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1065 lines
36 KiB
C++
1065 lines
36 KiB
C++
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/*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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//
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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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/*
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This file implements the virtual interface defined as "CvBlobDetector".
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This implementation based on a simple algorithm:
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A new blob is detected when several successive frames contains connected components
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which have uniform motion not at an unreasonably high speed.
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Separation from border and already tracked blobs are also considered.
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For an entrypoint into the literature see:
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Appearance Models for Occlusion Handling
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Andrew Senior &t al, 8p 2001
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http://www.research.ibm.com/peoplevision/PETS2001.pdf
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*/
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//#define USE_OBJECT_DETECTOR
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#include "precomp.hpp"
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static int CompareContour(const void* a, const void* b, void* )
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{
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float dx,dy;
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float h,w,ht,wt;
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CvPoint2D32f pa,pb;
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CvRect ra,rb;
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CvSeq* pCA = *(CvSeq**)a;
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CvSeq* pCB = *(CvSeq**)b;
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ra = ((CvContour*)pCA)->rect;
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rb = ((CvContour*)pCB)->rect;
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pa.x = ra.x + ra.width*0.5f;
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pa.y = ra.y + ra.height*0.5f;
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pb.x = rb.x + rb.width*0.5f;
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pb.y = rb.y + rb.height*0.5f;
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w = (ra.width+rb.width)*0.5f;
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h = (ra.height+rb.height)*0.5f;
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dx = (float)(fabs(pa.x - pb.x)-w);
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dy = (float)(fabs(pa.y - pb.y)-h);
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//wt = MAX(ra.width,rb.width)*0.1f;
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wt = 0;
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ht = MAX(ra.height,rb.height)*0.3f;
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return (dx < wt && dy < ht);
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}
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void cvFindBlobsByCCClasters(IplImage* pFG, CvBlobSeq* pBlobs, CvMemStorage* storage)
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{ /* Create contours: */
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IplImage* pIB = NULL;
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CvSeq* cnt = NULL;
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CvSeq* cnt_list = cvCreateSeq(0,sizeof(CvSeq),sizeof(CvSeq*), storage );
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CvSeq* clasters = NULL;
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int claster_cur, claster_num;
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pIB = cvCloneImage(pFG);
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cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
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cvFindContours(pIB,storage, &cnt, sizeof(CvContour), CV_RETR_EXTERNAL);
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cvReleaseImage(&pIB);
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/* Create cnt_list. */
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/* Process each contour: */
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for(; cnt; cnt=cnt->h_next)
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{
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cvSeqPush( cnt_list, &cnt);
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}
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claster_num = cvSeqPartition( cnt_list, storage, &clasters, CompareContour, NULL );
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for(claster_cur=0; claster_cur<claster_num; ++claster_cur)
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{
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int cnt_cur;
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CvBlob NewBlob;
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double M00,X,Y,XX,YY; /* image moments */
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CvMoments m;
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CvRect rect_res = cvRect(-1,-1,-1,-1);
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CvMat mat;
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for(cnt_cur=0; cnt_cur<clasters->total; ++cnt_cur)
