[28] | 1 | // camshift_wrapper.c - by Robin Hewitt, 2007 |
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| 2 | // http://www.cognotics.com/opencv/downloads/camshift_wrapper |
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| 3 | // This is free software. See License.txt, in the download |
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| 4 | // package, for details. |
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| 5 | // |
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| 6 | |
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| 7 | #include "cv.h" |
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| 8 | #include <stdio.h> |
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| 9 | #include "camshift_wrapper.h" |
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| 10 | |
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| 11 | |
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| 12 | // Parameters |
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| 13 | int nHistBins = 30; // number of histogram bins |
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| 14 | float rangesArr[] = {0,180}; // histogram range |
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| 15 | int vmin = 65, vmax = 100, smin = 55; // limits for calculating hue |
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| 16 | |
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| 17 | |
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| 18 | // File-level variables |
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| 19 | IplImage * pHSVImg = 0; // the input image converted to HSV color mode |
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| 20 | IplImage * pHueImg = 0; // the Hue channel of the HSV image |
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| 21 | IplImage * pMask = 0; // this image is used for masking pixels |
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| 22 | IplImage * pProbImg = 0; // the face probability estimates for each pixel |
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| 23 | CvHistogram * pHist = 0; // histogram of hue in the original face image |
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| 24 | |
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| 25 | CvRect prevFaceRect; // location of face in previous frame |
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| 26 | CvBox2D faceBox; // current face-location estimate |
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| 27 | |
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| 28 | |
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| 29 | int nFrames = 0; |
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| 30 | |
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| 31 | |
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| 32 | // Declarations for internal functions |
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| 33 | void updateHueImage(const IplImage * pImg); |
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| 34 | |
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| 35 | |
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| 36 | ////////////////////////////////// |
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| 37 | // createTracker() |
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| 38 | // |
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| 39 | int createTracker(const IplImage * pImg) |
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| 40 | { |
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| 41 | // Allocate the main data structures ahead of time |
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| 42 | float * pRanges = rangesArr; |
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| 43 | pHSVImg = cvCreateImage( cvGetSize(pImg), 8, 3 ); |
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| 44 | pHueImg = cvCreateImage( cvGetSize(pImg), 8, 1 ); |
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| 45 | pMask = cvCreateImage( cvGetSize(pImg), 8, 1 ); |
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| 46 | pProbImg = cvCreateImage( cvGetSize(pImg), 8, 1 ); |
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| 47 | |
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| 48 | pHist = cvCreateHist( 1, &nHistBins, CV_HIST_ARRAY, &pRanges, 1 ); |
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| 49 | |
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| 50 | return 1; |
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| 51 | } |
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| 52 | |
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| 53 | |
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| 54 | ////////////////////////////////// |
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| 55 | // releaseTracker() |
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| 56 | // |
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| 57 | void releaseTracker() |
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| 58 | { |
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| 59 | // Release all tracker resources |
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| 60 | cvReleaseImage( &pHSVImg ); |
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| 61 | cvReleaseImage( &pHueImg ); |
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| 62 | cvReleaseImage( &pMask ); |
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| 63 | cvReleaseImage( &pProbImg ); |
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| 64 | |
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| 65 | cvReleaseHist( &pHist ); |
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| 66 | } |
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| 67 | |
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| 68 | |
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| 69 | ////////////////////////////////// |
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| 70 | // startTracking() |
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| 71 | // |
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| 72 | void startTracking(IplImage * pImg, CvRect * pFaceRect) |
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| 73 | { |
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| 74 | float maxVal = 0.f; |
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| 75 | |
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| 76 | // Make sure internal data structures have been allocated |
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| 77 | if( !pHist ) createTracker(pImg); |
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| 78 | |
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| 79 | // Create a new hue image |
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| 80 | updateHueImage(pImg); |
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| 81 | |
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| 82 | // Create a histogram representation for the face |
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| 83 | cvSetImageROI( pHueImg, *pFaceRect ); |
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| 84 | cvSetImageROI( pMask, *pFaceRect ); |
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| 85 | cvCalcHist( &pHueImg, pHist, 0, pMask ); |
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| 86 | cvGetMinMaxHistValue( pHist, 0, &maxVal, 0, 0 ); |
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| 87 | cvConvertScale( pHist->bins, pHist->bins, maxVal? 255.0/maxVal : 0, 0 ); |
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| 88 | cvResetImageROI( pHueImg ); |
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| 89 | cvResetImageROI( pMask ); |
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| 90 | |
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| 91 | // Store the previous face location |
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| 92 | prevFaceRect = *pFaceRect; |
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| 93 | } |
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| 94 | |
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| 95 | |
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| 96 | ////////////////////////////////// |
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| 97 | // track() |
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| 98 | // |
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| 99 | CvRect track(IplImage * pImg) |
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| 100 | { |
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| 101 | CvConnectedComp components; |
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| 102 | |
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| 103 | // Create a new hue image |
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| 104 | updateHueImage(pImg); |
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| 105 | |
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| 106 | // Create a probability image based on the face histogram |
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| 107 | cvCalcBackProject( &pHueImg, pProbImg, pHist ); |
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| 108 | cvAnd( pProbImg, pMask, pProbImg, 0 ); |
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| 109 | |
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| 110 | // Use CamShift to find the center of the new face probability |
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| 111 | cvCamShift( pProbImg, prevFaceRect, |
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| 112 | cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ), |
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| 113 | &components, &faceBox ); |
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| 114 | |
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| 115 | // Update face location and angle |
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| 116 | prevFaceRect = components.rect; |
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| 117 | faceBox.angle = -faceBox.angle; |
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| 118 | //cvEllipseBox(pImg, faceBox, |
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| 119 | // CV_RGB(255,0,0), 3, CV_AA, 0 ); |
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| 120 | return prevFaceRect; |
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| 121 | //return faceBox; |
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| 122 | } |
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| 123 | |
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| 124 | |
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| 125 | ////////////////////////////////// |
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| 126 | // updateHueImage() |
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| 127 | // |
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| 128 | void updateHueImage(const IplImage * pImg) |
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| 129 | { |
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| 130 | // Convert to HSV color model |
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| 131 | cvCvtColor( pImg, pHSVImg, CV_BGR2HSV ); |
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| 132 | |
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| 133 | // Mask out-of-range values |
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| 134 | cvInRangeS( pHSVImg, cvScalar(0, smin, MIN(vmin,vmax), 0), |
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| 135 | cvScalar(180, 256, MAX(vmin,vmax) ,0), pMask ); |
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| 136 | |
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| 137 | // Extract the hue channel |
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| 138 | cvSplit( pHSVImg, pHueImg, 0, 0, 0 ); |
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| 139 | } |
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| 140 | |
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| 141 | |
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| 142 | ////////////////////////////////// |
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| 143 | // setVmin() |
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| 144 | // |
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| 145 | void setVmin(int _vmin) |
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| 146 | { vmin = _vmin; } |
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| 147 | |
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| 148 | |
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| 149 | ////////////////////////////////// |
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| 150 | // setSmin() |
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| 151 | // |
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| 152 | void setSmin(int _smin) |
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| 153 | { smin = _smin; } |
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| 154 | |
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| 155 | |
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