object on the back projection given the previous object position.
\cvCPyFunc{CalcBackProjectPatch}
Locates a template within an image by using a histogram comparison.
\cvarg{factor}{Normalization factor for histograms, will affect the normalization scale of the destination image, pass 1 if unsure}
\end{description}
The function calculates the back projection by comparing histograms of the source image patches with the given histogram. Taking measurement results from some image at each location over ROI creates an array \texttt{image}. These results might be one or more of hue, \texttt{x} derivative, \texttt{y} derivative, Laplacian filter, oriented Gabor filter, etc. Each measurement output is collected into its own separate image. The \texttt{image} image array is a collection of these measurement images. A multi-dimensional histogram \texttt{hist} is constructed by sampling from the \texttt{image} image array. The final histogram is normalized. The \texttt{hist} histogram has as many dimensions as the number of elements in \texttt{image} array.
Each new image is measured and then converted into an \texttt{image} image array over a chosen ROI. Histograms are taken from this \texttt{image} image in an area covered by a "patch" with an anchor at center as shown in the picture below. The histogram is normalized using the parameter \texttt{norm\_factor} so that it may be compared with \texttt{hist}. The calculated histogram is compared to the model histogram; \texttt{hist} uses The function \texttt{cvCompareHist} with the comparison method=\texttt{method}). The resulting output is placed at the location corresponding to the patch anchor in the probability image \texttt{dst}. This process is repeated as the patch is slid over the ROI. Iterative histogram update by subtracting trailing pixels covered by the patch and adding newly covered pixels to the histogram can save a lot of operations, though it is not implemented yet.
\cvarg{image}{Source images (though you may pass CvMat** as well)}
\cvarg{hist}{Pointer to the histogram}
\cvarg{accumulate}{Accumulation flag. If it is set, the histogram is not cleared in the beginning. This feature allows user to compute a single histogram from several images, or to update the histogram online}
\cvarg{mask}{The operation mask, determines what pixels of the source images are counted}
\end{description}
The function calculates the histogram of one or more
single-channel images. The elements of a tuple that is used to increment
a histogram bin are taken at the same location from the corresponding
input images.
\ifC% {
% ===== Sample. Calculating and displaying 2D Hue-Saturation histogram of a color image =====
\cvarg{sizes}{Array of the histogram dimension sizes}}
\cvPy{\cvarg{dims}{for an N-dimensional histogram, list of length N giving the size of each dimension}}
\cvarg{type}{Histogram representation format: \texttt{CV\_HIST\_ARRAY} means that the histogram data is represented as a multi-dimensional dense array CvMatND; \texttt{CV\_HIST\_SPARSE} means that histogram data is represented as a multi-dimensional sparse array CvSparseMat}
\cvarg{ranges}{Array of ranges for the histogram bins. Its meaning depends on the \texttt{uniform} parameter value. The ranges are used for when the histogram is calculated or backprojected to determine which histogram bin corresponds to which value/tuple of values from the input image(s)}
\cvarg{uniform}{Uniformity flag; if not 0, the histogram has evenly
spaced bins and for every $0<=i<cDims$\texttt{ranges[i]}
is an array of two numbers: lower and upper boundaries for the i-th
histogram dimension.
The whole range [lower,upper] is then split
into \texttt{dims[i]} equal parts to determine the \texttt{i-th} input
tuple value ranges for every histogram bin. And if \texttt{uniform=0},
then \texttt{i-th} element of \texttt{ranges} array contains
The macros \texttt{GetHistValue} return a pointer to the specified bin of the 1D, 2D, 3D or N-D histogram. In the case of a sparse histogram the function creates a new bin and sets it to 0, unless it exists already.
\cvarg{min\_value}{Pointer to the minimum value of the histogram}
\cvarg{max\_value}{Pointer to the maximum value of the histogram}
\cvarg{min\_idx}{Pointer to the array of coordinates for the minimum}
\cvarg{max\_idx}{Pointer to the array of coordinates for the maximum}
\else
\cvarg{min\_value}{Minimum value of the histogram}
\cvarg{max\_value}{Maximum value of the histogram}
\cvarg{min\_idx}{Coordinates of the minimum}
\cvarg{max\_idx}{Coordinates of the maximum}
\fi
\end{description}
The function finds the minimum and
maximum histogram bins and their positions. All of output arguments are
optional. Among several extremas with the same value the ones with the
minimum index (in lexicographical order) are returned. In the case of several maximums
or minimums, the earliest in lexicographical order (extrema locations)
is returned.
\ifC% {
\cvCPyFunc{MakeHistHeaderForArray}
Makes a histogram out of an array.