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{
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CvRect rect;
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CvSeq* cnt;
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int k = *(int*)cvGetSeqElem( clasters, cnt_cur );
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if(k!=claster_cur) continue;
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cnt = *(CvSeq**)cvGetSeqElem( cnt_list, cnt_cur );
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rect = ((CvContour*)cnt)->rect;
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if(rect_res.height<0)
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{
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rect_res = rect;
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}
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else
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{ /* Unite rects: */
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int x0,x1,y0,y1;
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x0 = MIN(rect_res.x,rect.x);
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y0 = MIN(rect_res.y,rect.y);
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x1 = MAX(rect_res.x+rect_res.width,rect.x+rect.width);
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y1 = MAX(rect_res.y+rect_res.height,rect.y+rect.height);
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rect_res.x = x0;
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rect_res.y = y0;
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rect_res.width = x1-x0;
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rect_res.height = y1-y0;
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}
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}
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if(rect_res.height < 1 || rect_res.width < 1)
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{
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X = 0;
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Y = 0;
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XX = 0;
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YY = 0;
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}
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else
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{
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cvMoments( cvGetSubRect(pFG,&mat,rect_res), &m, 0 );
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M00 = cvGetSpatialMoment( &m, 0, 0 );
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if(M00 <= 0 ) continue;
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X = cvGetSpatialMoment( &m, 1, 0 )/M00;
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Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
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XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
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YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
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}
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NewBlob = cvBlob(rect_res.x+(float)X,rect_res.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
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pBlobs->AddBlob(&NewBlob);
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} /* Next cluster. */
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#if 0
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{ // Debug info:
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IplImage* pI = cvCreateImage(cvSize(pFG->width,pFG->height),IPL_DEPTH_8U,3);
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cvZero(pI);
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for(claster_cur=0; claster_cur<claster_num; ++claster_cur)
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{
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int cnt_cur;
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CvScalar color = CV_RGB(rand()%256,rand()%256,rand()%256);
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for(cnt_cur=0; cnt_cur<clasters->total; ++cnt_cur)
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{
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CvSeq* cnt;
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int k = *(int*)cvGetSeqElem( clasters, cnt_cur );
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if(k!=claster_cur) continue;
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cnt = *(CvSeq**)cvGetSeqElem( cnt_list, cnt_cur );
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cvDrawContours( pI, cnt, color, color, 0, 1, 8);
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}
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CvBlob* pB = pBlobs->GetBlob(claster_cur);
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int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
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cvEllipse( pI,
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cvPointFrom32f(CV_BLOB_CENTER(pB)),
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cvSize(MAX(1,x), MAX(1,y)),
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0, 0, 360,
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color, 1 );
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}
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cvNamedWindow( "Clusters", 0);
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cvShowImage( "Clusters",pI );
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cvReleaseImage(&pI);
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} /* Debug info. */
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#endif
