2a6fb2867e
Made all STL usages explicit to be able automatically find all usages of particular class or function.
487 lines
17 KiB
C++
487 lines
17 KiB
C++
/*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
|
|
// 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
|
|
// 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 "precomp.hpp"
|
|
|
|
|
|
/* motion templates */
|
|
CV_IMPL void
|
|
cvUpdateMotionHistory( const void* silhouette, void* mhimg,
|
|
double timestamp, double mhi_duration )
|
|
{
|
|
CvMat silhstub, *silh = cvGetMat(silhouette, &silhstub);
|
|
CvMat mhistub, *mhi = cvGetMat(mhimg, &mhistub);
|
|
|
|
if( !CV_IS_MASK_ARR( silh ))
|
|
CV_Error( CV_StsBadMask, "" );
|
|
|
|
if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 )
|
|
CV_Error( CV_StsUnsupportedFormat, "" );
|
|
|
|
if( !CV_ARE_SIZES_EQ( mhi, silh ))
|
|
CV_Error( CV_StsUnmatchedSizes, "" );
|
|
|
|
CvSize size = cvGetMatSize( mhi );
|
|
|
|
if( CV_IS_MAT_CONT( mhi->type & silh->type ))
|
|
{
|
|
size.width *= size.height;
|
|
size.height = 1;
|
|
}
|
|
|
|
float ts = (float)timestamp;
|
|
float delbound = (float)(timestamp - mhi_duration);
|
|
int x, y;
|
|
#if CV_SSE2
|
|
volatile bool useSIMD = cv::checkHardwareSupport(CV_CPU_SSE2);
|
|
#endif
|
|
|
|
for( y = 0; y < size.height; y++ )
|
|
{
|
|
const uchar* silhData = silh->data.ptr + silh->step*y;
|
|
float* mhiData = (float*)(mhi->data.ptr + mhi->step*y);
|
|
x = 0;
|
|
|
|
#if CV_SSE2
|
|
if( useSIMD )
|
|
{
|
|
__m128 ts4 = _mm_set1_ps(ts), db4 = _mm_set1_ps(delbound);
|
|
for( ; x <= size.width - 8; x += 8 )
|
|
{
|
|
__m128i z = _mm_setzero_si128();
|
|
__m128i s = _mm_unpacklo_epi8(_mm_loadl_epi64((const __m128i*)(silhData + x)), z);
|
|
__m128 s0 = _mm_cvtepi32_ps(_mm_unpacklo_epi16(s, z)), s1 = _mm_cvtepi32_ps(_mm_unpackhi_epi16(s, z));
|
|
__m128 v0 = _mm_loadu_ps(mhiData + x), v1 = _mm_loadu_ps(mhiData + x + 4);
|
|
__m128 fz = _mm_setzero_ps();
|
|
|
|
v0 = _mm_and_ps(v0, _mm_cmpge_ps(v0, db4));
|
|
v1 = _mm_and_ps(v1, _mm_cmpge_ps(v1, db4));
|
|
|
|
__m128 m0 = _mm_and_ps(_mm_xor_ps(v0, ts4), _mm_cmpneq_ps(s0, fz));
|
|
__m128 m1 = _mm_and_ps(_mm_xor_ps(v1, ts4), _mm_cmpneq_ps(s1, fz));
|
|
|
|
v0 = _mm_xor_ps(v0, m0);
|
|
v1 = _mm_xor_ps(v1, m1);
|
|
|
|
_mm_storeu_ps(mhiData + x, v0);
|
|
_mm_storeu_ps(mhiData + x + 4, v1);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
for( ; x < size.width; x++ )
|
|
{
|
|
float val = mhiData[x];
|
|
val = silhData[x] ? ts : val < delbound ? 0 : val;
|
|
mhiData[x] = val;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
CV_IMPL void
|
|
cvCalcMotionGradient( const CvArr* mhiimg, CvArr* maskimg,
|
|
CvArr* orientation,
|
|
double delta1, double delta2,
|
|
int aperture_size )
|
|
{
|
|
cv::Ptr<CvMat> dX_min, dY_max;
|
|
|
|
CvMat mhistub, *mhi = cvGetMat(mhiimg, &mhistub);
|
|
CvMat maskstub, *mask = cvGetMat(maskimg, &maskstub);
|
|
CvMat orientstub, *orient = cvGetMat(orientation, &orientstub);
|
|
CvMat dX_min_row, dY_max_row, orient_row, mask_row;
|
|
CvSize size;
|
|
int x, y;
|
|
|
|
float gradient_epsilon = 1e-4f * aperture_size * aperture_size;
