cvaux/src/cvbgfg_codebook.cpp - platform/external/opencv - Git at Google

 /*M///////////////////////////////////////////////////////////////////////////////////////
 //
 //  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
 //
 //  By downloading, copying, installing or using the software you agree to this license.
 //  If you do not agree to this license, do not download, install,
 //  copy or use the software.
 //
 //
 //                        Intel License Agreement
 //
 // 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
 // any express or implied warranties, including, but not limited to, the implied
 // warranties of merchantability and fitness for a particular purpose are disclaimed.
 // In no event shall the Intel Corporation or contributors be liable for any direct,
 // indirect, incidental, special, exemplary, or consequential damages
 // (including, but not limited to, procurement of substitute goods or services;
 // loss of use, data, or profits; or business interruption) however caused
 // and on any theory of liability, whether in contract, strict liability,
 // or tort (including negligence or otherwise) arising in any way out of
 // the use of this software, even if advised of the possibility of such damage.
 //
 //M*/

 #include "_cvaux.h"

 CvBGCodeBookModel* cvCreateBGCodeBookModel()
 {
     CvBGCodeBookModel* model = (CvBGCodeBookModel*)cvAlloc( sizeof(*model) );
     memset( model, 0, sizeof(*model) );
     model->cbBounds[0] = model->cbBounds[1] = model->cbBounds[2] = 10;
     model->modMin[0] = 3;
     model->modMax[0] = 10;
     model->modMin[1] = model->modMin[2] = 1;
     model->modMax[1] = model->modMax[2] = 1;
     model->storage = cvCreateMemStorage();

     return model;
 }

 void cvReleaseBGCodeBookModel( CvBGCodeBookModel** model )
 {
     if( model && *model )
     {
         cvReleaseMemStorage( &(*model)->storage );
         memset( *model, 0, sizeof(**model) );
         cvFree( model );
     }
 }

 static uchar satTab8u[768];
 #undef SAT_8U
 #define SAT_8U(x) satTab8u[(x) + 255]

 static void icvInitSatTab()
 {
     static int initialized = 0;
     if( !initialized )
     {
         for( int i = 0; i < 768; i++ )
         {
             int v = i - 255;
             satTab8u[i] = (uchar)(v < 0 ? 0 : v > 255 ? 255 : v);
         }
         initialized = 1;
     }
 }


 void cvBGCodeBookUpdate( CvBGCodeBookModel* model, const CvArr* _image,
                          CvRect roi, const CvArr* _mask )
 {
     CV_FUNCNAME( "cvBGCodeBookUpdate" );

     __BEGIN__;

     CvMat stub, *image = cvGetMat( _image, &stub );
     CvMat mstub, *mask = _mask ? cvGetMat( _mask, &mstub ) : 0;
     int i, x, y, T;
     int nblocks;
     uchar cb0, cb1, cb2;
     CvBGCodeBookElem* freeList;

     CV_ASSERT( model && CV_MAT_TYPE(image->type) == CV_8UC3 &&
         (!mask || CV_IS_MASK_ARR(mask) && CV_ARE_SIZES_EQ(image, mask)) );

     if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
     {
         roi.width = image->cols;
         roi.height = image->rows;
     }
     else
         CV_ASSERT( (unsigned)roi.x < (unsigned)image->cols &&
                    (unsigned)roi.y < (unsigned)image->rows &&
                    roi.width >= 0 && roi.height >= 0 &&
                    roi.x + roi.width <= image->cols &&
                    roi.y + roi.height <= image->rows );

     if( image->cols != model->size.width || image->rows != model->size.height )
     {
         cvClearMemStorage( model->storage );
         model->freeList = 0;
         cvFree( &model->cbmap );
         int bufSz = image->cols*image->rows*sizeof(model->cbmap[0]);
         model->cbmap = (CvBGCodeBookElem**)cvAlloc(bufSz);
         memset( model->cbmap, 0, bufSz );
         model->size = cvSize(image->cols, image->rows);
     }

     icvInitSatTab();

     cb0 = model->cbBounds[0];
     cb1 = model->cbBounds[1];
     cb2 = model->cbBounds[2];