\cvdefC{
CvHistogram* cvMakeHistHeaderForArray( \par int dims,\par int* sizes,\par CvHistogram* hist,\par float* data,\par float** ranges=NULL,\par int uniform=1 );
}
\begin{description}
\cvarg{dims}{Number of histogram dimensions}
\cvarg{sizes}{Array of the histogram dimension sizes}
\cvarg{hist}{The histogram header initialized by the function}
\cvarg{data}{Array that will be used to store histogram bins}
\cvarg{ranges}{Histogram bin ranges, see \cvCPyCross{CreateHist}}
\cvarg{uniform}{Uniformity flag, see \cvCPyCross{CreateHist}}
\end{description}
The function initializes the histogram, whose header and bins are allocated by th user. \cvCPyCross{ReleaseHist} does not need to be called afterwards. Only dense histograms can be initialized this way. The function returns \texttt{hist}.
The macros return the value of the specified bin of the 1D, 2D, 3D or N-D histogram. In the case of a sparse histogram the function returns 0, if the bin is not present in the histogram no new bin is created.
\cvarg{idx}{list of indices, of same length as the dimension of the histogram's bin.}
\end{description}
\fi
\ifC
\cvCPyFunc{ReleaseHist}
Releases the histogram.
\cvdefC{
void cvReleaseHist( CvHistogram** hist );
}
\begin{description}
\cvarg{hist}{Double pointer to the released histogram}
\end{description}
The function releases the histogram (header and the data). The pointer to the histogram is cleared by the function. If \texttt{*hist} pointer is already \texttt{NULL}, the function does nothing.
\cvCPyFunc{SetHistBinRanges}
Sets the bounds of the histogram bins.
\cvdefC{
void cvSetHistBinRanges( \par CvHistogram* hist,\par float** ranges,\par int uniform=1 );
}
\begin{description}
\cvarg{hist}{Histogram}
\cvarg{ranges}{Array of bin ranges arrays, see \cvCPyCross{CreateHist}}
\cvarg{uniform}{Uniformity flag, see \cvCPyCross{CreateHist}}
\end{description}
The function is a stand-alone function for setting bin ranges in the histogram. For a more detailed description of the parameters \texttt{ranges} and \texttt{uniform} see the \cvCPyCross{CalcHist} function, that can initialize the ranges as well. Ranges for the histogram bins must be set before the histogram is calculated or the backproject of the histogram is calculated.
The function clears histogram bins that are below the specified threshold.
\fi
\ifCpp
\cvCppFunc{calcHist}
Calculates histogram of a set of arrays
\cvdefCpp{void calcHist( const Mat* arrays, int narrays,\par
const int* channels, const Mat\& mask,\par
MatND\& hist, int dims, const int* histSize,\par
const float** ranges, bool uniform=true,\par
bool accumulate=false );\newline
void calcHist( const Mat* arrays, int narrays,\par
const int* channels, const Mat\& mask,\par
SparseMat\& hist, int dims, const int* histSize,\par
const float** ranges, bool uniform=true,\par
bool accumulate=false );}
\begin{description}
\cvarg{arrays}{Source arrays. They all should have the same depth, \texttt{CV\_8U} or \texttt{CV\_32F}, and the same size. Each of them can have an arbitrary number of channels}
\cvarg{narrays}{The number of source arrays}
\cvarg{channels}{The list of \texttt{dims} channels that are used to compute the histogram. The first array channels are numerated from 0 to \texttt{arrays[0].channels()-1}, the second array channels are counted from \texttt{arrays[0].channels()} to \texttt{arrays[0].channels() + arrays[1].channels()-1} etc.}
\cvarg{mask}{The optional mask. If the matrix is not empty, it must be 8-bit array of the same size as \texttt{arrays[i]}. The non-zero mask elements mark the array elements that are counted in the histogram}
\cvarg{hist}{The output histogram, a dense or sparse \texttt{dims}-dimensional array}
\cvarg{dims}{The histogram dimensionality; must be positive and not greater than \texttt{CV\_MAX\_DIMS}(=32 in the current OpenCV version)}
\cvarg{histSize}{The array of histogram sizes in each dimension}
\cvarg{ranges}{The array of \texttt{dims} arrays of the histogram bin boundaries in each dimension. When the histogram is uniform (\texttt{uniform}=true), then for each dimension \texttt{i} it's enough to specify the lower (inclusive) boundary $L_0$ of the 0-th histogram bin and the upper (exclusive) boundary $U_{\texttt{histSize}[i]-1}$ for the last histogram bin \texttt{histSize[i]-1}. That is, in the case of uniform histogram each of \texttt{ranges[i]} is an array of 2 elements. When the histogram is not uniform (\texttt{uniform=false}), then each of \texttt{ranges[i]} contains \texttt{histSize[i]+1} elements: $L_0, U_0=L_1, U_1=L_2, ..., U_{\texttt{histSize[i]}-2}=L_{\texttt{histSize[i]}-1}, U_{\texttt{histSize[i]}-1}$. The array elements, which are not between $L_0$ and $U_{\texttt{histSize[i]}-1}$, are not counted in the histogram}
\cvarg{uniform}{Indicates whether the histogram is uniform or not, see above}
\cvarg{accumulate}{Accumulation flag. If it is set, the histogram is not cleared in the beginning (when it is allocated). This feature allows user to compute a single histogram from several sets of arrays, or to update the histogram in time}