|
|
float min_delta, max_delta;
|
|
|
|
if( !CV_IS_MASK_ARR( mask ))
|
|
CV_Error( CV_StsBadMask, "" );
|
|
|
|
if( aperture_size < 3 || aperture_size > 7 || (aperture_size & 1) == 0 )
|
|
CV_Error( CV_StsOutOfRange, "aperture_size must be 3, 5 or 7" );
|
|
|
|
if( delta1 <= 0 || delta2 <= 0 )
|
|
CV_Error( CV_StsOutOfRange, "both delta's must be positive" );
|
|
|
|
if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( orient->type ) != CV_32FC1 )
|
|
CV_Error( CV_StsUnsupportedFormat,
|
|
"MHI and orientation must be single-channel floating-point images" );
|
|
|
|
if( !CV_ARE_SIZES_EQ( mhi, mask ) || !CV_ARE_SIZES_EQ( orient, mhi ))
|
|
CV_Error( CV_StsUnmatchedSizes, "" );
|
|
|
|
if( orient->data.ptr == mhi->data.ptr )
|
|
CV_Error( CV_StsInplaceNotSupported, "orientation image must be different from MHI" );
|
|
|
|
if( delta1 > delta2 )
|
|
{
|
|
double t;
|
|
CV_SWAP( delta1, delta2, t );
|
|
}
|
|
|
|
size = cvGetMatSize( mhi );
|
|
min_delta = (float)delta1;
|
|
max_delta = (float)delta2;
|
|
dX_min = cvCreateMat( mhi->rows, mhi->cols, CV_32F );
|
|
dY_max = cvCreateMat( mhi->rows, mhi->cols, CV_32F );
|
|
|
|
// calc Dx and Dy
|
|
cvSobel( mhi, dX_min, 1, 0, aperture_size );
|
|
cvSobel( mhi, dY_max, 0, 1, aperture_size );
|
|
cvGetRow( dX_min, &dX_min_row, 0 );
|
|
cvGetRow( dY_max, &dY_max_row, 0 );
|
|
cvGetRow( orient, &orient_row, 0 );
|
|
cvGetRow( mask, &mask_row, 0 );
|
|
|
|
// calc gradient
|
|
for( y = 0; y < size.height; y++ )
|
|
{
|
|
dX_min_row.data.ptr = dX_min->data.ptr + y*dX_min->step;
|
|
dY_max_row.data.ptr = dY_max->data.ptr + y*dY_max->step;
|
|
orient_row.data.ptr = orient->data.ptr + y*orient->step;
|
|
mask_row.data.ptr = mask->data.ptr + y*mask->step;
|
|
cvCartToPolar( &dX_min_row, &dY_max_row, 0, &orient_row, 1 );
|
|
|
|
// make orientation zero where the gradient is very small
|
|
for( x = 0; x < size.width; x++ )
|
|
{
|
|
float dY = dY_max_row.data.fl[x];
|
|
float dX = dX_min_row.data.fl[x];
|
|
|
|
if( fabs(dX) < gradient_epsilon && fabs(dY) < gradient_epsilon )
|
|
{
|
|
mask_row.data.ptr[x] = 0;
|
|
orient_row.data.i[x] = 0;
|
|
}
|
|
else
|
|
mask_row.data.ptr[x] = 1;
|
|
}
|
|
}
|
|
|
|
cvErode( mhi, dX_min, 0, (aperture_size-1)/2);
|
|
cvDilate( mhi, dY_max, 0, (aperture_size-1)/2);
|
|
|
|
// mask off pixels which have little motion difference in their neighborhood
|
|
for( y = 0; y < size.height; y++ )
|
|
{
|
|
dX_min_row.data.ptr = dX_min->data.ptr + y*dX_min->step;
|
|
dY_max_row.data.ptr = dY_max->data.ptr + y*dY_max->step;
|
|
mask_row.data.ptr = mask->data.ptr + y*mask->step;
|
|
orient_row.data.ptr = orient->data.ptr + y*orient->step;
|
|
|
|
for( x = 0; x < size.width; x++ )
|
|
{
|
|
float d0 = dY_max_row.data.fl[x] - dX_min_row.data.fl[x];
|
|
|
|
if( mask_row.data.ptr[x] == 0 || d0 < min_delta || max_delta < d0 )
|
|
{
|
|
mask_row.data.ptr[x] = 0;
|
|
orient_row.data.i[x] = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
CV_IMPL double
|
|
cvCalcGlobalOrientation( const void* orientation, const void* maskimg, const void* mhiimg,
|