     T = ++model->t;
     freeList = model->freeList;
     nblocks = (int)((model->storage->block_size - sizeof(CvMemBlock))/sizeof(*freeList));
     nblocks = MIN( nblocks, 1024 );
     CV_ASSERT( nblocks > 0 );

     for( y = 0; y < roi.height; y++ )
     {
         const uchar* p = image->data.ptr + image->step*(y + roi.y) + roi.x*3;
         const uchar* m = mask ? mask->data.ptr + mask->step*(y + roi.y) + roi.x : 0;
         CvBGCodeBookElem** cb = model->cbmap + image->cols*(y + roi.y) + roi.x;

         for( x = 0; x < roi.width; x++, p += 3, cb++ )
         {
             CvBGCodeBookElem *e, *found = 0;
             uchar p0, p1, p2, l0, l1, l2, h0, h1, h2;
             int negRun;

             if( m && m[x] == 0 )
                 continue;

             p0 = p[0]; p1 = p[1]; p2 = p[2];
             l0 = SAT_8U(p0 - cb0); l1 = SAT_8U(p1 - cb1); l2 = SAT_8U(p2 - cb2);
             h0 = SAT_8U(p0 + cb0); h1 = SAT_8U(p1 + cb1); h2 = SAT_8U(p2 + cb2);

             for( e = *cb; e != 0; e = e->next )
             {
                 if( e->learnMin[0] <= p0 && p0 <= e->learnMax[0] &&
                     e->learnMin[1] <= p1 && p1 <= e->learnMax[1] &&
                     e->learnMin[2] <= p2 && p2 <= e->learnMax[2] )
                 {
                     e->tLastUpdate = T;
                     e->boxMin[0] = MIN(e->boxMin[0], p0);
                     e->boxMax[0] = MAX(e->boxMax[0], p0);
                     e->boxMin[1] = MIN(e->boxMin[1], p1);
                     e->boxMax[1] = MAX(e->boxMax[1], p1);
                     e->boxMin[2] = MIN(e->boxMin[2], p2);
                     e->boxMax[2] = MAX(e->boxMax[2], p2);

                     // no need to use SAT_8U for updated learnMin[i] & learnMax[i] here,
                     // as the bounding li & hi are already within 0..255.
                     if( e->learnMin[0] > l0 ) e->learnMin[0]--;
                     if( e->learnMax[0] < h0 ) e->learnMax[0]++;
                     if( e->learnMin[1] > l1 ) e->learnMin[1]--;
                     if( e->learnMax[1] < h1 ) e->learnMax[1]++;
                     if( e->learnMin[2] > l2 ) e->learnMin[2]--;
                     if( e->learnMax[2] < h2 ) e->learnMax[2]++;

                     found = e;
                     break;
                 }
                 negRun = T - e->tLastUpdate;
                 e->stale = MAX( e->stale, negRun );
             }

             for( ; e != 0; e = e->next )
             {
                 negRun = T - e->tLastUpdate;
                 e->stale = MAX( e->stale, negRun );
             }

             if( !found )
             {
                 if( !freeList )
                 {
                     freeList = (CvBGCodeBookElem*)cvMemStorageAlloc(model->storage,
                         nblocks*sizeof(*freeList));
                     for( i = 0; i < nblocks-1; i++ )
                         freeList[i].next = &freeList[i+1];
                     freeList[nblocks-1].next = 0;
                 }
                 e = freeList;
                 freeList = freeList->next;

                 e->learnMin[0] = l0; e->learnMax[0] = h0;
                 e->learnMin[1] = l1; e->learnMax[1] = h1;
                 e->learnMin[2] = l2; e->learnMax[2] = h2;
                 e->boxMin[0] = e->boxMax[0] = p0;
                 e->boxMin[1] = e->boxMax[1] = p1;
                 e->boxMin[2] = e->boxMax[2] = p2;
                 e->tLastUpdate = T;
                 e->stale = 0;
                 e->next = *cb;
                 *cb = e;
             }
         }
     }

     model->freeList = freeList;

     __END__;
 }


 int cvBGCodeBookDiff( const CvBGCodeBookModel* model, const CvArr* _image,
                       CvArr* _fgmask, CvRect roi )
 {
     int maskCount = -1;

     CV_FUNCNAME( "cvBGCodeBookDiff" );