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} /* cvFindBlobsByCCClasters */
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/* Simple blob detector. */
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/* Number of successive frame to analyse: */
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#define EBD_FRAME_NUM 5
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class CvBlobDetectorSimple:public CvBlobDetector
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{
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public:
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CvBlobDetectorSimple();
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~CvBlobDetectorSimple();
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int DetectNewBlob(IplImage* pImg, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList);
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void Release(){delete this;};
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protected:
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IplImage* m_pMaskBlobNew;
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IplImage* m_pMaskBlobExist;
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/* Lists of connected components detected on previous frames: */
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CvBlobSeq* m_pBlobLists[EBD_FRAME_NUM];
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};
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/* Blob detector creator (sole interface function for this file) */
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CvBlobDetector* cvCreateBlobDetectorSimple(){return new CvBlobDetectorSimple;};
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/* Constructor of BlobDetector: */
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CvBlobDetectorSimple::CvBlobDetectorSimple()
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{
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int i = 0;
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m_pMaskBlobNew = NULL;
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m_pMaskBlobExist = NULL;
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for(i=0;i<EBD_FRAME_NUM;++i)m_pBlobLists[i] = NULL;
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SetModuleName("Simple");
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}
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/* Destructor of BlobDetector: */
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CvBlobDetectorSimple::~CvBlobDetectorSimple()
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{
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int i;
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if(m_pMaskBlobExist) cvReleaseImage(&m_pMaskBlobExist);
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if(m_pMaskBlobNew) cvReleaseImage(&m_pMaskBlobNew);
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for(i=0; i<EBD_FRAME_NUM; ++i) delete m_pBlobLists[i];
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} /* cvReleaseBlobDetector */
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/* cvDetectNewBlobs
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* return 1 and fill blob pNewBlob by blob parameters
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* if new blob is detected:
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*/
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int CvBlobDetectorSimple::DetectNewBlob(IplImage* /*pImg*/, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList)
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{
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int result = 0;
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CvSize S = cvSize(pFGMask->width,pFGMask->height);
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if(m_pMaskBlobNew == NULL ) m_pMaskBlobNew = cvCreateImage(S,IPL_DEPTH_8U,1);
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if(m_pMaskBlobExist == NULL ) m_pMaskBlobExist = cvCreateImage(S,IPL_DEPTH_8U,1);
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/* Shift blob list: */
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{
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int i;
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if(m_pBlobLists[0]) delete m_pBlobLists[0];
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for(i=1;i<EBD_FRAME_NUM;++i)m_pBlobLists[i-1]=m_pBlobLists[i];
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m_pBlobLists[EBD_FRAME_NUM-1] = new CvBlobSeq;
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} /* Shift blob list. */
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/* Create exist blob mask: */
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cvCopy(pFGMask, m_pMaskBlobNew);
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/* Create contours and add new blobs to blob list: */
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{ /* Create blobs: */
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CvBlobSeq Blobs;
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CvMemStorage* storage = cvCreateMemStorage();
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#if 1
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{ /* Glue contours: */
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cvFindBlobsByCCClasters(m_pMaskBlobNew, &Blobs, storage );
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} /* Glue contours. */
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#else
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{ /**/
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IplImage* pIB = cvCloneImage(m_pMaskBlobNew);
