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974 lines
38 KiB
C++
974 lines
38 KiB
C++
/*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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/****************************************************************************************\
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Contour-based face feature tracking
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The code was created by Tatiana Cherepanova (tata@sl.iae.nsk.su)
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\****************************************************************************************/
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#include "precomp.hpp"
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#include "_vectrack.h"
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#define NUM_FACE_ELEMENTS 3
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enum
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{
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MOUTH = 0,
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LEYE = 1,
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REYE = 2,
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};
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#define MAX_LAYERS 64
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const double pi = 3.1415926535;
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struct CvFaceTracker;
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struct CvTrackingRect;
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class CvFaceElement;
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void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, float &step, float& power, int iHistMin /*= HIST_MIN*/);
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int ChoiceTrackingFace3(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy);
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int ChoiceTrackingFace2(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy, int noel);
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inline int GetEnergy(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl);
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inline int GetEnergy2(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl, int* element);
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inline double CalculateTransformationLMS3_0( CvPoint* pTemplPoints, CvPoint* pSrcPoints);
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inline double CalculateTransformationLMS3( CvPoint* pTemplPoints,
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CvPoint* pSrcPoints,
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double* pdbAverageScale,
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double* pdbAverageRotate,
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double* pdbAverageShiftX,
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double* pdbAverageShiftY );
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struct CvTrackingRect
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{
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CvRect r;
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CvPoint ptCenter;
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int iColor;
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int iEnergy;
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int nRectsInThis;
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int nRectsOnLeft;
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int nRectsOnRight;
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int nRectsOnTop;
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int nRectsOnBottom;
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CvTrackingRect() { memset(this, 0, sizeof(CvTrackingRect)); };
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int Energy(const CvTrackingRect& prev)
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{
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int prev_color = 0 == prev.iColor ? iColor : prev.iColor;
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iEnergy = 1 * pow2(r.width - prev.r.width) +
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1 * pow2(r.height - prev.r.height) +
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1 * pow2(iColor - prev_color) / 4 +
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- 1 * nRectsInThis +
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- 0 * nRectsOnTop +
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+ 0 * nRectsOnLeft +
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+ 0 * nRectsOnRight +
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+ 0 * nRectsOnBottom;
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return iEnergy;
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}
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};
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struct CvFaceTracker
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{
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CvTrackingRect face[NUM_FACE_ELEMENTS];
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int iTrackingFaceType;
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double dbRotateDelta;
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double dbRotateAngle;
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CvPoint ptRotate;
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CvPoint ptTempl[NUM_FACE_ELEMENTS];
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CvRect rTempl[NUM_FACE_ELEMENTS];
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IplImage* imgGray;
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IplImage* imgThresh;
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CvMemStorage* mstgContours;
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CvFaceTracker()
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{
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ptRotate.x = 0;
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ptRotate.y = 0;
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dbRotateDelta = 0;
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dbRotateAngle = 0;
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iTrackingFaceType = -1;
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imgThresh = NULL;
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imgGray = NULL;
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mstgContours = NULL;