     __BEGIN__;

     CvMat stub, *image = cvGetMat( _image, &stub );
     CvMat mstub, *mask = cvGetMat( _fgmask, &mstub );
     int x, y;
     uchar m0, m1, m2, M0, M1, M2;

     CV_ASSERT( model && CV_MAT_TYPE(image->type) == CV_8UC3 &&
         image->cols == model->size.width && image->rows == model->size.height &&
         CV_IS_MASK_ARR(mask) && CV_ARE_SIZES_EQ(image, mask) );

     if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
     {
         roi.width = image->cols;
         roi.height = image->rows;
     }
     else
         CV_ASSERT( (unsigned)roi.x < (unsigned)image->cols &&
                    (unsigned)roi.y < (unsigned)image->rows &&
                    roi.width >= 0 && roi.height >= 0 &&
                    roi.x + roi.width <= image->cols &&
                    roi.y + roi.height <= image->rows );

     m0 = model->modMin[0]; M0 = model->modMax[0];
     m1 = model->modMin[1]; M1 = model->modMax[1];
     m2 = model->modMin[2]; M2 = model->modMax[2];

     maskCount = roi.height*roi.width;
     for( y = 0; y < roi.height; y++ )
     {
         const uchar* p = image->data.ptr + image->step*(y + roi.y) + roi.x*3;
         uchar* m = mask->data.ptr + mask->step*(y + roi.y) + roi.x;
         CvBGCodeBookElem** cb = model->cbmap + image->cols*(y + roi.y) + roi.x;

         for( x = 0; x < roi.width; x++, p += 3, cb++ )
         {
             CvBGCodeBookElem *e;
             uchar p0 = p[0], p1 = p[1], p2 = p[2];
             int l0 = p0 + m0, l1 = p1 + m1, l2 = p2 + m2;
             int h0 = p0 - M0, h1 = p1 - M1, h2 = p2 - M2;
             m[x] = (uchar)255;

             for( e = *cb; e != 0; e = e->next )
             {
                 if( e->boxMin[0] <= l0 && h0 <= e->boxMax[0] &&
                     e->boxMin[1] <= l1 && h1 <= e->boxMax[1] &&
                     e->boxMin[2] <= l2 && h2 <= e->boxMax[2] )
                 {
                     m[x] = 0;
                     maskCount--;
                     break;
                 }
             }
         }
     }

     __END__;

     return maskCount;
 }

 void cvBGCodeBookClearStale( CvBGCodeBookModel* model, int staleThresh,
                              CvRect roi, const CvArr* _mask )
 {
     CV_FUNCNAME( "cvBGCodeBookClearStale" );

     __BEGIN__;

     CvMat mstub, *mask = _mask ? cvGetMat( _mask, &mstub ) : 0;
     int x, y, T;
     CvBGCodeBookElem* freeList;

     CV_ASSERT( model && (!mask || CV_IS_MASK_ARR(mask) &&
         mask->cols == model->size.width && mask->rows == model->size.height) );

     if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
     {
         roi.width = model->size.width;
         roi.height = model->size.height;
     }
     else
         CV_ASSERT( (unsigned)roi.x < (unsigned)mask->cols &&
                    (unsigned)roi.y < (unsigned)mask->rows &&
                    roi.width >= 0 && roi.height >= 0 &&
                    roi.x + roi.width <= mask->cols &&
                    roi.y + roi.height <= mask->rows );

     icvInitSatTab();
     freeList = model->freeList;
     T = model->t;

     for( y = 0; y < roi.height; y++ )
     {
         const uchar* m = mask ? mask->data.ptr + mask->step*(y + roi.y) + roi.x : 0;
         CvBGCodeBookElem** cb = model->cbmap + model->size.width*(y + roi.y) + roi.x;

         for( x = 0; x < roi.width; x++, cb++ )
         {
             CvBGCodeBookElem *e, first, *prev = &first;

             if( m && m[x] == 0 )
                 continue;

             for( first.next = e = *cb; e != 0; e = prev->next )
             {
                 if( e->stale > staleThresh )
                 {
                     prev->next = e->next;
                     e->next = freeList;
                     freeList = e;
                 }
                 else
                 {
                     e->stale = 0;
                     e->tLastUpdate = T;
                     prev = e;
                 }
             }

