| /*M/////////////////////////////////////////////////////////////////////////////////////// |
| // |
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| // copy or use the software. |
| // |
| // |
| // Intel License Agreement |
| // For Open Source Computer Vision Library |
| // |
| // Copyright (C) 2000, Intel Corporation, all rights reserved. |
| // Third party copyrights are property of their respective owners. |
| // |
| // Redistribution and use in source and binary forms, with or without modification, |
| // are permitted provided that the following conditions are met: |
| // |
| // * Redistribution's of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // |
| // * Redistribution's in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // |
| // * The name of Intel Corporation may not be used to endorse or promote products |
| // derived from this software without specific prior written permission. |
| // |
| // This software is provided by the copyright holders and contributors "as is" and |
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| // |
| //M*/ |
| #include "_cv.h" |
| |
| |
| /*F/////////////////////////////////////////////////////////////////////////////////////// |
| // Name: cvMeanShift |
| // Purpose: MeanShift algorithm |
| // Context: |
| // Parameters: |
| // imgProb - 2D object probability distribution |
| // windowIn - CvRect of CAMSHIFT Window intial size |
| // numIters - If CAMSHIFT iterates this many times, stop |
| // windowOut - Location, height and width of converged CAMSHIFT window |
| // len - If != NULL, return equivalent len |
| // width - If != NULL, return equivalent width |
| // itersUsed - Returns number of iterations CAMSHIFT took to converge |
| // Returns: |
| // The function itself returns the area found |
| // Notes: |
| //F*/ |
| CV_IMPL int |
| cvMeanShift( const void* imgProb, CvRect windowIn, |
| CvTermCriteria criteria, CvConnectedComp* comp ) |
| { |
| CvMoments moments; |
| int i = 0, eps; |
| CvMat stub, *mat = (CvMat*)imgProb; |
| CvMat cur_win; |
| CvRect cur_rect = windowIn; |
| |
| CV_FUNCNAME( "cvMeanShift" ); |
| |
| if( comp ) |
| comp->rect = windowIn; |
| |
| moments.m00 = moments.m10 = moments.m01 = 0; |
| |
| __BEGIN__; |
| |
| CV_CALL( mat = cvGetMat( mat, &stub )); |
| |
| if( CV_MAT_CN( mat->type ) > 1 ) |
| CV_ERROR( CV_BadNumChannels, cvUnsupportedFormat ); |
| |
| if( windowIn.height <= 0 || windowIn.width <= 0 ) |
| CV_ERROR( CV_StsBadArg, "Input window has non-positive sizes" ); |
| |
| if( windowIn.x < 0 || windowIn.x + windowIn.width > mat->cols || |
| windowIn.y < 0 || windowIn.y + windowIn.height > mat->rows ) |
| CV_ERROR( CV_StsBadArg, "Initial window is not inside the image ROI" ); |
| |
| CV_CALL( criteria = cvCheckTermCriteria( criteria, 1., 100 )); |
| |
| eps = cvRound( criteria.epsilon * criteria.epsilon ); |
| |
| for( i = 0; i < criteria.max_iter; i++ ) |
| { |
| int dx, dy, nx, ny; |
| double inv_m00; |
| |
| CV_CALL( cvGetSubRect( mat, &cur_win, cur_rect )); |
| CV_CALL( cvMoments( &cur_win, &moments )); |
| |
| /* Calculating center of mass */ |
| if( fabs(moments.m00) < DBL_EPSILON ) |
| break; |
| |
| inv_m00 = moments.inv_sqrt_m00*moments.inv_sqrt_m00; |
| dx = cvRound( moments.m10 * inv_m00 - windowIn.width*0.5 ); |
| dy = cvRound( moments.m01 * inv_m00 - windowIn.height*0.5 ); |
| |
| nx = cur_rect.x + dx; |
| ny = cur_rect.y + dy; |
| |
| if( nx < 0 ) |
| nx = 0; |
| else if( nx + cur_rect.width > mat->cols ) |
| nx = mat->cols - cur_rect.width; |
| |
| if( ny < 0 ) |
| ny = 0; |
| else if( ny + cur_rect.height > mat->rows ) |
| ny = mat->rows - cur_rect.height; |
| |
| dx = nx - cur_rect.x; |
| dy = ny - cur_rect.y; |
| cur_rect.x = nx; |
| cur_rect.y = ny; |
| |
| /* Check for coverage centers mass & window */ |
| if( dx*dx + dy*dy < eps ) |
| break; |
| } |
| |
| __END__; |
| |
| if( comp ) |
| { |
| comp->rect = cur_rect; |
| comp->area = (float)moments.m00; |
| } |
| |
| return i; |
| } |
| |
| |
| /*F/////////////////////////////////////////////////////////////////////////////////////// |
| // Name: cvCamShift |
| // Purpose: CAMSHIFT algorithm |
| // Context: |
| // Parameters: |
| // imgProb - 2D object probability distribution |