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};
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~CvFaceTracker()
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{
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if (NULL != imgGray)
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delete imgGray;
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if (NULL != imgThresh)
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delete imgThresh;
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if (NULL != mstgContours)
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cvReleaseMemStorage(&mstgContours);
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};
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int Init(CvRect* pRects, IplImage* imgray)
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{
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for (int i = 0; i < NUM_FACE_ELEMENTS; i++)
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{
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face[i].r = pRects[i];
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face[i].ptCenter = Center(face[i].r);
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ptTempl[i] = face[i].ptCenter;
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rTempl[i] = face[i].r;
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}
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imgray = cvCreateImage(cvSize(imgray->width, imgray->height), 8, 1);
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imgThresh = cvCreateImage(cvSize(imgray->width, imgray->height), 8, 1);
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mstgContours = cvCreateMemStorage();
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if ((NULL == imgray) ||
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(NULL == imgThresh) ||
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(NULL == mstgContours))
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return FALSE;
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return TRUE;
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};
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int InitNextImage(IplImage* img)
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{
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CvSize sz = {img->width, img->height};
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ReallocImage(&imgGray, sz, 1);
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ReallocImage(&imgThresh, sz, 1);
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ptRotate = face[MOUTH].ptCenter;
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float m[6];
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CvMat mat = cvMat( 2, 3, CV_32FC1, m );
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if (NULL == imgGray || NULL == imgThresh)
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return FALSE;
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/*m[0] = (float)cos(-dbRotateAngle*CV_PI/180.);
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m[1] = (float)sin(-dbRotateAngle*CV_PI/180.);
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m[2] = (float)ptRotate.x;
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m[3] = -m[1];
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m[4] = m[0];
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m[5] = (float)ptRotate.y;*/
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cv2DRotationMatrix( cvPointTo32f(ptRotate), -dbRotateAngle, 1., &mat );
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cvWarpAffine( img, imgGray, &mat );
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if (NULL == mstgContours)
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mstgContours = cvCreateMemStorage();
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else
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cvClearMemStorage(mstgContours);
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if (NULL == mstgContours)
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return FALSE;
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return TRUE;
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}
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};
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class CvFaceElement
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{
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public:
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CvSeq* m_seqRects;
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CvMemStorage* m_mstgRects;
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CvRect m_rROI;
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CvTrackingRect m_trPrev;
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inline CvFaceElement()
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{
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m_seqRects = NULL;
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m_mstgRects = NULL;
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m_rROI.x = 0;
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m_rROI.y = 0;
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m_rROI.width = 0;
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m_rROI.height = 0;
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};
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inline int Init(const CvRect& roi, const CvTrackingRect& prev, CvMemStorage* mstg = NULL)
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{
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m_rROI = roi;
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m_trPrev = prev;
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if (NULL != mstg)
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m_mstgRects = mstg;
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if (NULL == m_mstgRects)
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return FALSE;
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if (NULL == m_seqRects)
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m_seqRects = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvTrackingRect), m_mstgRects);
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else
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cvClearSeq(m_seqRects);
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if (NULL == m_seqRects)
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return FALSE;
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return TRUE;
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};