             *cb = first.next;
         }
     }

     model->freeList = freeList;

     __END__;
 }

 /* End of file. */
	/*M///////////////////////////////////////////////////////////////////////////////////////
	//
	// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
	//
	// By downloading, copying, installing or using the software you agree to this license.
	// If you do not agree to this license, do not download, install,
	// copy or use the software.
	//
	//
	// Intel License Agreement
	//
	// 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
	// any express or implied warranties, including, but not limited to, the implied
	// warranties of merchantability and fitness for a particular purpose are disclaimed.
	// In no event shall the Intel Corporation or contributors be liable for any direct,
	// indirect, incidental, special, exemplary, or consequential damages
	// (including, but not limited to, procurement of substitute goods or services;
	// loss of use, data, or profits; or business interruption) however caused
	// and on any theory of liability, whether in contract, strict liability,
	// or tort (including negligence or otherwise) arising in any way out of
	// the use of this software, even if advised of the possibility of such damage.
	//
	//M*/

	#include "_cvaux.h"

	CvBGCodeBookModel* cvCreateBGCodeBookModel()
	{
	CvBGCodeBookModel* model = (CvBGCodeBookModel)cvAlloc( sizeof(model) );
	memset( model, 0, sizeof(*model) );
	model->cbBounds[0] = model->cbBounds[1] = model->cbBounds[2] = 10;
	model->modMin[0] = 3;
	model->modMax[0] = 10;
	model->modMin[1] = model->modMin[2] = 1;
	model->modMax[1] = model->modMax[2] = 1;
	model->storage = cvCreateMemStorage();

	return model;
	}

	void cvReleaseBGCodeBookModel( CvBGCodeBookModel** model )
	{
	if( model && *model )
	{
	cvReleaseMemStorage( &(*model)->storage );
	memset( model, 0, sizeof(*model) );
	cvFree( model );
	}
	}

	static uchar satTab8u[768];
	#undef SAT_8U
	#define SAT_8U(x) satTab8u[(x) + 255]

	static void icvInitSatTab()
	{
	static int initialized = 0;
	if( !initialized )
	{
	for( int i = 0; i < 768; i++ )
	{
	int v = i - 255;
	satTab8u[i] = (uchar)(v < 0 ? 0 : v > 255 ? 255 : v);
	}
	initialized = 1;
	}
	}


	void cvBGCodeBookUpdate( CvBGCodeBookModel* model, const CvArr* _image,
	CvRect roi, const CvArr* _mask )
	{
	CV_FUNCNAME( "cvBGCodeBookUpdate" );

	__BEGIN__;

	CvMat stub, *image = cvGetMat( _image, &stub );
	CvMat mstub, *mask = _mask ? cvGetMat( _mask, &mstub ) : 0;
	int i, x, y, T;
	int nblocks;
	uchar cb0, cb1, cb2;
	CvBGCodeBookElem* freeList;

	CV_ASSERT( model && CV_MAT_TYPE(image->type) == CV_8UC3 &&
	(!mask \|\| CV_IS_MASK_ARR(mask) && CV_ARE_SIZES_EQ(image, mask)) );

	if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
	{
	roi.width = image->cols;
	roi.height = image->rows;
	}
	else
	CV_ASSERT( (unsigned)roi.x < (unsigned)image->cols &&
	(unsigned)roi.y < (unsigned)image->rows &&
	roi.width >= 0 && roi.height >= 0 &&
	roi.x + roi.width <= image->cols &&
	roi.y + roi.height <= image->rows );

	if( image->cols != model->size.width \|\| image->rows != model->size.height )
	{
	cvClearMemStorage( model->storage );
	model->freeList = 0;
	cvFree( &model->cbmap );
	int bufSz = image->colsimage->rowssizeof(model->cbmap[0]);
	model->cbmap = (CvBGCodeBookElem**)cvAlloc(bufSz);
	memset( model->cbmap, 0, bufSz );
	model->size = cvSize(image->cols, image->rows);
	}

	icvInitSatTab();

	cb0 = model->cbBounds[0];
	cb1 = model->cbBounds[1];
	cb2 = model->cbBounds[2];