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CvSeq* cnts = NULL;
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CvSeq* cnt = NULL;
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cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
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cvFindContours(pIB,storage, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
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/* Process each contour: */
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for(cnt = cnts; cnt; cnt=cnt->h_next)
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{
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CvBlob NewBlob;
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/* Image moments: */
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double M00,X,Y,XX,YY;
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CvMoments m;
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CvRect r = ((CvContour*)cnt)->rect;
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CvMat mat;
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if(r.height < S.height*0.02 || r.width < S.width*0.02) continue;
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cvMoments( cvGetSubRect(m_pMaskBlobNew,&mat,r), &m, 0 );
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M00 = cvGetSpatialMoment( &m, 0, 0 );
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if(M00 <= 0 ) continue;
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X = cvGetSpatialMoment( &m, 1, 0 )/M00;
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Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
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XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
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YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
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NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
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Blobs.AddBlob(&NewBlob);
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} /* Next contour. */
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cvReleaseImage(&pIB);
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} /* One contour - one blob. */
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#endif
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{ /* Delete small and intersected blobs: */
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int i;
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for(i=Blobs.GetBlobNum(); i>0; i--)
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{
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CvBlob* pB = Blobs.GetBlob(i-1);
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if(pB->h < S.height*0.02 || pB->w < S.width*0.02)
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{
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Blobs.DelBlob(i-1);
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continue;
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}
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if(pOldBlobList)
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{
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int j;
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for(j=pOldBlobList->GetBlobNum(); j>0; j--)
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{
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CvBlob* pBOld = pOldBlobList->GetBlob(j-1);
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if((fabs(pBOld->x-pB->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pB))) &&
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(fabs(pBOld->y-pB->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pB))))
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{ /* Intersection is present, so delete blob from list: */
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Blobs.DelBlob(i-1);
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break;
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}
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} /* Check next old blob. */
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} /* if pOldBlobList */
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} /* Check next blob. */
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} /* Delete small and intersected blobs. */
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{ /* Bubble-sort blobs by size: */
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int N = Blobs.GetBlobNum();
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int i,j;
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for(i=1; i<N; ++i)
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{
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for(j=i; j>0; --j)
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{
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CvBlob temp;
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float AreaP, AreaN;
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CvBlob* pP = Blobs.GetBlob(j-1);
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CvBlob* pN = Blobs.GetBlob(j);
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AreaP = CV_BLOB_WX(pP)*CV_BLOB_WY(pP);
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AreaN = CV_BLOB_WX(pN)*CV_BLOB_WY(pN);
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if(AreaN < AreaP)break;
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temp = pN[0];
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pN[0] = pP[0];
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pP[0] = temp;
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}
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}