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void FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize);
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protected:
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void FindContours(IplImage* img, IplImage* thresh, int nLayers, int dMinSize);
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void MergeRects(int d);
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void Energy();
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}; //class CvFaceElement
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inline int CV_CDECL CompareEnergy(const void* el1, const void* el2, void*)
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{
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return ((CvTrackingRect*)el1)->iEnergy - ((CvTrackingRect*)el2)->iEnergy;
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}// int CV_CDECL CompareEnergy(const void* el1, const void* el2, void*)
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void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
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{
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FindContours(img, thresh, nLayers, dMinSize / 4);
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if (0 == m_seqRects->total)
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return;
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Energy();
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cvSeqSort(m_seqRects, CompareEnergy, NULL);
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CvTrackingRect* pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
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if (m_seqRects->total < 32)
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{
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MergeRects(dMinSize / 8);
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Energy();
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cvSeqSort(m_seqRects, CompareEnergy, NULL);
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}
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pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
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if ((pR->iEnergy > 100 && m_seqRects->total < 32) || (m_seqRects->total < 16))
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{
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MergeRects(dMinSize / 4);
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Energy();
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cvSeqSort(m_seqRects, CompareEnergy, NULL);
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}
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pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0);
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if ((pR->iEnergy > 100 && m_seqRects->total < 16) || (pR->iEnergy > 200 && m_seqRects->total < 32))
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{
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MergeRects(dMinSize / 2);
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Energy();
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cvSeqSort(m_seqRects, CompareEnergy, NULL);
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}
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}// void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
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void CvFaceElement::FindContours(IplImage* img, IplImage* thresh, int nLayers, int dMinSize)
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{
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CvSeq* seq;
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CvRect roi = m_rROI;
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Extend(roi, 1);
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cvSetImageROI(img, roi);
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cvSetImageROI(thresh, roi);
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// layers
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int colors[MAX_LAYERS] = {0};
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int iMinLevel = 0, iMaxLevel = 255;
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float step, power;
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ThresholdingParam(img, nLayers / 2, iMinLevel, iMaxLevel, step, power, 4);
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int iMinLevelPrev = iMinLevel;
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int iMaxLevelPrev = iMinLevel;
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if (m_trPrev.iColor != 0)
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{
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iMinLevelPrev = m_trPrev.iColor - nLayers / 2;
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iMaxLevelPrev = m_trPrev.iColor + nLayers / 2;
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}
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if (iMinLevelPrev < iMinLevel)
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{
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iMaxLevelPrev += iMinLevel - iMinLevelPrev;
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iMinLevelPrev = iMinLevel;
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}
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if (iMaxLevelPrev > iMaxLevel)
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{
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iMinLevelPrev -= iMaxLevelPrev - iMaxLevel;
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if (iMinLevelPrev < iMinLevel)
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iMinLevelPrev = iMinLevel;
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iMaxLevelPrev = iMaxLevel;
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}
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int n = nLayers;
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n -= (iMaxLevelPrev - iMinLevelPrev + 1) / 2;
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step = float(iMinLevelPrev - iMinLevel + iMaxLevel - iMaxLevelPrev) / float(n);
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int j = 0;
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float level;
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for (level = (float)iMinLevel; level < iMinLevelPrev && j < nLayers; level += step, j++)
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colors[j] = int(level + 0.5);