|
double curr_mhi_timestamp, double mhi_duration )
|
|
{
|
|
int hist_size = 12;
|
|
cv::Ptr<CvHistogram> hist;
|
|
|
|
CvMat mhistub, *mhi = cvGetMat(mhiimg, &mhistub);
|
|
CvMat maskstub, *mask = cvGetMat(maskimg, &maskstub);
|
|
CvMat orientstub, *orient = cvGetMat(orientation, &orientstub);
|
|
void* _orient;
|
|
float _ranges[] = { 0, 360 };
|
|
float* ranges = _ranges;
|
|
int base_orient;
|
|
float shift_orient = 0, shift_weight = 0;
|
|
float a, b, fbase_orient;
|
|
float delbound;
|
|
CvMat mhi_row, mask_row, orient_row;
|
|
int x, y, mhi_rows, mhi_cols;
|
|
|
|
if( !CV_IS_MASK_ARR( mask ))
|
|
CV_Error( CV_StsBadMask, "" );
|
|
|
|
if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( orient->type ) != CV_32FC1 )
|
|
CV_Error( CV_StsUnsupportedFormat,
|
|
"MHI and orientation must be single-channel floating-point images" );
|
|
|
|
if( !CV_ARE_SIZES_EQ( mhi, mask ) || !CV_ARE_SIZES_EQ( orient, mhi ))
|
|
CV_Error( CV_StsUnmatchedSizes, "" );
|
|
|
|
if( mhi_duration <= 0 )
|
|
CV_Error( CV_StsOutOfRange, "MHI duration must be positive" );
|
|
|
|
if( orient->data.ptr == mhi->data.ptr )
|
|
CV_Error( CV_StsInplaceNotSupported, "orientation image must be different from MHI" );
|
|
|
|
// calculate histogram of different orientation values
|
|
hist = cvCreateHist( 1, &hist_size, CV_HIST_ARRAY, &ranges );
|
|
_orient = orient;
|
|
cvCalcArrHist( &_orient, hist, 0, mask );
|
|
|
|
// find the maximum index (the dominant orientation)
|
|
cvGetMinMaxHistValue( hist, 0, 0, 0, &base_orient );
|
|
fbase_orient = base_orient*360.f/hist_size;
|
|
|
|
// override timestamp with the maximum value in MHI
|
|
cvMinMaxLoc( mhi, 0, &curr_mhi_timestamp, 0, 0, mask );
|
|
|
|
// find the shift relative to the dominant orientation as weighted sum of relative angles
|
|
a = (float)(254. / 255. / mhi_duration);
|
|
b = (float)(1. - curr_mhi_timestamp * a);
|
|
delbound = (float)(curr_mhi_timestamp - mhi_duration);
|
|
mhi_rows = mhi->rows;
|
|
mhi_cols = mhi->cols;
|
|
|
|
if( CV_IS_MAT_CONT( mhi->type & mask->type & orient->type ))
|
|
{
|
|
mhi_cols *= mhi_rows;
|
|
mhi_rows = 1;
|
|
}
|
|
|
|
cvGetRow( mhi, &mhi_row, 0 );
|
|
cvGetRow( mask, &mask_row, 0 );
|
|
cvGetRow( orient, &orient_row, 0 );
|
|
|
|
/*
|
|
a = 254/(255*dt)
|
|
b = 1 - t*a = 1 - 254*t/(255*dur) =
|
|
(255*dt - 254*t)/(255*dt) =
|
|
(dt - (t - dt)*254)/(255*dt);
|
|
--------------------------------------------------------
|
|
ax + b = 254*x/(255*dt) + (dt - (t - dt)*254)/(255*dt) =
|
|
(254*x + dt - (t - dt)*254)/(255*dt) =
|
|
((x - (t - dt))*254 + dt)/(255*dt) =
|
|
(((x - (t - dt))/dt)*254 + 1)/255 = (((x - low_time)/dt)*254 + 1)/255
|
|
*/
|
|
for( y = 0; y < mhi_rows; y++ )
|
|
{
|
|
mhi_row.data.ptr = mhi->data.ptr + mhi->step*y;
|
|
mask_row.data.ptr = mask->data.ptr + mask->step*y;
|
|
orient_row.data.ptr = orient->data.ptr + orient->step*y;
|
|
|
|
for( x = 0; x < mhi_cols; x++ )
|
|
if( mask_row.data.ptr[x] != 0 && mhi_row.data.fl[x] > delbound )
|
|
{
|
|
/*
|
|
orient in 0..360, base_orient in 0..360
|
|
-> (rel_angle = orient - base_orient) in -360..360.