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/* Copy only first 10 blobs: */
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for(i=0; i<MIN(N,10); ++i)
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{
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m_pBlobLists[EBD_FRAME_NUM-1]->AddBlob(Blobs.GetBlob(i));
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}
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} /* Sort blobs by size. */
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cvReleaseMemStorage(&storage);
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} /* Create blobs. */
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/* Analyze blob list to find best blob trajectory: */
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{
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int Count = 0;
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int pBLIndex[EBD_FRAME_NUM];
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int pBL_BEST[EBD_FRAME_NUM];
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int i;
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int finish = 0;
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double BestError = -1;
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int Good = 1;
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for(i=0; i<EBD_FRAME_NUM; ++i)
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{
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pBLIndex[i] = 0;
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pBL_BEST[i] = 0;
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}
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/* Check configuration exist: */
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for(i=0; Good && (i<EBD_FRAME_NUM); ++i)
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|
if(m_pBlobLists[i] == NULL || m_pBlobLists[i]->GetBlobNum() == 0)
|
||
|
Good = 0;
|
||
|
|
||
|
if(Good)
|
||
|
do{ /* For each configuration: */
|
||
|
CvBlob* pBL[EBD_FRAME_NUM];
|
||
|
int Good = 1;
|
||
|
double Error = 0;
|
||
|
CvBlob* pBNew = m_pBlobLists[EBD_FRAME_NUM-1]->GetBlob(pBLIndex[EBD_FRAME_NUM-1]);
|
||
|
|
||
|
for(i=0; i<EBD_FRAME_NUM; ++i) pBL[i] = m_pBlobLists[i]->GetBlob(pBLIndex[i]);
|
||
|
|
||
|
Count++;
|
||
|
|
||
|
/* Check intersection last blob with existed: */
|
||
|
if(Good && pOldBlobList)
|
||
|
{ /* Check intersection last blob with existed: */
|
||
|
int k;
|
||
|
for(k=pOldBlobList->GetBlobNum(); k>0; --k)
|
||
|
{
|
||
|
CvBlob* pBOld = pOldBlobList->GetBlob(k-1);
|
||
|
if((fabs(pBOld->x-pBNew->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pBNew))) &&
|
||
|
(fabs(pBOld->y-pBNew->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pBNew))))
|
||
|
Good = 0;
|
||
|
}
|
||
|
} /* Check intersection last blob with existed. */
|
||
|
|
||
|
/* Check distance to image border: */
|
||
|
if(Good)
|
||
|
{ /* Check distance to image border: */
|
||
|
CvBlob* pB = pBNew;
|
||
|
float dx = MIN(pB->x,S.width-pB->x)/CV_BLOB_RX(pB);
|
||
|
float dy = MIN(pB->y,S.height-pB->y)/CV_BLOB_RY(pB);
|
||
|
|
||
|
if(dx < 1.1 || dy < 1.1) Good = 0;
|
||
|
} /* Check distance to image border. */
|
||
|
|
||
|
/* Check uniform motion: */
|
||
|
if(Good)
|
||
|
{
|
||
|
int N = EBD_FRAME_NUM;
|
||
|
float sum[2] = {0,0};
|
||
|
float jsum[2] = {0,0};
|
||
|
float a[2],b[2]; /* estimated parameters of moving x(t) = a*t+b*/
|
||
|
|
||
|
int j;
|
||
|
for(j=0; j<N; ++j)
|
||
|
{
|
||
|
float x = pBL[j]->x;
|
||
|
float y = pBL[j]->y;
|
||
|
sum[0] += x;
|
||
|
jsum[0] += j*x;
|
||
|
sum[1] += y;
|
||
|
jsum[1] += j*y;
|
||
|
}
|
||
|
|
||
|
a[0] = 6*((1-N)*sum[0]+2*jsum[0])/(N*(N*N-1));
|
||
|
b[0] = -2*((1-2*N)*sum[0]+3*jsum[0])/(N*(N+1));
|
||
|
a[1] = 6*((1-N)*sum[1]+2*jsum[1])/(N*(N*N-1));
|
||
|
b[1] = -2*((1-2*N)*sum[1]+3*jsum[1])/(N*(N+1));
|
||
|
|
||
|
for(j=0; j<N; ++j)
|
||
|
{
|
||
|
Error +=
|
||
|
pow(a[0]*j+b[0]-pBL[j]->x,2)+
|
||
|
pow(a[1]*j+b[1]-pBL[j]->y,2);
|
||
|
}
|
||
|
|
||
|
Error = sqrt(Error/N);
|
||
|
|
||
|
if( Error > S.width*0.01 ||
|
||
|
fabs(a[0])>S.width*0.1 ||
|
||
|
fabs(a[1])>S.height*0.1)
|
||
|
Good = 0;
|
||
|
|
||
|
} /* Check configuration. */
|
||
|
|
||
|
|
||
|
/* New best trajectory: */
|
||
|
if(Good && (BestError == -1 || BestError > Error))
|
||
|
{
|
||
|
for(i=0; i<EBD_FRAME_NUM; ++i)
|
||
|
{
|
||
|
pBL_BEST[i] = pBLIndex[i];
|
||
|
}
|
||
|
BestError = Error;
|
||
|
} /* New best trajectory. */
|
||
|
|
||
|
/* Set next configuration: */
|
||
|
for(i=0; i<EBD_FRAME_NUM; ++i)
|
||
|
{
|
||
|
pBLIndex[i]++;
|
||
|
if(pBLIndex[i] != m_pBlobLists[i]->GetBlobNum()) break;
|
||
|
pBLIndex[i]=0;
|
||
|
} /* Next time shift. */
|
||
|
|
||
|
if(i==EBD_FRAME_NUM)finish=1;
|
||
|
|
||
|
} while(!finish); /* Check next time configuration of connected components. */
|
||
|
|
||
|
#if 0
|
||
|
{/**/
|
||
|
printf("BlobDetector configurations = %d [",Count);
|
||
|
int i;
|
||
|
for(i=0; i<EBD_FRAME_NUM; ++i)
|
||
|
{
|
||
|
printf("%d,",m_pBlobLists[i]?m_pBlobLists[i]->GetBlobNum():0);
|
||
|
}
|
||
|
printf("]\n");
|
||
|
|
||
|
}
|
||
|
#endif
|
||
|
|
||
|
if(BestError != -1)
|
||
|
{ /* Write new blob to output and delete from blob list: */
|
||
|
CvBlob* pNewBlob = m_pBlobLists[EBD_FRAME_NUM-1]->GetBlob(pBL_BEST[EBD_FRAME_NUM-1]);
|
||
|
pNewBlobList->AddBlob(pNewBlob);
|
||
|
|
||
|
for(i=0; i<EBD_FRAME_NUM; ++i)
|
||
|
{ /* Remove blob from each list: */
|
||
|
m_pBlobLists[i]->DelBlob(pBL_BEST[i]);
|
||
|
} /* Remove blob from each list. */
|
||
|
|
||
|
result = 1;
|
||
|
|
||
|
} /* Write new blob to output and delete from blob list. */
|
||
|
} /* Analyze blob list to find best blob trajectory. */
|
||
|
|
||
|
return result;
|
||
|
|
||
|
} /* cvDetectNewBlob */