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for (level = (float)iMinLevelPrev; level < iMaxLevelPrev && j < nLayers; level += 2.0, j++)
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colors[j] = int(level + 0.5);
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for (level = (float)iMaxLevelPrev; level < iMaxLevel && j < nLayers; level += step, j++)
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colors[j] = int(level + 0.5);
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//
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for (int i = 0; i < nLayers; i++)
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{
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cvThreshold(img, thresh, colors[i], 255.0, CV_THRESH_BINARY);
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if (cvFindContours(thresh, m_mstgRects, &seq, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE))
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{
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CvTrackingRect cr;
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for (CvSeq* external = seq; external; external = external->h_next)
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{
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cr.r = cvContourBoundingRect(external);
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Move(cr.r, roi.x, roi.y);
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if (RectInRect(cr.r, m_rROI) && cr.r.width > dMinSize && cr.r.height > dMinSize)
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{
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cr.ptCenter = Center(cr.r);
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cr.iColor = colors[i];
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cvSeqPush(m_seqRects, &cr);
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}
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for (CvSeq* internal = external->v_next; internal; internal = internal->h_next)
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{
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cr.r = cvContourBoundingRect(internal);
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Move(cr.r, roi.x, roi.y);
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if (RectInRect(cr.r, m_rROI) && cr.r.width > dMinSize && cr.r.height > dMinSize)
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{
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cr.ptCenter = Center(cr.r);
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cr.iColor = colors[i];
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cvSeqPush(m_seqRects, &cr);
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}
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}
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}
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cvClearSeq(seq);
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}
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}
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cvResetImageROI(img);
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cvResetImageROI(thresh);
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}//void CvFaceElement::FindContours(IplImage* img, IplImage* thresh, int nLayers)
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void CvFaceElement::MergeRects(int d)
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{
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int nRects = m_seqRects->total;
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CvSeqReader reader, reader2;
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cvStartReadSeq( m_seqRects, &reader );
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int i, j;
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for (i = 0; i < nRects; i++)
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{
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CvTrackingRect* pRect1 = (CvTrackingRect*)(reader.ptr);
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cvStartReadSeq( m_seqRects, &reader2 );
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cvSetSeqReaderPos(&reader2, i + 1);
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for (j = i + 1; j < nRects; j++)
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{
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CvTrackingRect* pRect2 = (CvTrackingRect*)(reader2.ptr);
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if (abs(pRect1->ptCenter.y - pRect2->ptCenter.y) < d &&
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abs(pRect1->r.height - pRect2->r.height) < d)
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{
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CvTrackingRect rNew;
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rNew.iColor = (pRect1->iColor + pRect2->iColor + 1) / 2;
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rNew.r.x = min(pRect1->r.x, pRect2->r.x);
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rNew.r.y = min(pRect1->r.y, pRect2->r.y);
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rNew.r.width = max(pRect1->r.x + pRect1->r.width, pRect2->r.x + pRect2->r.width) - rNew.r.x;
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rNew.r.height = min(pRect1->r.y + pRect1->r.height, pRect2->r.y + pRect2->r.height) - rNew.r.y;
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if (rNew.r != pRect1->r && rNew.r != pRect2->r)
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{
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rNew.ptCenter = Center(rNew.r);
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cvSeqPush(m_seqRects, &rNew);
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}
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}
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CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader2 );
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}
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CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader );
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}
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// delete equal rects
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for (i = 0; i < m_seqRects->total; i++)
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{
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CvTrackingRect* pRect1 = (CvTrackingRect*)cvGetSeqElem(m_seqRects, i);
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int j_begin = i + 1;
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for (j = j_begin; j < m_seqRects->total;)