|
|
rel_angle is translated to -180..180
|
|
*/
|
|
float weight = mhi_row.data.fl[x] * a + b;
|
|
float rel_angle = orient_row.data.fl[x] - fbase_orient;
|
|
|
|
rel_angle += (rel_angle < -180 ? 360 : 0);
|
|
rel_angle += (rel_angle > 180 ? -360 : 0);
|
|
|
|
if( fabs(rel_angle) < 45 )
|
|
{
|
|
shift_orient += weight * rel_angle;
|
|
shift_weight += weight;
|
|
}
|
|
}
|
|
}
|
|
|
|
// add the dominant orientation and the relative shift
|
|
if( shift_weight == 0 )
|
|
shift_weight = 0.01f;
|
|
|
|
fbase_orient += shift_orient / shift_weight;
|
|
fbase_orient -= (fbase_orient < 360 ? 0 : 360);
|
|
fbase_orient += (fbase_orient >= 0 ? 0 : 360);
|
|
|
|
return fbase_orient;
|
|
}
|
|
|
|
|
|
CV_IMPL CvSeq*
|
|
cvSegmentMotion( const CvArr* mhiimg, CvArr* segmask, CvMemStorage* storage,
|
|
double timestamp, double seg_thresh )
|
|
{
|
|
CvSeq* components = 0;
|
|
cv::Ptr<CvMat> mask8u;
|
|
|
|
CvMat mhistub, *mhi = cvGetMat(mhiimg, &mhistub);
|
|
CvMat maskstub, *mask = cvGetMat(segmask, &maskstub);
|
|
Cv32suf v, comp_idx;
|
|
int stub_val, ts;
|
|
int x, y;
|
|
|
|
if( !storage )
|
|
CV_Error( CV_StsNullPtr, "NULL memory storage" );
|
|
|
|
mhi = cvGetMat( mhi, &mhistub );
|
|
mask = cvGetMat( mask, &maskstub );
|
|
|
|
if( CV_MAT_TYPE( mhi->type ) != CV_32FC1 || CV_MAT_TYPE( mask->type ) != CV_32FC1 )
|
|
CV_Error( CV_BadDepth, "Both MHI and the destination mask" );
|
|
|
|
if( !CV_ARE_SIZES_EQ( mhi, mask ))
|
|
CV_Error( CV_StsUnmatchedSizes, "" );
|
|
|
|
mask8u = cvCreateMat( mhi->rows + 2, mhi->cols + 2, CV_8UC1 );
|
|
cvZero( mask8u );
|
|
cvZero( mask );
|
|
components = cvCreateSeq( CV_SEQ_KIND_GENERIC, sizeof(CvSeq),
|
|
sizeof(CvConnectedComp), storage );
|
|
|
|
v.f = (float)timestamp; ts = v.i;
|
|
v.f = FLT_MAX*0.1f; stub_val = v.i;
|
|
comp_idx.f = 1;
|
|
|
|
for( y = 0; y < mhi->rows; y++ )
|
|
{
|
|
int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
|
|
for( x = 0; x < mhi->cols; x++ )
|
|
{
|
|
if( mhi_row[x] == 0 )
|
|
mhi_row[x] = stub_val;
|
|
}
|
|
}
|
|
|
|
for( y = 0; y < mhi->rows; y++ )
|
|
{
|
|
int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
|
|
uchar* mask8u_row = mask8u->data.ptr + (y+1)*mask8u->step + 1;
|
|
|
|
for( x = 0; x < mhi->cols; x++ )
|
|
{
|
|
if( mhi_row[x] == ts && mask8u_row[x] == 0 )
|
|
{
|
|
CvConnectedComp comp;
|
|
int x1, y1;
|
|
CvScalar _seg_thresh = cvRealScalar(seg_thresh);
|
|
CvPoint seed = cvPoint(x,y);
|
|
|
|
cvFloodFill( mhi, seed, cvRealScalar(0), _seg_thresh, _seg_thresh,
|
|
&comp, CV_FLOODFILL_MASK_ONLY + 2*256 + 4, mask8u );
|
|
|
|