	T = ++model->t;
	freeList = model->freeList;
	nblocks = (int)((model->storage->block_size - sizeof(CvMemBlock))/sizeof(*freeList));
	nblocks = MIN( nblocks, 1024 );
	CV_ASSERT( nblocks > 0 );

	for( y = 0; y < roi.height; y++ )
	{
	const uchar* p = image->data.ptr + image->step(y + roi.y) + roi.x3;
	const uchar* m = mask ? mask->data.ptr + mask->step*(y + roi.y) + roi.x : 0;
	CvBGCodeBookElem** cb = model->cbmap + image->cols*(y + roi.y) + roi.x;

	for( x = 0; x < roi.width; x++, p += 3, cb++ )
	{
	CvBGCodeBookElem e, found = 0;
	uchar p0, p1, p2, l0, l1, l2, h0, h1, h2;
	int negRun;

	if( m && m[x] == 0 )
	continue;

	p0 = p[0]; p1 = p[1]; p2 = p[2];
	l0 = SAT_8U(p0 - cb0); l1 = SAT_8U(p1 - cb1); l2 = SAT_8U(p2 - cb2);
	h0 = SAT_8U(p0 + cb0); h1 = SAT_8U(p1 + cb1); h2 = SAT_8U(p2 + cb2);

	for( e = *cb; e != 0; e = e->next )
	{
	if( e->learnMin[0] <= p0 && p0 <= e->learnMax[0] &&
	e->learnMin[1] <= p1 && p1 <= e->learnMax[1] &&
	e->learnMin[2] <= p2 && p2 <= e->learnMax[2] )
	{
	e->tLastUpdate = T;
	e->boxMin[0] = MIN(e->boxMin[0], p0);
	e->boxMax[0] = MAX(e->boxMax[0], p0);
	e->boxMin[1] = MIN(e->boxMin[1], p1);
	e->boxMax[1] = MAX(e->boxMax[1], p1);
	e->boxMin[2] = MIN(e->boxMin[2], p2);
	e->boxMax[2] = MAX(e->boxMax[2], p2);

	// no need to use SAT_8U for updated learnMin[i] & learnMax[i] here,
	// as the bounding li & hi are already within 0..255.
	if( e->learnMin[0] > l0 ) e->learnMin[0]--;
	if( e->learnMax[0] < h0 ) e->learnMax[0]++;
	if( e->learnMin[1] > l1 ) e->learnMin[1]--;
	if( e->learnMax[1] < h1 ) e->learnMax[1]++;
	if( e->learnMin[2] > l2 ) e->learnMin[2]--;
	if( e->learnMax[2] < h2 ) e->learnMax[2]++;

	found = e;
	break;
	}
	negRun = T - e->tLastUpdate;
	e->stale = MAX( e->stale, negRun );
	}

	for( ; e != 0; e = e->next )
	{
	negRun = T - e->tLastUpdate;
	e->stale = MAX( e->stale, negRun );
	}

	if( !found )
	{
	if( !freeList )
	{
	freeList = (CvBGCodeBookElem*)cvMemStorageAlloc(model->storage,
	nblockssizeof(freeList));
	for( i = 0; i < nblocks-1; i++ )
	freeList[i].next = &freeList[i+1];
	freeList[nblocks-1].next = 0;
	}
	e = freeList;
	freeList = freeList->next;

	e->learnMin[0] = l0; e->learnMax[0] = h0;
	e->learnMin[1] = l1; e->learnMax[1] = h1;
	e->learnMin[2] = l2; e->learnMax[2] = h2;
	e->boxMin[0] = e->boxMax[0] = p0;
	e->boxMin[1] = e->boxMax[1] = p1;
	e->boxMin[2] = e->boxMax[2] = p2;
	e->tLastUpdate = T;
	e->stale = 0;
	e->next = *cb;
	*cb = e;
	}
	}
	}

	model->freeList = freeList;

	__END__;
	}


	int cvBGCodeBookDiff( const CvBGCodeBookModel* model, const CvArr* _image,
	CvArr* _fgmask, CvRect roi )
	{
	int maskCount = -1;

	CV_FUNCNAME( "cvBGCodeBookDiff" );

	__BEGIN__;

	CvMat stub, *image = cvGetMat( _image, &stub );
	CvMat mstub, *mask = cvGetMat( _fgmask, &mstub );
	int x, y;
	uchar m0, m1, m2, M0, M1, M2;