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{
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CvTrackingRect* pRect2 = (CvTrackingRect*)cvGetSeqElem(m_seqRects, j);
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if (pRect1->r == pRect2->r)
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cvSeqRemove(m_seqRects, j);
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else
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j++;
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}
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}
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}//void CvFaceElement::MergeRects(int d)
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void CvFaceElement::Energy()
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{
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CvSeqReader reader, reader2;
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cvStartReadSeq( m_seqRects, &reader );
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for (int i = 0; i < m_seqRects->total; i++)
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{
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CvTrackingRect* pRect = (CvTrackingRect*)(reader.ptr);
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// outside and inside rects
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cvStartReadSeq( m_seqRects, &reader2 );
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for (int j = 0; j < m_seqRects->total; j++)
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{
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CvTrackingRect* pRect2 = (CvTrackingRect*)(reader2.ptr);
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if (i != j)
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{
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if (RectInRect(pRect2->r, pRect->r))
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pRect->nRectsInThis ++;
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else if (pRect2->r.y + pRect2->r.height <= pRect->r.y)
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pRect->nRectsOnTop ++;
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else if (pRect2->r.y >= pRect->r.y + pRect->r.height)
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pRect->nRectsOnBottom ++;
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else if (pRect2->r.x + pRect2->r.width <= pRect->r.x)
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pRect->nRectsOnLeft ++;
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else if (pRect2->r.x >= pRect->r.x + pRect->r.width)
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pRect->nRectsOnRight ++;
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}
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CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader2 );
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}
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// energy
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pRect->Energy(m_trPrev);
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CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader );
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}
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}//void CvFaceElement::Energy()
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CV_IMPL CvFaceTracker*
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cvInitFaceTracker(CvFaceTracker* pFaceTracker, const IplImage* imgGray, CvRect* pRects, int nRects)
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{
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assert(NULL != imgGray);
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assert(NULL != pRects);
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assert(nRects >= NUM_FACE_ELEMENTS);
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if ((NULL == imgGray) ||
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(NULL == pRects) ||
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(nRects < NUM_FACE_ELEMENTS))
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return NULL;
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//int new_face = FALSE;
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CvFaceTracker* pFace = pFaceTracker;
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if (NULL == pFace)
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{
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pFace = new CvFaceTracker;
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if (NULL == pFace)
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return NULL;
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//new_face = TRUE;
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}
|
|
pFace->Init(pRects, (IplImage*)imgGray);
|
|
return pFace;
|
|
}//CvFaceTracker* InitFaceTracker(IplImage* imgGray, CvRect* pRects, int nRects)
|
|
|
|
CV_IMPL void
|
|
cvReleaseFaceTracker(CvFaceTracker** ppFaceTracker)
|
|
{
|
|
if (NULL == *ppFaceTracker)
|
|
return;
|
|
delete *ppFaceTracker;
|
|
*ppFaceTracker = NULL;
|
|
}//void ReleaseFaceTracker(CvFaceTracker** ppFaceTracker)
|
|
|
|
|
|
CV_IMPL int
|
|
cvTrackFace(CvFaceTracker* pFaceTracker, IplImage* imgGray, CvRect* pRects, int nRects, CvPoint* ptRotate, double* dbAngleRotate)
|
|
{
|
|
assert(NULL != pFaceTracker);
|
|
assert(NULL != imgGray);
|
|
assert(NULL != pRects && nRects >= NUM_FACE_ELEMENTS);
|
|
if ((NULL == pFaceTracker) ||
|
|
(NULL == imgGray))
|
|
return FALSE;
|
|
pFaceTracker->InitNextImage(imgGray);
|
|
*ptRotate = pFaceTracker->ptRotate;
|
|
*dbAngleRotate = pFaceTracker->dbRotateAngle;
|
|
|
|
int nElements = 16;
|
|
double dx = pFaceTracker->face[LEYE].ptCenter.x - pFaceTracker->face[REYE].ptCenter.x;
|
|
double dy = pFaceTracker->face[LEYE].ptCenter.y - pFaceTracker->face[REYE].ptCenter.y;
|
|
double d_eyes = sqrt(dx*dx + dy*dy);
|
|
int d = cvRound(0.25 * d_eyes);
|
|
int dMinSize = d;
|
|
int nRestarts = 0;
|
|
|
|
int elem;
|
|
|
|
CvFaceElement big_face[NUM_FACE_ELEMENTS];
|
|
START:
|
|
// init
|
|
for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
|
|
{
|
|
CvRect r = pFaceTracker->face[elem].r;
|
|
Extend(r, d);
|
|
if (r.width < 4*d)
|
|
{
|
|
r.x -= (4*d - r.width) / 2;
|
|
r.width += 4*d - r.width;
|
|
}
|
|
if (r.height < 3*d)
|
|
{
|
|
r.y -= (3*d - r.height) / 2;
|
|
r.height += 3*d - r.height;
|
|
}
|
|
if (r.x < 1)
|
|
r.x = 1;
|
|
if (r.y < 1)
|
|
r.y = 1;
|
|
if (r.x + r.width > pFaceTracker->imgGray->width - 2)
|
|