for( y1 = 0; y1 < comp.rect.height; y1++ )
|
|
{
|
|
int* mask_row1 = (int*)(mask->data.ptr +
|
|
(comp.rect.y + y1)*mask->step) + comp.rect.x;
|
|
uchar* mask8u_row1 = mask8u->data.ptr +
|
|
(comp.rect.y + y1+1)*mask8u->step + comp.rect.x+1;
|
|
|
|
for( x1 = 0; x1 < comp.rect.width; x1++ )
|
|
{
|
|
if( mask8u_row1[x1] > 1 )
|
|
{
|
|
mask8u_row1[x1] = 1;
|
|
mask_row1[x1] = comp_idx.i;
|
|
}
|
|
}
|
|
}
|
|
comp_idx.f++;
|
|
cvSeqPush( components, &comp );
|
|
}
|
|
}
|
|
}
|
|
|
|
for( y = 0; y < mhi->rows; y++ )
|
|
{
|
|
int* mhi_row = (int*)(mhi->data.ptr + y*mhi->step);
|
|
for( x = 0; x < mhi->cols; x++ )
|
|
{
|
|
if( mhi_row[x] == stub_val )
|
|
mhi_row[x] = 0;
|
|
}
|
|
}
|
|
|
|
return components;
|
|
}
|
|
|
|
|
|
void cv::updateMotionHistory( InputArray _silhouette, InputOutputArray _mhi,
|
|
double timestamp, double duration )
|
|
{
|
|
Mat silhouette = _silhouette.getMat();
|
|
CvMat c_silhouette = silhouette, c_mhi = _mhi.getMat();
|
|
cvUpdateMotionHistory( &c_silhouette, &c_mhi, timestamp, duration );
|
|
}
|
|
|
|
void cv::calcMotionGradient( InputArray _mhi, OutputArray _mask,
|
|
OutputArray _orientation,
|
|
double delta1, double delta2,
|
|
int aperture_size )
|
|
{
|
|
Mat mhi = _mhi.getMat();
|
|
_mask.create(mhi.size(), CV_8U);
|
|
_orientation.create(mhi.size(), CV_32F);
|
|
CvMat c_mhi = mhi, c_mask = _mask.getMat(), c_orientation = _orientation.getMat();
|
|
cvCalcMotionGradient(&c_mhi, &c_mask, &c_orientation, delta1, delta2, aperture_size);
|
|
}
|
|
|
|
double cv::calcGlobalOrientation( InputArray _orientation, InputArray _mask,
|
|
InputArray _mhi, double timestamp,
|
|
double duration )
|
|
{
|
|
Mat orientation = _orientation.getMat(), mask = _mask.getMat(), mhi = _mhi.getMat();
|
|
CvMat c_orientation = orientation, c_mask = mask, c_mhi = mhi;
|
|
return cvCalcGlobalOrientation(&c_orientation, &c_mask, &c_mhi, timestamp, duration);
|
|
}
|
|
|
|
void cv::segmentMotion(InputArray _mhi, OutputArray _segmask,
|
|
std::vector<Rect>& boundingRects,
|
|
double timestamp, double segThresh)
|
|
{
|
|
Mat mhi = _mhi.getMat();
|
|
_segmask.create(mhi.size(), CV_32F);
|
|
CvMat c_mhi = mhi, c_segmask = _segmask.getMat();
|
|
Ptr<CvMemStorage> storage = cvCreateMemStorage();
|
|
Seq<CvConnectedComp> comps = cvSegmentMotion(&c_mhi, &c_segmask, storage, timestamp, segThresh);
|
|
Seq<CvConnectedComp>::const_iterator it(comps);
|
|
size_t i, ncomps = comps.size();
|
|
boundingRects.resize(ncomps);
|
|
for( i = 0; i < ncomps; i++, ++it)
|
|
boundingRects[i] = (*it).rect;
|
|
}
|
|
|
|
/* End of file. */
|