\end{description}
The functions \texttt{calcHist} calculate the histogram of one or more
arrays. The elements of a tuple that is used to increment
a histogram bin are taken at the same location from the corresponding
input arrays. The sample below shows how to compute 2D Hue-Saturation histogram for a color imag
\begin{lstlisting}
#include <cv.h>
#include <highgui.h>
using namespace cv;
int main( int argc, char** argv )
{
Mat src;
if( argc != 2 || !(src=imread(argv[1], 1)).data )
return -1;
Mat hsv;
cvtColor(src, hsv, CV_BGR2HSV);
// let's quantize the hue to 30 levels
// and the saturation to 32 levels
int hbins = 30, sbins = 32;
int histSize[] = {hbins, sbins};
// hue varies from 0 to 179, see cvtColor
float hranges[] = { 0, 180 };
// saturation varies from 0 (black-gray-white) to
// 255 (pure spectrum color)
float sranges[] = { 0, 256 };
const float* ranges[] = { hranges, sranges };
MatND hist;
// we compute the histogram from the 0-th and 1-st channels
int channels[] = {0, 1};
calcHist( &hsv, 1, channels, Mat(), // do not use mask
hist, 2, histSize, ranges,
true, // the histogram is uniform
false );
double maxVal=0;
minMaxLoc(hist, 0, &maxVal, 0, 0);
int scale = 10;
Mat histImg = Mat::zeros(sbins*scale, hbins*10, CV_8UC3);
for( int h = 0; h < hbins; h++ )
for( int s = 0; s < sbins; s++ )
{
float binVal = hist.at<float>(h, s);
int intensity = cvRound(binVal*255/maxValue);
cvRectangle( histImg, Point(h*scale, s*scale),
Point( (h+1)*scale - 1, (s+1)*scale - 1),
Scalar::all(intensity),
CV_FILLED );
}
namedWindow( "Source", 1 );
imshow( "Source", src );
namedWindow( "H-S Histogram", 1 );
imshow( "H-S Histogram", histImg );
waitKey();
}
\end{lstlisting}
\cvCppFunc{calcBackProject}
Calculates the back projection of a histogram.
\cvdefCpp{void calcBackProject( const Mat* arrays, int narrays,\par
const int* channels, const MatND\& hist,\par
Mat\& backProject, const float** ranges,\par
double scale=1, bool uniform=true );\newline
void calcBackProject( const Mat* arrays, int narrays,\par
const int* channels, const SparseMat\& hist,\par
Mat\& backProject, const float** ranges,\par
double scale=1, bool uniform=true );}
\begin{description}
\cvarg{arrays}{Source arrays. They all should have the same depth, \texttt{CV\_8U} or \texttt{CV\_32F}, and the same size. Each of them can have an arbitrary number of channels}
\cvarg{narrays}{The number of source arrays}
\cvarg{channels}{The list of channels that are used to compute the back projection. The number of channels must match the histogram dimensionality. The first array channels are numerated from 0 to \texttt{arrays[0].channels()-1}, the second array channels are counted from \texttt{arrays[0].channels()} to \texttt{arrays[0].channels() + arrays[1].channels()-1} etc.}
\cvarg{hist}{The input histogram, a dense or sparse}
\cvarg{backProject}{Destination back projection aray; will be a single-channel array of the same size and the same depth as \texttt{arrays[0]}}
\cvarg{ranges}{The array of arrays of the histogram bin boundaries in each dimension. See \cvCppCross{calcHist}}
\cvarg{scale}{The optional scale factor for the output back projection}
\cvarg{uniform}{Indicates whether the histogram is uniform or not, see above}
\end{description}
The functions \texttt{calcBackProject} calculate the back project of the histogram. That is, similarly to \texttt{calcHist}, at each location \texttt{(x, y)} the function collects the values from the selected channels in the input images and finds the corresponding histogram bin. But instead of incrementing it, the function reads the bin value, scales it by \texttt{scale} and stores in \texttt{backProject(x,y)}. In terms of statistics, the function computes probability of each element value in respect with the empirical probability distribution represented by the histogram. Here is how, for example, you can find and track a bright-colored object in a scene:
\begin{enumerate}
\item Before the tracking, show the object to the camera such that covers almost the whole frame. Calculate a hue histogram. The histogram will likely have a strong maximums, corresponding to the dominant colors in the object.
\item During the tracking, calculate back projection of a hue plane of each input video frame using that pre-computed histogram. Threshold the back projection to suppress weak colors. It may also have sense to suppress pixels with non sufficient color saturation and too dark or too bright pixels.
\item Find connected components in the resulting picture and choose, for example, the largest component.
\end{enumerate}
That is the approximate algorithm of \cvCppCross{CAMShift} color object tracker.
While the function works well with 1-, 2-, 3-dimensional dense histograms, it may not be suitable for high-dimensional sparse histograms, where, because of aliasing and sampling problems the coordinates of non-zero histogram bins can slightly shift. To compare such histograms or more general sparse configurations of weighted points, consider using the \cvCppCross{calcEMD} function.