r.width = pFaceTracker->imgGray->width - 2 - r.x;
|
|
if (r.y + r.height > pFaceTracker->imgGray->height - 2)
|
|
r.height = pFaceTracker->imgGray->height - 2 - r.y;
|
|
if (!big_face[elem].Init(r, pFaceTracker->face[elem], pFaceTracker->mstgContours))
|
|
return FALSE;
|
|
}
|
|
// find contours
|
|
for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
|
|
big_face[elem].FindRects(pFaceTracker->imgGray, pFaceTracker->imgThresh, 32, dMinSize);
|
|
// candidats
|
|
CvTrackingRect new_face[NUM_FACE_ELEMENTS];
|
|
int new_energy = 0;
|
|
int found = ChoiceTrackingFace3(pFaceTracker, nElements, big_face, new_face, new_energy);
|
|
int restart = FALSE;
|
|
int find2 = FALSE;
|
|
int noel = -1;
|
|
if (found)
|
|
{
|
|
if (new_energy > 100000 && -1 != pFaceTracker->iTrackingFaceType)
|
|
find2 = TRUE;
|
|
else if (new_energy > 150000)
|
|
{
|
|
int elements = 0;
|
|
for (int el = 0; el < NUM_FACE_ELEMENTS; el++)
|
|
{
|
|
if (big_face[el].m_seqRects->total > 16 || (big_face[el].m_seqRects->total > 8 && new_face[el].iEnergy < 100))
|
|
elements++;
|
|
else
|
|
noel = el;
|
|
}
|
|
if (2 == elements)
|
|
find2 = TRUE;
|
|
else
|
|
restart = TRUE;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (-1 != pFaceTracker->iTrackingFaceType)
|
|
find2 = TRUE;
|
|
else
|
|
restart = TRUE;
|
|
}
|
|
RESTART:
|
|
if (restart)
|
|
{
|
|
if (nRestarts++ < 2)
|
|
{
|
|
d = d + d/4;
|
|
goto START;
|
|
}
|
|
}
|
|
else if (find2)
|
|
{
|
|
if (-1 != pFaceTracker->iTrackingFaceType)
|
|
noel = pFaceTracker->iTrackingFaceType;
|
|
int found2 = ChoiceTrackingFace2(pFaceTracker, nElements, big_face, new_face, new_energy, noel);
|
|
if (found2 && new_energy < 100000)
|
|
{
|
|
pFaceTracker->iTrackingFaceType = noel;
|
|
found = TRUE;
|
|
}
|
|
else
|
|
{
|
|
restart = TRUE;
|
|
goto RESTART;
|
|
}
|
|
}
|
|
|
|
if (found)
|
|
{
|
|
// angle by mouth & eyes
|
|
double vx_prev = double(pFaceTracker->face[LEYE].ptCenter.x + pFaceTracker->face[REYE].ptCenter.x) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.x;
|
|
double vy_prev = double(pFaceTracker->face[LEYE].ptCenter.y + pFaceTracker->face[REYE].ptCenter.y) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.y;
|
|
double vx_prev1 = vx_prev * cos(pFaceTracker->dbRotateDelta) - vy_prev * sin(pFaceTracker->dbRotateDelta);
|
|
double vy_prev1 = vx_prev * sin(pFaceTracker->dbRotateDelta) + vy_prev * cos(pFaceTracker->dbRotateDelta);
|
|
vx_prev = vx_prev1;
|
|
vy_prev = vy_prev1;
|
|
for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
|
|
pFaceTracker->face[elem] = new_face[elem];
|
|
double vx = double(pFaceTracker->face[LEYE].ptCenter.x + pFaceTracker->face[REYE].ptCenter.x) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.x;
|
|
double vy = double(pFaceTracker->face[LEYE].ptCenter.y + pFaceTracker->face[REYE].ptCenter.y) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.y;
|
|
pFaceTracker->dbRotateDelta = 0;
|
|
double n1_n2 = (vx * vx + vy * vy) * (vx_prev * vx_prev + vy_prev * vy_prev);
|
|
if (n1_n2 != 0)
|
|
pFaceTracker->dbRotateDelta = asin((vx * vy_prev - vx_prev * vy) / sqrt(n1_n2));
|
|
pFaceTracker->dbRotateAngle -= pFaceTracker->dbRotateDelta;
|
|
}
|
|
else
|
|
{
|
|
pFaceTracker->dbRotateDelta = 0;
|
|
pFaceTracker->dbRotateAngle = 0;
|
|
}
|
|
if ((pFaceTracker->dbRotateAngle >= pi/2 && pFaceTracker->dbRotateAngle > 0) ||
|
|
(pFaceTracker->dbRotateAngle <= -pi/2 && pFaceTracker->dbRotateAngle < 0))
|
|
{
|
|
pFaceTracker->dbRotateDelta = 0;
|
|
pFaceTracker->dbRotateAngle = 0;
|
|
found = FALSE;
|
|
}
|
|
if (found)
|
|
{
|
|
for (int i = 0; i < NUM_FACE_ELEMENTS && i < nRects; i++)
|
|
pRects[i] = pFaceTracker->face[i].r;
|
|
}
|
|
return found;
|
|
}//int FindFaceTracker(CvFaceTracker* pFaceTracker, IplImage* imgGray, CvRect* pRects, int nRects, CvPoint& ptRotate, double& dbAngleRotate)
|
|
|
|
void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, float &step, float& power, int iHistMin /*= HIST_MIN*/)
|
|
{
|
|
assert(imgGray != NULL);
|
|
assert(imgGray->nChannels == 1);
|
|
int i, j;
|
|
// create histogram
|
|
int histImg[256] = {0};
|
|
uchar* buffImg = (uchar*)imgGray->imageData;
|
|
CvRect rROI = cvGetImageROI(imgGray);
|
|
buffImg += rROI.y * imgGray->widthStep + rROI.x;
|
|
for (j = 0; j < rROI.height; j++)
|
|
{
|
|
for (i = 0; i < rROI.width; i++)
|
|
histImg[buffImg[i]] ++;
|
|
buffImg += imgGray->widthStep;
|
|
}
|
|
// params
|
|
for (i = 0; i < 256; i++)
|
|
{
|
|
if (histImg[i] > iHistMin)
|
|
break;
|
|
}
|
|
iMinLevel = i;
|
|
for (i = 255; i >= 0; i--)
|
|
{
|
|
if (histImg[i] > iHistMin)
|
|
break;
|
|
}
|
|
iMaxLevel = i;
|
|
if (iMaxLevel <= iMinLevel)
|
|
{
|
|
iMaxLevel = 255;
|
|
iMinLevel = 0;
|
|
}
|
|
// power
|
|
double black = 1;
|
|
double white = 1;
|
|
for (i = iMinLevel; i < (iMinLevel + iMaxLevel) / 2; i++)
|
|
black += histImg[i];
|
|
for (i = (iMinLevel + iMaxLevel) / 2; i < iMaxLevel; i++)
|
|
white += histImg[i];
|
|
power = float(black) / float(2 * white);
|
|
//
|
|
step = float(iMaxLevel - iMinLevel) / float(iNumLayers);
|
|
if (step < 1.0)
|
|
step = 1.0;
|
|
}// void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, int &iStep)
|
|
|
|
int ChoiceTrackingFace3(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy)
|
|
{
|
|
CvTrackingRect* curr_face[NUM_FACE_ELEMENTS] = {NULL};
|
|
CvTrackingRect* new_face[NUM_FACE_ELEMENTS] = {NULL};
|
|
new_energy = 0x7fffffff;
|
|
int curr_energy = 0x7fffffff;
|
|
int found = FALSE;
|
|
int N = 0;
|
|
CvSeqReader reader_m, reader_l, reader_r;
|
|
cvStartReadSeq( big_face[MOUTH].m_seqRects, &reader_m );
|
|
for (int i_mouth = 0; i_mouth < big_face[MOUTH].m_seqRects->total && i_mouth < nElements; i_mouth++)
|
|
{
|
|
curr_face[MOUTH] = (CvTrackingRect*)(reader_m.ptr);
|
|
cvStartReadSeq( big_face[LEYE].m_seqRects, &reader_l );
|
|
for (int i_left = 0; i_left < big_face[LEYE].m_seqRects->total && i_left < nElements; i_left++)
|
|
{
|
|
curr_face[LEYE] = (CvTrackingRect*)(reader_l.ptr);
|
|
if (curr_face[LEYE]->r.y + curr_face[LEYE]->r.height < curr_face[MOUTH]->r.y)
|
|
{
|
|
cvStartReadSeq( big_face[REYE].m_seqRects, &reader_r );
|
|
for (int i_right = 0; i_right < big_face[REYE].m_seqRects->total && i_right < nElements; i_right++)
|
|
{
|
|
curr_face[REYE] = (CvTrackingRect*)(reader_r.ptr);
|
|
if (curr_face[REYE]->r.y + curr_face[REYE]->r.height < curr_face[MOUTH]->r.y &&
|
|
curr_face[REYE]->r.x > curr_face[LEYE]->r.x + curr_face[LEYE]->r.width)
|
|
{
|
|
curr_energy = GetEnergy(curr_face, pTF->face, pTF->ptTempl, pTF->rTempl);
|
|
if (curr_energy < new_energy)
|
|
{
|
|
for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
|
|