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
/* Simple blob detector2. */
|
||
|
/* Number of successive frames to analyse: */
|
||
|
#define SEQ_SIZE_MAX 30
|
||
|
#define SEQ_NUM 1000
|
||
|
typedef struct
|
||
|
{
|
||
|
int size;
|
||
|
CvBlob* pBlobs[SEQ_SIZE_MAX];
|
||
|
} DefSeq;
|
||
|
|
||
|
class CvBlobDetectorCC:public CvBlobDetector
|
||
|
{
|
||
|
public:
|
||
|
CvBlobDetectorCC();
|
||
|
~CvBlobDetectorCC();
|
||
|
int DetectNewBlob(IplImage* pImg, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList);
|
||
|
void Release(){delete this;};
|
||
|
|
||
|
virtual void ParamUpdate()
|
||
|
{
|
||
|
if(SEQ_SIZE<1)SEQ_SIZE=1;
|
||
|
if(SEQ_SIZE>SEQ_SIZE_MAX)SEQ_SIZE=SEQ_SIZE_MAX;
|
||
|
|
||
|
#ifdef USE_OBJECT_DETECTOR
|
||
|
if( m_param_split_detector_file_name )
|
||
|
{
|
||
|
m_split_detector = new CvObjectDetector();
|
||
|
if( !m_split_detector->Load( m_param_split_detector_file_name ) )
|
||
|
{
|
||
|
delete m_split_detector;
|
||
|
m_split_detector = 0;
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
m_min_window_size = m_split_detector->GetMinWindowSize();
|
||
|
m_max_border = m_split_detector->GetMaxBorderSize();
|
||
|
}
|
||
|
}
|
||
|
#endif
|
||
|
}
|
||
|
|
||
|
private:
|
||
|
/* Lists of connected components detected on previous frames: */
|
||
|
CvBlobSeq* m_pBlobLists[SEQ_SIZE_MAX];
|
||
|
DefSeq m_TrackSeq[SEQ_NUM];
|
||
|
int m_TrackNum;
|
||
|
float m_HMin;
|
||
|
float m_WMin;
|
||
|
float m_MinDistToBorder;
|
||
|
int m_Clastering;
|
||
|
int SEQ_SIZE;
|
||
|
|
||
|
/* If not 0 then the detector is loaded from the specified file
|
||
|
* and it is applied for splitting blobs which actually correspond
|
||
|
* to groups of objects:
|
||
|
*/
|
||
|
char* m_param_split_detector_file_name;
|
||
|
float m_param_roi_scale;
|
||
|
int m_param_only_roi;
|
||
|
|
||
|
CvObjectDetector* m_split_detector;
|
||
|
CvSize m_min_window_size;
|
||
|
int m_max_border;
|
||
|
|
||
|
CvBlobSeq m_detected_blob_seq;
|
||
|
CvSeq* m_roi_seq;
|
||
|
|
||
|
CvBlobSeq m_debug_blob_seq;
|
||
|
};
|
||
|
|
||
|
/* Blob detector creator (sole interface function for this file): */
|
||
|
CvBlobDetector* cvCreateBlobDetectorCC(){return new CvBlobDetectorCC;}
|
||
|
|
||
|
/* Constructor for BlobDetector: */
|
||
|
CvBlobDetectorCC::CvBlobDetectorCC() :
|
||
|
m_split_detector(0),
|
||
|
m_detected_blob_seq(sizeof(CvDetectedBlob)),
|
||
|
m_roi_seq(0),
|
||
|
m_debug_blob_seq(sizeof(CvDetectedBlob))
|
||
|
{
|
||
|
/*CvDrawShape shapes[] =
|
||
|
{
|
||
|
{ CvDrawShape::RECT, {{255,255,255}} },
|
||
|
{ CvDrawShape::RECT, {{0,0,255}} },
|
||
|
{ CvDrawShape::ELLIPSE, {{0,255,0}} }
|
||
|
};
|
||
|
int num_shapes = sizeof(shapes) / sizeof(shapes[0]);*/
|
||
|
|
||
|
int i = 0;
|
||
|
SEQ_SIZE = 10;
|
||
|
AddParam("Latency",&SEQ_SIZE);
|
||
|
for(i=0;i<SEQ_SIZE_MAX;++i)m_pBlobLists[i] = NULL;
|
||
|
for(i=0;i<SEQ_NUM;++i)m_TrackSeq[i].size = 0;
|
||
|
m_TrackNum = 0;
|
||
|
|
||
|
m_HMin = 0.02f;
|
||
|
m_WMin = 0.01f;
|
||
|
AddParam("HMin",&m_HMin);
|
||
|
AddParam("WMin",&m_WMin);
|
||
|
m_MinDistToBorder = 1.1f;
|
||
|
AddParam("MinDistToBorder",&m_MinDistToBorder);
|
||
|
CommentParam("MinDistToBorder","Minimal allowed distance from blob center to image border in blob sizes");
|
||
|
|
||
|
m_Clastering=1;
|
||
|
AddParam("Clastering",&m_Clastering);
|
||
|
CommentParam("Clastering","Minimal allowed distance from blob center to image border in blob sizes");
|
||
|
|
||
|
m_param_split_detector_file_name = 0;
|
||
|
#ifdef USE_OBJECT_DETECTOR
|
||
|
AddParam("Detector", &m_param_split_detector_file_name);
|
||
|
CommentParam("Detector", "Detector file name");
|
||
|
#endif
|
||
|
|
||
|
m_param_roi_scale = 1.5F;
|
||
|
AddParam("ROIScale", &m_param_roi_scale);
|
||
|
CommentParam("ROIScale", "Determines the size of search window around a blob");
|
||
|
|
||
|
m_param_only_roi = 1;
|
||
|
AddParam("OnlyROI", &m_param_only_roi);
|
||
|
CommentParam("OnlyROI", "Shows the whole debug image (0) or only ROIs where the detector was applied (1)");
|
||
|
|
||
|
m_min_window_size = cvSize(0,0);
|
||
|
m_max_border = 0;
|
||
|
m_roi_seq = cvCreateSeq( 0, sizeof(*m_roi_seq), sizeof(CvRect), cvCreateMemStorage() );
|
||
|
|
||
|
SetModuleName("CC");
|
||
|
}
|
||
|
|
||
|
/* Destructor for BlobDetector: */
|
||
|
CvBlobDetectorCC::~CvBlobDetectorCC()
|
||
|
{
|
||
|
int i;
|
||
|
for(i=0; i<SEQ_SIZE_MAX; ++i)
|
||
|
{
|
||
|
if(m_pBlobLists[i])
|
||
|
delete m_pBlobLists[i];
|
||
|
}
|
||
|
|
||
|
if( m_roi_seq )
|
||
|
{
|
||
|
cvReleaseMemStorage( &m_roi_seq->storage );
|
||
|
m_roi_seq = 0;
|
||
|
}
|
||
|
//cvDestroyWindow( "EnteringBlobDetectionDebug" );
|
||
|
} /* cvReleaseBlobDetector */
|
||
|
|
||
|
|
||
|
/* cvDetectNewBlobs
|
||
|
* Return 1 and fill blob pNewBlob with
|
||
|
* blob parameters if new blob is detected:
|
||
|
*/
|
||
|
int CvBlobDetectorCC::DetectNewBlob(IplImage* /*pImg*/, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList)
|
||
|
{
|
||
|
int result = 0;
|
||
|
CvSize S = cvSize(pFGMask->width,pFGMask->height);
|
||
|
|
||
|
/* Shift blob list: */
|
||
|
{
|
||
|
int i;
|
||
|
if(m_pBlobLists[SEQ_SIZE-1]) delete m_pBlobLists[SEQ_SIZE-1];
|
||
|
|
||
|
for(i=SEQ_SIZE-1; i>0; --i) m_pBlobLists[i] = m_pBlobLists[i-1];
|
||
|
|
||
|
m_pBlobLists[0] = new CvBlobSeq;
|
||
|
|
||
|
} /* Shift blob list. */
|
||
|
|
||
|
/* Create contours and add new blobs to blob list: */
|
||
|
{ /* Create blobs: */
|
||
|
CvBlobSeq Blobs;
|
||
|
CvMemStorage* storage = cvCreateMemStorage();
|
||
|
|
||
|
if(m_Clastering)
|
||
|
{ /* Glue contours: */
|
||
|
cvFindBlobsByCCClasters(pFGMask, &Blobs, storage );
|
||
|
} /* Glue contours. */
|
||
|
else
|
||
|
{ /**/
|
||
|
IplImage* pIB = cvCloneImage(pFGMask);
|
||
|