	CV_ASSERT( model && CV_MAT_TYPE(image->type) == CV_8UC3 &&
	image->cols == model->size.width && image->rows == model->size.height &&
	CV_IS_MASK_ARR(mask) && CV_ARE_SIZES_EQ(image, mask) );

	if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
	{
	roi.width = image->cols;
	roi.height = image->rows;
	}
	else
	CV_ASSERT( (unsigned)roi.x < (unsigned)image->cols &&
	(unsigned)roi.y < (unsigned)image->rows &&
	roi.width >= 0 && roi.height >= 0 &&
	roi.x + roi.width <= image->cols &&
	roi.y + roi.height <= image->rows );

	m0 = model->modMin[0]; M0 = model->modMax[0];
	m1 = model->modMin[1]; M1 = model->modMax[1];
	m2 = model->modMin[2]; M2 = model->modMax[2];

	maskCount = roi.height*roi.width;
	for( y = 0; y < roi.height; y++ )
	{
	const uchar* p = image->data.ptr + image->step(y + roi.y) + roi.x3;
	uchar* m = mask->data.ptr + mask->step*(y + roi.y) + roi.x;
	CvBGCodeBookElem** cb = model->cbmap + image->cols*(y + roi.y) + roi.x;

	for( x = 0; x < roi.width; x++, p += 3, cb++ )
	{
	CvBGCodeBookElem *e;
	uchar p0 = p[0], p1 = p[1], p2 = p[2];
	int l0 = p0 + m0, l1 = p1 + m1, l2 = p2 + m2;
	int h0 = p0 - M0, h1 = p1 - M1, h2 = p2 - M2;
	m[x] = (uchar)255;

	for( e = *cb; e != 0; e = e->next )
	{
	if( e->boxMin[0] <= l0 && h0 <= e->boxMax[0] &&
	e->boxMin[1] <= l1 && h1 <= e->boxMax[1] &&
	e->boxMin[2] <= l2 && h2 <= e->boxMax[2] )
	{
	m[x] = 0;
	maskCount--;
	break;
	}
	}
	}
	}

	__END__;

	return maskCount;
	}

	void cvBGCodeBookClearStale( CvBGCodeBookModel* model, int staleThresh,
	CvRect roi, const CvArr* _mask )
	{
	CV_FUNCNAME( "cvBGCodeBookClearStale" );

	__BEGIN__;

	CvMat mstub, *mask = _mask ? cvGetMat( _mask, &mstub ) : 0;
	int x, y, T;
	CvBGCodeBookElem* freeList;

	CV_ASSERT( model && (!mask \|\| CV_IS_MASK_ARR(mask) &&
	mask->cols == model->size.width && mask->rows == model->size.height) );

	if( roi.x == 0 && roi.y == 0 && roi.width == 0 && roi.height == 0 )
	{
	roi.width = model->size.width;
	roi.height = model->size.height;
	}
	else
	CV_ASSERT( (unsigned)roi.x < (unsigned)mask->cols &&
	(unsigned)roi.y < (unsigned)mask->rows &&
	roi.width >= 0 && roi.height >= 0 &&
	roi.x + roi.width <= mask->cols &&
	roi.y + roi.height <= mask->rows );

	icvInitSatTab();
	freeList = model->freeList;
	T = model->t;

	for( y = 0; y < roi.height; y++ )
	{
	const uchar* m = mask ? mask->data.ptr + mask->step*(y + roi.y) + roi.x : 0;
	CvBGCodeBookElem** cb = model->cbmap + model->size.width*(y + roi.y) + roi.x;

	for( x = 0; x < roi.width; x++, cb++ )
	{
	CvBGCodeBookElem e, first, prev = &first;

	if( m && m[x] == 0 )
	continue;

	for( first.next = e = *cb; e != 0; e = prev->next )
	{
	if( e->stale > staleThresh )
	{
	prev->next = e->next;
	e->next = freeList;
	freeList = e;
	}
	else
	{
	e->stale = 0;
	e->tLastUpdate = T;
	prev = e;
	}
	}

	*cb = first.next;
	}
	}

	model->freeList = freeList;

	__END__;
	}

	/* End of file. */