new_face[elem] = curr_face[elem];
|
|
new_energy = curr_energy;
|
|
found = TRUE;
|
|
}
|
|
N++;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (found)
|
|
{
|
|
for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
|
|
face[elem] = *(new_face[elem]);
|
|
}
|
|
return found;
|
|
} // int ChoiceTrackingFace3(const CvTrackingRect* tr_face, CvTrackingRect* new_face, int& new_energy)
|
|
|
|
int ChoiceTrackingFace2(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy, int noel)
|
|
{
|
|
int element[NUM_FACE_ELEMENTS];
|
|
for (int i = 0, elem = 0; i < NUM_FACE_ELEMENTS; i++)
|
|
{
|
|
if (i != noel)
|
|
{
|
|
element[elem] = i;
|
|
elem ++;
|
|
}
|
|
else
|
|
element[2] = i;
|
|
}
|
|
CvTrackingRect* curr_face[NUM_FACE_ELEMENTS] = {NULL};
|
|
CvTrackingRect* new_face[NUM_FACE_ELEMENTS] = {NULL};
|
|
new_energy = 0x7fffffff;
|
|
int curr_energy = 0x7fffffff;
|
|
int found = FALSE;
|
|
int N = 0;
|
|
CvSeqReader reader0, reader1;
|
|
cvStartReadSeq( big_face[element[0]].m_seqRects, &reader0 );
|
|
for (int i0 = 0; i0 < big_face[element[0]].m_seqRects->total && i0 < nElements; i0++)
|
|
{
|
|
curr_face[element[0]] = (CvTrackingRect*)(reader0.ptr);
|
|
cvStartReadSeq( big_face[element[1]].m_seqRects, &reader1 );
|
|
for (int i1 = 0; i1 < big_face[element[1]].m_seqRects->total && i1 < nElements; i1++)
|
|
{
|
|
curr_face[element[1]] = (CvTrackingRect*)(reader1.ptr);
|
|
curr_energy = GetEnergy2(curr_face, pTF->face, pTF->ptTempl, pTF->rTempl, element);
|
|
if (curr_energy < new_energy)
|
|
{
|
|
for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++)
|
|
new_face[elem] = curr_face[elem];
|
|
new_energy = curr_energy;
|
|
found = TRUE;
|
|
}
|
|
N++;
|
|
}
|
|
}
|
|
if (found)
|
|
{
|
|
face[element[0]] = *(new_face[element[0]]);
|
|
face[element[1]] = *(new_face[element[1]]);
|
|
// 3 element find by template
|
|
CvPoint templ_v01 = {pTF->ptTempl[element[1]].x - pTF->ptTempl[element[0]].x, pTF->ptTempl[element[1]].y - pTF->ptTempl[element[0]].y};
|
|
CvPoint templ_v02 = {pTF->ptTempl[element[2]].x - pTF->ptTempl[element[0]].x, pTF->ptTempl[element[2]].y - pTF->ptTempl[element[0]].y};
|
|
CvPoint prev_v01 = {pTF->face[element[1]].ptCenter.x - pTF->face[element[0]].ptCenter.x, pTF->face[element[1]].ptCenter.y - pTF->face[element[0]].ptCenter.y};
|
|
CvPoint prev_v02 = {pTF->face[element[2]].ptCenter.x - pTF->face[element[0]].ptCenter.x, pTF->face[element[2]].ptCenter.y - pTF->face[element[0]].ptCenter.y};
|
|
CvPoint new_v01 = {new_face[element[1]]->ptCenter.x - new_face[element[0]]->ptCenter.x, new_face[element[1]]->ptCenter.y - new_face[element[0]]->ptCenter.y};
|
|
double templ_d01 = sqrt((double)templ_v01.x*templ_v01.x + templ_v01.y*templ_v01.y);
|
|
double templ_d02 = sqrt((double)templ_v02.x*templ_v02.x + templ_v02.y*templ_v02.y);
|
|
double prev_d01 = sqrt((double)prev_v01.x*prev_v01.x + prev_v01.y*prev_v01.y);
|
|
double prev_d02 = sqrt((double)prev_v02.x*prev_v02.x + prev_v02.y*prev_v02.y);
|
|
double new_d01 = sqrt((double)new_v01.x*new_v01.x + new_v01.y*new_v01.y);
|
|
double scale = templ_d01 / new_d01;
|
|
double new_d02 = templ_d02 / scale;
|
|
double sin_a = double(prev_v01.x * prev_v02.y - prev_v01.y * prev_v02.x) / (prev_d01 * prev_d02);
|
|
double cos_a = cos(asin(sin_a));
|
|
double x = double(new_v01.x) * cos_a - double(new_v01.y) * sin_a;
|
|
double y = double(new_v01.x) * sin_a + double(new_v01.y) * cos_a;
|
|
x = x * new_d02 / new_d01;
|
|
y = y * new_d02 / new_d01;
|
|
CvPoint new_v02 = {int(x + 0.5), int(y + 0.5)};
|
|
face[element[2]].iColor = 0;
|
|
face[element[2]].iEnergy = 0;
|
|
face[element[2]].nRectsInThis = 0;
|
|
face[element[2]].nRectsOnBottom = 0;
|
|
face[element[2]].nRectsOnLeft = 0;
|
|
face[element[2]].nRectsOnRight = 0;
|
|
face[element[2]].nRectsOnTop = 0;
|
|
face[element[2]].ptCenter.x = new_v02.x + new_face[element[0]]->ptCenter.x;
|
|
face[element[2]].ptCenter.y = new_v02.y + new_face[element[0]]->ptCenter.y;
|
|
face[element[2]].r.width = int(double(pTF->rTempl[element[2]].width) / (scale) + 0.5);
|
|
face[element[2]].r.height = int(double(pTF->rTempl[element[2]].height) / (scale) + 0.5);
|
|
face[element[2]].r.x = face[element[2]].ptCenter.x - (face[element[2]].r.width + 1) / 2;
|
|
face[element[2]].r.y = face[element[2]].ptCenter.y - (face[element[2]].r.height + 1) / 2;
|
|
assert(face[LEYE].r.x + face[LEYE].r.width <= face[REYE].r.x);
|
|
}
|
|
return found;
|
|
} // int ChoiceTrackingFace3(const CvTrackingRect* tr_face, CvTrackingRect* new_face, int& new_energy)
|
|
|
|
inline int GetEnergy(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl)
|
|
{
|
|
int energy = 0;
|
|
CvPoint ptNew[NUM_FACE_ELEMENTS];
|
|
CvPoint ptPrev[NUM_FACE_ELEMENTS];
|
|
for (int i = 0; i < NUM_FACE_ELEMENTS; i++)
|
|
{
|
|
ptNew[i] = ppNew[i]->ptCenter;
|
|
ptPrev[i] = pPrev[i].ptCenter;
|
|
energy += ppNew[i]->iEnergy - 2 * ppNew[i]->nRectsInThis;
|
|
}
|
|
double dx = 0, dy = 0, scale = 1, rotate = 0;
|
|
double e_templ = CalculateTransformationLMS3(ptTempl, ptNew, &scale, &rotate, &dx, &dy);
|
|
double e_prev = CalculateTransformationLMS3_0(ptPrev, ptNew);
|
|
double w_eye = double(ppNew[LEYE]->r.width + ppNew[REYE]->r.width) * scale / 2.0;
|
|
double h_eye = double(ppNew[LEYE]->r.height + ppNew[REYE]->r.height) * scale / 2.0;
|
|
double w_mouth = double(ppNew[MOUTH]->r.width) * scale;
|
|
double h_mouth = double(ppNew[MOUTH]->r.height) * scale;
|
|
energy +=
|
|
int(512.0 * (e_prev + 16.0 * e_templ)) +
|
|
4 * pow2(ppNew[LEYE]->r.width - ppNew[REYE]->r.width) +
|
|
4 * pow2(ppNew[LEYE]->r.height - ppNew[REYE]->r.height) +
|
|
4 * (int)pow(w_eye - double(rTempl[LEYE].width + rTempl[REYE].width) / 2.0, 2) +
|
|
2 * (int)pow(h_eye - double(rTempl[LEYE].height + rTempl[REYE].height) / 2.0, 2) +
|
|
1 * (int)pow(w_mouth - double(rTempl[MOUTH].width), 2) +
|
|
1 * (int)pow(h_mouth - double(rTempl[MOUTH].height), 2) +
|
|
0;
|
|
return energy;
|
|
}
|
|
|
|
inline int GetEnergy2(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl, int* element)
|
|
{
|
|
CvPoint new_v = {ppNew[element[0]]->ptCenter.x - ppNew[element[1]]->ptCenter.x,
|
|
ppNew[element[0]]->ptCenter.y - ppNew[element[1]]->ptCenter.y};
|
|
CvPoint prev_v = {pPrev[element[0]].ptCenter.x - pPrev[element[1]].ptCenter.x,
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pPrev[element[0]].ptCenter.y - pPrev[element[1]].ptCenter.y};
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double new_d = sqrt((double)new_v.x*new_v.x + new_v.y*new_v.y);
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double prev_d = sqrt((double)prev_v.x*prev_v.x + prev_v.y*prev_v.y);