CvSeq* cnts = NULL;
|
||
|
CvSeq* cnt = NULL;
|
||
|
cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
|
||
|
cvFindContours(pIB,storage, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
|
||
|
|
||
|
/* Process each contour: */
|
||
|
for(cnt = cnts; cnt; cnt=cnt->h_next)
|
||
|
{
|
||
|
CvBlob NewBlob;
|
||
|
/* Image moments: */
|
||
|
double M00,X,Y,XX,YY;
|
||
|
CvMoments m;
|
||
|
CvRect r = ((CvContour*)cnt)->rect;
|
||
|
CvMat mat;
|
||
|
if(r.height < S.height*m_HMin || r.width < S.width*m_WMin) continue;
|
||
|
cvMoments( cvGetSubRect(pFGMask,&mat,r), &m, 0 );
|
||
|
M00 = cvGetSpatialMoment( &m, 0, 0 );
|
||
|
if(M00 <= 0 ) continue;
|
||
|
X = cvGetSpatialMoment( &m, 1, 0 )/M00;
|
||
|
Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
|
||
|
XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
|
||
|
YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
|
||
|
NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
|
||
|
Blobs.AddBlob(&NewBlob);
|
||
|
|
||
|
} /* Next contour. */
|
||
|
|
||
|
cvReleaseImage(&pIB);
|
||
|
|
||
|
} /* One contour - one blob. */
|
||
|
|
||
|
{ /* Delete small and intersected blobs: */
|
||
|
int i;
|
||
|
for(i=Blobs.GetBlobNum(); i>0; i--)
|
||
|
{
|
||
|
CvBlob* pB = Blobs.GetBlob(i-1);
|
||
|
|
||
|
if(pB->h < S.height*m_HMin || pB->w < S.width*m_WMin)
|
||
|
{
|
||
|
Blobs.DelBlob(i-1);
|
||
|
continue;
|
||
|
}
|
||
|
|
||
|
if(pOldBlobList)
|
||
|
{
|
||
|
int j;
|
||
|
for(j=pOldBlobList->GetBlobNum(); j>0; j--)
|
||
|
{
|
||
|
CvBlob* pBOld = pOldBlobList->GetBlob(j-1);
|
||
|
if((fabs(pBOld->x-pB->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pB))) &&
|
||
|
(fabs(pBOld->y-pB->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pB))))
|
||
|
{ /* Intersection detected, delete blob from list: */
|
||
|
Blobs.DelBlob(i-1);
|
||
|
break;
|
||
|
}
|
||
|
} /* Check next old blob. */
|
||
|
} /* if pOldBlobList. */
|
||
|
} /* Check next blob. */
|
||
|
} /* Delete small and intersected blobs. */
|
||
|
|
||
|
{ /* Bubble-sort blobs by size: */
|
||
|
int N = Blobs.GetBlobNum();
|
||
|
int i,j;
|
||
|
for(i=1; i<N; ++i)
|
||
|
{
|
||
|
for(j=i; j>0; --j)
|
||
|
{
|
||
|
CvBlob temp;
|
||
|
float AreaP, AreaN;
|
||
|
CvBlob* pP = Blobs.GetBlob(j-1);
|
||
|
CvBlob* pN = Blobs.GetBlob(j);
|
||
|
AreaP = CV_BLOB_WX(pP)*CV_BLOB_WY(pP);
|
||
|
AreaN = CV_BLOB_WX(pN)*CV_BLOB_WY(pN);
|
||
|
if(AreaN < AreaP)break;
|
||
|
temp = pN[0];
|
||
|
pN[0] = pP[0];
|
||
|
pP[0] = temp;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
/* Copy only first 10 blobs: */
|
||
|
for(i=0; i<MIN(N,10); ++i)
|
||
|
{
|
||
|
m_pBlobLists[0]->AddBlob(Blobs.GetBlob(i));
|
||
|
}
|
||
|
|
||
|
} /* Sort blobs by size. */
|
||
|
|
||
|
cvReleaseMemStorage(&storage);
|
||
|
|
||
|
} /* Create blobs. */
|
||
|
|
||
|
{ /* Shift each track: */
|
||
|
int j;
|
||
|
for(j=0; j<m_TrackNum; ++j)
|
||
|
{
|
||
|
int i;
|
||
|
DefSeq* pTrack = m_TrackSeq+j;
|
||
|
|
||
|
for(i=SEQ_SIZE-1; i>0; --i)
|
||
|
pTrack->pBlobs[i] = pTrack->pBlobs[i-1];
|
||
|
|
||
|
pTrack->pBlobs[0] = NULL;
|
||
|
if(pTrack->size == SEQ_SIZE)pTrack->size--;
|
||
|
}
|
||
|
} /* Shift each track. */
|
||
|
|
||
|
/* Analyze blob list to find best blob trajectory: */
|
||
|
{
|
||
|
double BestError = -1;
|
||
|
int BestTrack = -1;;
|
||
|
CvBlobSeq* pNewBlobs = m_pBlobLists[0];
|
||
|
int i;
|
||
|
int NewTrackNum = 0;
|
||
|
for(i=pNewBlobs->GetBlobNum(); i>0; --i)
|
||
|
{
|
||
|
CvBlob* pBNew = pNewBlobs->GetBlob(i-1);
|
||
|
int j;
|
||
|
int AsignedTrack = 0;
|
||
|
for(j=0; j<m_TrackNum; ++j)
|
||
|
{
|
||
|
double dx,dy;
|
||
|
DefSeq* pTrack = m_TrackSeq+j;
|
||
|
CvBlob* pLastBlob = pTrack->size>0?pTrack->pBlobs[1]:NULL;
|
||
|
if(pLastBlob == NULL) continue;
|
||
|
dx = fabs(CV_BLOB_X(pLastBlob)-CV_BLOB_X(pBNew));
|
||
|
dy = fabs(CV_BLOB_Y(pLastBlob)-CV_BLOB_Y(pBNew));
|
||
|
if(dx > 2*CV_BLOB_WX(pLastBlob) || dy > 2*CV_BLOB_WY(pLastBlob)) continue;
|
||
|
AsignedTrack++;
|
||
|
|
||
|
if(pTrack->pBlobs[0]==NULL)
|
||
|
{ /* Fill existed track: */
|
||
|
pTrack->pBlobs[0] = pBNew;
|
||
|
pTrack->size++;
|
||
|
}
|
||
|
else if((m_TrackNum+NewTrackNum)<SEQ_NUM)
|
||
|
{ /* Duplicate existed track: */
|
||
|
m_TrackSeq[m_TrackNum+NewTrackNum] = pTrack[0];
|
||
|
m_TrackSeq[m_TrackNum+NewTrackNum].pBlobs[0] = pBNew;
|
||
|
NewTrackNum++;
|
||
|
}
|
||
|
} /* Next track. */
|
||
|
|
||
|
if(AsignedTrack==0 && (m_TrackNum+NewTrackNum)<SEQ_NUM )
|
||
|
{ /* Initialize new track: */
|
||
|
m_TrackSeq[m_TrackNum+NewTrackNum].size = 1;
|
||
|
m_TrackSeq[m_TrackNum+NewTrackNum].pBlobs[0] = pBNew;
|
||
|
NewTrackNum++;
|
||
|
}
|
||
|
} /* Next new blob. */
|
||
|
|
||
|
m_TrackNum += NewTrackNum;
|
||
|
|
||
|
/* Check each track: */
|
||
|
for(i=0; i<m_TrackNum; ++i)
|
||
|
{
|
||
|
int Good = 1;
|
||
|
DefSeq* pTrack = m_TrackSeq+i;
|
||
|
CvBlob* pBNew = pTrack->pBlobs[0];
|
||
|
if(pTrack->size != SEQ_SIZE) continue;
|
||
|
if(pBNew == NULL ) continue;
|
||
|
|
||
|
/* Check intersection last blob with existed: */
|
||
|
if(Good && pOldBlobList)
|
||
|
{
|
||
|
int k;
|
||
|
for(k=pOldBlobList->GetBlobNum(); k>0; --k)
|
||
|
{
|
||
|
CvBlob* pBOld = pOldBlobList->GetBlob(k-1);
|
||
|
if((fabs(pBOld->x-pBNew->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pBNew))) &&
|
||
|
(fabs(pBOld->y-pBNew->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pBNew))))
|
||
|
Good = 0;
|
||
|
}
|
||
|
} /* Check intersection last blob with existed. */
|
||
|
|
||
|
/* Check distance to image border: */
|
||
|
if(Good)
|
||
|
{ /* Check distance to image border: */
|
||
|
float dx = MIN(pBNew->x,S.width-pBNew->x)/CV_BLOB_RX(pBNew);
|
||
|
float dy = MIN(pBNew->y,S.height-pBNew->y)/CV_BLOB_RY(pBNew);
|
||
|
if(dx < m_MinDistToBorder || dy < m_MinDistToBorder) Good = 0;