| // windowIn - CvRect of CAMSHIFT Window intial size |
| // criteria - criteria of stop finding window |
| // windowOut - Location, height and width of converged CAMSHIFT window |
| // orientation - If != NULL, return distribution orientation |
| // len - If != NULL, return equivalent len |
| // width - If != NULL, return equivalent width |
| // area - sum of all elements in result window |
| // itersUsed - Returns number of iterations CAMSHIFT took to converge |
| // Returns: |
| // The function itself returns the area found |
| // Notes: |
| //F*/ |
| CV_IMPL int |
| cvCamShift( const void* imgProb, CvRect windowIn, |
| CvTermCriteria criteria, |
| CvConnectedComp* _comp, |
| CvBox2D* box ) |
| { |
| const int TOLERANCE = 10; |
| CvMoments moments; |
| double m00 = 0, m10, m01, mu20, mu11, mu02, inv_m00; |
| double a, b, c, xc, yc; |
| double rotate_a, rotate_c; |
| double theta = 0, square; |
| double cs, sn; |
| double length = 0, width = 0; |
| int itersUsed = 0; |
| CvConnectedComp comp; |
| CvMat cur_win, stub, *mat = (CvMat*)imgProb; |
| |
| CV_FUNCNAME( "cvCamShift" ); |
| |
| comp.rect = windowIn; |
| |
| __BEGIN__; |
| |
| CV_CALL( mat = cvGetMat( mat, &stub )); |
| |
| CV_CALL( itersUsed = cvMeanShift( mat, windowIn, criteria, &comp )); |
| windowIn = comp.rect; |
| |
| windowIn.x -= TOLERANCE; |
| if( windowIn.x < 0 ) |
| windowIn.x = 0; |
| |
| windowIn.y -= TOLERANCE; |
| if( windowIn.y < 0 ) |
| windowIn.y = 0; |
| |
| windowIn.width += 2 * TOLERANCE; |
| if( windowIn.x + windowIn.width > mat->width ) |
| windowIn.width = mat->width - windowIn.x; |
| |
| windowIn.height += 2 * TOLERANCE; |
| if( windowIn.y + windowIn.height > mat->height ) |
| windowIn.height = mat->height - windowIn.y; |
| |
| CV_CALL( cvGetSubRect( mat, &cur_win, windowIn )); |
| |
| /* Calculating moments in new center mass */ |
| CV_CALL( cvMoments( &cur_win, &moments )); |
| |
| m00 = moments.m00; |
| m10 = moments.m10; |
| m01 = moments.m01; |
| mu11 = moments.mu11; |
| mu20 = moments.mu20; |
| mu02 = moments.mu02; |
| |
| if( fabs(m00) < DBL_EPSILON ) |
| EXIT; |
| |
| inv_m00 = 1. / m00; |
| xc = cvRound( m10 * inv_m00 + windowIn.x ); |
| yc = cvRound( m01 * inv_m00 + windowIn.y ); |
| a = mu20 * inv_m00; |
| b = mu11 * inv_m00; |
| c = mu02 * inv_m00; |
| |
| /* Calculating width & height */ |
| square = sqrt( 4 * b * b + (a - c) * (a - c) ); |
| |
| /* Calculating orientation */ |
| theta = atan2( 2 * b, a - c + square ); |
| |
| /* Calculating width & length of figure */ |
| cs = cos( theta ); |
| sn = sin( theta ); |
| |
| rotate_a = cs * cs * mu20 + 2 * cs * sn * mu11 + sn * sn * mu02; |
| rotate_c = sn * sn * mu20 - 2 * cs * sn * mu11 + cs * cs * mu02; |
| length = sqrt( rotate_a * inv_m00 ) * 4; |
| width = sqrt( rotate_c * inv_m00 ) * 4; |
| |
| /* In case, when tetta is 0 or 1.57... the Length & Width may be exchanged */ |
| if( length < width ) |
| { |
| double t; |
| |
| CV_SWAP( length, width, t ); |
| CV_SWAP( cs, sn, t ); |
| theta = CV_PI*0.5 - theta; |
| } |
| |
| /* Saving results */ |
| if( _comp || box ) |
| { |
| int t0, t1; |
| int _xc = cvRound( xc ); |
| int _yc = cvRound( yc ); |
| |
| t0 = cvRound( fabs( length * cs )); |
| t1 = cvRound( fabs( width * sn )); |
| |
| t0 = MAX( t0, t1 ) + 2; |
| comp.rect.width = MIN( t0, (mat->width - _xc) * 2 ); |
| |
| t0 = cvRound( fabs( length * sn )); |
| t1 = cvRound( fabs( width * cs )); |
| |
| t0 = MAX( t0, t1 ) + 2; |
| comp.rect.height = MIN( t0, (mat->height - _yc) * 2 ); |
| |
| comp.rect.x = MAX( 0, _xc - comp.rect.width / 2 ); |
| comp.rect.y = MAX( 0, _yc - comp.rect.height / 2 ); |
| |
| comp.rect.width = MIN( mat->width - comp.rect.x, comp.rect.width ); |
| comp.rect.height = MIN( mat->height - comp.rect.y, comp.rect.height ); |
| comp.area = (float) m00; |
| } |
| |
| __END__; |
| |
| if( _comp ) |
| *_comp = comp; |
| |
| if( box ) |
| { |
| box->size.height = (float)length; |
| box->size.width = (float)width; |
| box->angle = (float)(theta*180./CV_PI); |
| box->center = cvPoint2D32f( comp.rect.x + comp.rect.width*0.5f, |
| comp.rect.y + comp.rect.height*0.5f); |
| } |
| |
| return itersUsed; |
| } |
| |
| /* End of file. */ |