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double dx = ptTempl[element[0]].x - ptTempl[element[1]].x;
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double dy = ptTempl[element[0]].y - ptTempl[element[1]].y;
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double templ_d = sqrt(dx*dx + dy*dy);
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double scale_templ = new_d / templ_d;
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double w0 = (double)ppNew[element[0]]->r.width * scale_templ;
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|
double h0 = (double)ppNew[element[0]]->r.height * scale_templ;
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double w1 = (double)ppNew[element[1]]->r.width * scale_templ;
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double h1 = (double)ppNew[element[1]]->r.height * scale_templ;
|
|
|
|
int energy = ppNew[element[0]]->iEnergy + ppNew[element[1]]->iEnergy +
|
|
- 2 * (ppNew[element[0]]->nRectsInThis - ppNew[element[1]]->nRectsInThis) +
|
|
(int)pow(w0 - (double)rTempl[element[0]].width, 2) +
|
|
(int)pow(h0 - (double)rTempl[element[0]].height, 2) +
|
|
(int)pow(w1 - (double)rTempl[element[1]].width, 2) +
|
|
(int)pow(h1 - (double)rTempl[element[1]].height, 2) +
|
|
(int)pow(new_d - prev_d, 2) +
|
|
0;
|
|
|
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return energy;
|
|
}
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|
|
|
inline double CalculateTransformationLMS3( CvPoint* pTemplPoints,
|
|
CvPoint* pSrcPoints,
|
|
double* pdbAverageScale,
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double* pdbAverageRotate,
|
|
double* pdbAverageShiftX,
|
|
double* pdbAverageShiftY )
|
|
{
|
|
// double WS = 0;
|
|
double dbAverageScale = 1;
|
|
double dbAverageRotate = 0;
|
|
double dbAverageShiftX = 0;
|
|
double dbAverageShiftY = 0;
|
|
double dbLMS = 0;
|
|
|
|
assert( NULL != pTemplPoints);
|
|
assert( NULL != pSrcPoints);
|
|
|
|
double dbXt = double(pTemplPoints[0].x + pTemplPoints[1].x + pTemplPoints[2].x) / 3.0;
|
|
double dbYt = double(pTemplPoints[0].y + pTemplPoints[1].y + pTemplPoints[2].y ) / 3.0;
|
|
double dbXs = double(pSrcPoints[0].x + pSrcPoints[1].x + pSrcPoints[2].x) / 3.0;
|
|
double dbYs = double(pSrcPoints[0].y + pSrcPoints[1].y + pSrcPoints[2].y) / 3.0;
|
|
|
|
double dbXtXt = double(pow2(pTemplPoints[0].x) + pow2(pTemplPoints[1].x) + pow2(pTemplPoints[2].x)) / 3.0;
|
|
double dbYtYt = double(pow2(pTemplPoints[0].y) + pow2(pTemplPoints[1].y) + pow2(pTemplPoints[2].y)) / 3.0;
|
|
|
|
double dbXsXs = double(pow2(pSrcPoints[0].x) + pow2(pSrcPoints[1].x) + pow2(pSrcPoints[2].x)) / 3.0;
|
|
double dbYsYs = double(pow2(pSrcPoints[0].y) + pow2(pSrcPoints[1].y) + pow2(pSrcPoints[2].y)) / 3.0;
|
|
|
|
double dbXtXs = double(pTemplPoints[0].x * pSrcPoints[0].x +
|
|
pTemplPoints[1].x * pSrcPoints[1].x +
|
|
pTemplPoints[2].x * pSrcPoints[2].x) / 3.0;
|
|
double dbYtYs = double(pTemplPoints[0].y * pSrcPoints[0].y +
|
|
pTemplPoints[1].y * pSrcPoints[1].y +
|
|
pTemplPoints[2].y * pSrcPoints[2].y) / 3.0;
|
|
|
|
double dbXtYs = double(pTemplPoints[0].x * pSrcPoints[0].y +
|
|
pTemplPoints[1].x * pSrcPoints[1].y +
|
|
pTemplPoints[2].x * pSrcPoints[2].y) / 3.0;
|
|
double dbYtXs = double(pTemplPoints[0].y * pSrcPoints[0].x +
|
|
pTemplPoints[1].y * pSrcPoints[1].x +
|
|
pTemplPoints[2].y * pSrcPoints[2].x ) / 3.0;
|
|
|
|
dbXtXt -= dbXt * dbXt;
|
|
dbYtYt -= dbYt * dbYt;
|
|
|
|
dbXsXs -= dbXs * dbXs;
|
|
dbYsYs -= dbYs * dbYs;
|
|
|
|
dbXtXs -= dbXt * dbXs;
|
|
dbYtYs -= dbYt * dbYs;
|
|
|
|
dbXtYs -= dbXt * dbYs;
|
|
dbYtXs -= dbYt * dbXs;
|
|
|
|
dbAverageRotate = atan2( dbXtYs - dbYtXs, dbXtXs + dbYtYs );
|
|
|
|
double cosR = cos(dbAverageRotate);
|
|
double sinR = sin(dbAverageRotate);
|
|
double del = dbXsXs + dbYsYs;
|
|
if( del != 0 )
|
|
{
|
|
dbAverageScale = (double(dbXtXs + dbYtYs) * cosR + double(dbXtYs - dbYtXs) * sinR) / del;
|
|
dbLMS = dbXtXt + dbYtYt - ((double)pow(dbXtXs + dbYtYs,2) + (double)pow(dbXtYs - dbYtXs,2)) / del;
|
|
}
|
|
|
|
dbAverageShiftX = double(dbXt) - dbAverageScale * (double(dbXs) * cosR + double(dbYs) * sinR);
|
|
dbAverageShiftY = double(dbYt) - dbAverageScale * (double(dbYs) * cosR - double(dbXs) * sinR);
|
|
|
|
if( pdbAverageScale != NULL ) *pdbAverageScale = dbAverageScale;
|
|
if( pdbAverageRotate != NULL ) *pdbAverageRotate = dbAverageRotate;
|
|
if( pdbAverageShiftX != NULL ) *pdbAverageShiftX = dbAverageShiftX;
|
|
if( pdbAverageShiftY != NULL ) *pdbAverageShiftY = dbAverageShiftY;
|
|
|
|
assert(dbLMS >= 0);
|
|
return dbLMS;
|
|
}
|
|
|
|
inline double CalculateTransformationLMS3_0( CvPoint* pTemplPoints, CvPoint* pSrcPoints)
|
|
{
|
|
double dbLMS = 0;
|
|
|
|
assert( NULL != pTemplPoints);
|
|
assert( NULL != pSrcPoints);
|
|
|
|
double dbXt = double(pTemplPoints[0].x + pTemplPoints[1].x + pTemplPoints[2].x) / 3.0;
|
|
double dbYt = double(pTemplPoints[0].y + pTemplPoints[1].y + pTemplPoints[2].y ) / 3.0;
|
|
double dbXs = double(pSrcPoints[0].x + pSrcPoints[1].x + pSrcPoints[2].x) / 3.0;
|
|
double dbYs = double(pSrcPoints[0].y + pSrcPoints[1].y + pSrcPoints[2].y) / 3.0;
|
|
|
|
double dbXtXt = double(pow2(pTemplPoints[0].x) + pow2(pTemplPoints[1].x) + pow2(pTemplPoints[2].x)) / 3.0;
|
|
double dbYtYt = double(pow2(pTemplPoints[0].y) + pow2(pTemplPoints[1].y) + pow2(pTemplPoints[2].y)) / 3.0;
|
|
|
|
double dbXsXs = double(pow2(pSrcPoints[0].x) + pow2(pSrcPoints[1].x) + pow2(pSrcPoints[2].x)) / 3.0;
|
|
double dbYsYs = double(pow2(pSrcPoints[0].y) + pow2(pSrcPoints[1].y) + pow2(pSrcPoints[2].y)) / 3.0;
|
|
|
|
double dbXtXs = double(pTemplPoints[0].x * pSrcPoints[0].x +
|
|
pTemplPoints[1].x * pSrcPoints[1].x +
|
|
pTemplPoints[2].x * pSrcPoints[2].x) / 3.0;
|
|
double dbYtYs = double(pTemplPoints[0].y * pSrcPoints[0].y +
|
|
pTemplPoints[1].y * pSrcPoints[1].y +
|
|
pTemplPoints[2].y * pSrcPoints[2].y) / 3.0;
|
|
|
|
double dbXtYs = double(pTemplPoints[0].x * pSrcPoints[0].y +
|
|
pTemplPoints[1].x * pSrcPoints[1].y +
|
|
pTemplPoints[2].x * pSrcPoints[2].y) / 3.0;
|
|
double dbYtXs = double(pTemplPoints[0].y * pSrcPoints[0].x +
|
|
pTemplPoints[1].y * pSrcPoints[1].x +
|
|
pTemplPoints[2].y * pSrcPoints[2].x ) / 3.0;
|
|
|
|
dbXtXt -= dbXt * dbXt;
|
|
dbYtYt -= dbYt * dbYt;
|
|
|
|
dbXsXs -= dbXs * dbXs;
|
|
dbYsYs -= dbYs * dbYs;
|
|
|
|
dbXtXs -= dbXt * dbXs;
|
|
dbYtYs -= dbYt * dbYs;
|
|
|
|
dbXtYs -= dbXt * dbYs;
|
|
dbYtXs -= dbYt * dbXs;
|
|
|
|
double del = dbXsXs + dbYsYs;
|
|
if( del != 0 )
|
|
dbLMS = dbXtXt + dbYtYt - ((double)pow(dbXtXs + dbYtYs,2) + (double)pow(dbXtYs - dbYtXs,2)) / del;
|
|
return dbLMS;
|
|
}
|