|
||
|
} /* Check distance to image border. */
|
||
|
|
||
|
/* Check uniform motion: */
|
||
|
if(Good)
|
||
|
{ /* Check uniform motion: */
|
||
|
double Error = 0;
|
||
|
int N = pTrack->size;
|
||
|
CvBlob** pBL = pTrack->pBlobs;
|
||
|
float sum[2] = {0,0};
|
||
|
float jsum[2] = {0,0};
|
||
|
float a[2],b[2]; /* estimated parameters of moving x(t) = a*t+b*/
|
||
|
int j;
|
||
|
|
||
|
for(j=0; j<N; ++j)
|
||
|
{
|
||
|
float x = pBL[j]->x;
|
||
|
float y = pBL[j]->y;
|
||
|
sum[0] += x;
|
||
|
jsum[0] += j*x;
|
||
|
sum[1] += y;
|
||
|
jsum[1] += j*y;
|
||
|
}
|
||
|
|
||
|
a[0] = 6*((1-N)*sum[0]+2*jsum[0])/(N*(N*N-1));
|
||
|
b[0] = -2*((1-2*N)*sum[0]+3*jsum[0])/(N*(N+1));
|
||
|
a[1] = 6*((1-N)*sum[1]+2*jsum[1])/(N*(N*N-1));
|
||
|
b[1] = -2*((1-2*N)*sum[1]+3*jsum[1])/(N*(N+1));
|
||
|
|
||
|
for(j=0; j<N; ++j)
|
||
|
{
|
||
|
Error +=
|
||
|
pow(a[0]*j+b[0]-pBL[j]->x,2)+
|
||
|
pow(a[1]*j+b[1]-pBL[j]->y,2);
|
||
|
}
|
||
|
|
||
|
Error = sqrt(Error/N);
|
||
|
|
||
|
if( Error > S.width*0.01 ||
|
||
|
fabs(a[0])>S.width*0.1 ||
|
||
|
fabs(a[1])>S.height*0.1)
|
||
|
Good = 0;
|
||
|
|
||
|
/* New best trajectory: */
|
||
|
if(Good && (BestError == -1 || BestError > Error))
|
||
|
{ /* New best trajectory: */
|
||
|
BestTrack = i;
|
||
|
BestError = Error;
|
||
|
} /* New best trajectory. */
|
||
|
} /* Check uniform motion. */
|
||
|
} /* Next track. */
|
||
|
|
||
|
#if 0
|
||
|
{ /**/
|
||
|
printf("BlobDetector configurations = %d [",m_TrackNum);
|
||
|
int i;
|
||
|
for(i=0; i<SEQ_SIZE; ++i)
|
||
|
{
|
||
|
printf("%d,",m_pBlobLists[i]?m_pBlobLists[i]->GetBlobNum():0);
|
||
|
}
|
||
|
printf("]\n");
|
||
|
}
|
||
|
#endif
|
||
|
|
||
|
if(BestTrack >= 0)
|
||
|
{ /* Put new blob to output and delete from blob list: */
|
||
|
assert(m_TrackSeq[BestTrack].size == SEQ_SIZE);
|
||
|
assert(m_TrackSeq[BestTrack].pBlobs[0]);
|
||
|
pNewBlobList->AddBlob(m_TrackSeq[BestTrack].pBlobs[0]);
|
||
|
m_TrackSeq[BestTrack].pBlobs[0] = NULL;
|
||
|
m_TrackSeq[BestTrack].size--;
|
||
|
result = 1;
|
||
|
} /* Put new blob to output and mark in blob list to delete. */
|
||
|
} /* Analyze blod list to find best blob trajectory. */
|
||
|
|
||
|
{ /* Delete bad tracks: */
|
||
|
int i;
|
||
|
for(i=m_TrackNum-1; i>=0; --i)
|
||
|
{ /* Delete bad tracks: */
|
||
|
if(m_TrackSeq[i].pBlobs[0]) continue;
|
||
|
if(m_TrackNum>0)
|
||
|
m_TrackSeq[i] = m_TrackSeq[--m_TrackNum];
|
||
|
} /* Delete bad tracks: */
|
||
|
}
|
||
|
|
||
|
#ifdef USE_OBJECT_DETECTOR
|
||
|
if( m_split_detector && pNewBlobList->GetBlobNum() > 0 )
|
||
|
{
|
||
|
int num_new_blobs = pNewBlobList->GetBlobNum();
|
||
|
int i = 0;
|
||
|
|
||
|
if( m_roi_seq ) cvClearSeq( m_roi_seq );
|
||
|
m_debug_blob_seq.Clear();
|
||
|
for( i = 0; i < num_new_blobs; ++i )
|
||
|
{
|
||
|
CvBlob* b = pNewBlobList->GetBlob(i);
|
||
|
CvMat roi_stub;
|
||
|
CvMat* roi_mat = 0;
|
||
|
CvMat* scaled_roi_mat = 0;
|
||
|
|
||
|
CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 0 );
|
||
|
m_debug_blob_seq.AddBlob(&d_b);
|
||
|
|
||
|
float scale = m_param_roi_scale * m_min_window_size.height / CV_BLOB_WY(b);
|
||
|
|
||
|
float b_width = MAX(CV_BLOB_WX(b), m_min_window_size.width / scale)
|
||
|
+ (m_param_roi_scale - 1.0F) * (m_min_window_size.width / scale)
|
||
|
+ 2.0F * m_max_border / scale;
|
||
|
float b_height = CV_BLOB_WY(b) * m_param_roi_scale + 2.0F * m_max_border / scale;
|
||
|
|
||
|
CvRect roi = cvRectIntersection( cvRect( cvFloor(CV_BLOB_X(b) - 0.5F*b_width),
|
||
|
cvFloor(CV_BLOB_Y(b) - 0.5F*b_height),
|
||
|
cvCeil(b_width), cvCeil(b_height) ),
|
||
|
cvRect( 0, 0, pImg->width, pImg->height ) );
|
||
|
if( roi.width <= 0 || roi.height <= 0 )
|
||
|
continue;
|
||
|
|
||
|
if( m_roi_seq ) cvSeqPush( m_roi_seq, &roi );
|
||
|
|
||
|
roi_mat = cvGetSubRect( pImg, &roi_stub, roi );
|
||
|
scaled_roi_mat = cvCreateMat( cvCeil(scale*roi.height), cvCeil(scale*roi.width), CV_8UC3 );
|
||
|
cvResize( roi_mat, scaled_roi_mat );
|
||
|
|
||
|
m_detected_blob_seq.Clear();
|
||
|
m_split_detector->Detect( scaled_roi_mat, &m_detected_blob_seq );
|
||
|
cvReleaseMat( &scaled_roi_mat );
|
||
|
|
||
|
for( int k = 0; k < m_detected_blob_seq.GetBlobNum(); ++k )
|
||
|
{
|
||
|
CvDetectedBlob* b = (CvDetectedBlob*) m_detected_blob_seq.GetBlob(k);
|
||
|
|
||
|
/* scale and shift each detected blob back to the original image coordinates */
|
||
|
CV_BLOB_X(b) = CV_BLOB_X(b) / scale + roi.x;
|
||
|
CV_BLOB_Y(b) = CV_BLOB_Y(b) / scale + roi.y;
|
||
|
CV_BLOB_WX(b) /= scale;
|
||
|
CV_BLOB_WY(b) /= scale;
|
||
|
|
||
|
CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 1,
|
||
|
b->response );
|
||
|
m_debug_blob_seq.AddBlob(&d_b);
|
||
|
}
|
||
|
|
||
|
if( m_detected_blob_seq.GetBlobNum() > 1 )
|
||
|
{
|
||
|
/*
|
||
|
* Split blob.
|
||
|
* The original blob is replaced by the first detected blob,
|
||
|
* remaining detected blobs are added to the end of the sequence:
|
||
|
*/
|
||
|
CvBlob* first_b = m_detected_blob_seq.GetBlob(0);
|
||
|
CV_BLOB_X(b) = CV_BLOB_X(first_b); CV_BLOB_Y(b) = CV_BLOB_Y(first_b);
|
||
|
CV_BLOB_WX(b) = CV_BLOB_WX(first_b); CV_BLOB_WY(b) = CV_BLOB_WY(first_b);
|
||
|
|
||
|
for( int j = 1; j < m_detected_blob_seq.GetBlobNum(); ++j )
|
||
|
{
|
||
|
CvBlob* detected_b = m_detected_blob_seq.GetBlob(j);
|
||
|
pNewBlobList->AddBlob(detected_b);
|
||
|
}
|
||
|
}
|
||
|
} /* For each new blob. */
|
||
|
|
||
|
for( i = 0; i < pNewBlobList->GetBlobNum(); ++i )
|
||
|
{
|
||
|
CvBlob* b = pNewBlobList->GetBlob(i);
|
||
|
CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 2 );
|
||
|
m_debug_blob_seq.AddBlob(&d_b);
|
||
|
}
|
||
|
} // if( m_split_detector )
|
||
|
#endif
|
||
|
|
||
|
return result;
|
||
|
|
||
|
} /* cvDetectNewBlob */
|
||
|
|
||
|
|