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129 lines
4.1 KiB
129 lines
4.1 KiB
//------------------------------------------------------------------------------
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//
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// Project: Anonymizer
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//
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// Brno University of Technology
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// Faculty of Information Technology
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//
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//------------------------------------------------------------------------------
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//
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// This project was financially supported by project VG20102015006 funds
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// provided by Ministry of the Interior of the Czech republic.
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//
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//------------------------------------------------------------------------------
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/*!
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@file trackingalgorithm.cpp
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@brief Implementation of methods ...
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@details Details
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@authors Martin Borek (mborekcz@gmail.com)
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@authors Filip Orsag (orsag@fit.vutbr.cz)
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@date 2014-2015
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@note This project was supported by MV CR project VG20102015006.
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@copyright BUT OPEN SOURCE LICENCE (see License.txt)
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*/
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#include "trackingalgorithm.h"
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#include "opencvx/cvxmat.h"
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#include "opencvx/cvxrectangle.h"
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#include "opencvx/cvrect32f.h"
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#include "opencvx/cvcropimageroi.h"
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#include "opencvx/cvdrawrectangle.h"
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#include "opencvx/cvparticle.h"
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#include "tracking/algorithm1/observetemplate.h"
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#include "tracking/algorithm1/state.h"
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#include <iostream>
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#define DEFAULT 0
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#define DRAW_PARTICLES_REALLOC 512
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TrackingAlgorithm::TrackingAlgorithm(cv::Mat const &initialFrame, Selection const &initialPosition, Selection ¢erizedPosition)
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{
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IplImage *frame = new IplImage(initialFrame);
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resize = cvSize(24, 24);// size
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pDyn = 100; // dynamic numer of particles
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int p = 300; // number of particles
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int sx = 5; // x
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int sy = 5; // y
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int sw = 0; // width
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int sh = 0; // height
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int sr = 0; // rotation
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CvPoint *particleCenter = NULL;
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if((particleCenter = (CvPoint*)(malloc(DRAW_PARTICLES_REALLOC * sizeof(CvPoint)))) == NULL)
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exit(1);
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CvRect region;
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region.x = initialPosition.x;
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region.y = initialPosition.y;
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region.height = initialPosition.height;
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region.width = initialPosition.width;
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bool logprob = true;
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particle = cvCreateParticle( num_states, p, logprob );
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CvParticleState std = cvParticleState (
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sx,
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sy,
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sw,
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sh,
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sr
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);
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cvParticleStateConfig( static_cast<CvParticle *>(particle), cvGetSize(frame), std );
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CvParticleState s;
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CvParticle *init_particle;
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init_particle = cvCreateParticle( num_states, 1 );
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CvRect32f region32f = cvRect32fFromRect( region );
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CvBox32f box = cvBox32fFromRect32f( region32f ); // center box
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s = cvParticleState( box.cx, box.cy, box.width, box.height, 0.0 );
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cvParticleStateSet( init_particle, 0, s );
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cvParticleInit( static_cast<CvParticle *>(particle), init_particle );
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cvReleaseParticle( &init_particle );
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// Resize reference image
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reference = cvCreateImage( resize, frame->depth, frame->nChannels );
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IplImage* tmp = cvCreateImage( cvSize(region.width,region.height), frame->depth, frame->nChannels );
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cvCropImageROI(frame, tmp, region32f );
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cvResize( tmp, reference );
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cvReleaseImage( &tmp );
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centerizedPosition.width = box.width;
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centerizedPosition.height = box.height;
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centerizedPosition.x = box.cx;
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centerizedPosition.y = box.cy;
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centerizedPosition.angle = initialPosition.angle;
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}
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TrackingAlgorithm::~TrackingAlgorithm()
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{
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}
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Selection TrackingAlgorithm::track_next_frame(cv::Mat const &nextImage)
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{
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IplImage *frame = new IplImage(nextImage);
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cvParticleTransition( static_cast<CvParticle *>(particle) );
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particleEvalDefault( static_cast<CvParticle *>(particle), frame, reference, resize, pDyn);
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int maxp_id = cvParticleGetMax( static_cast<CvParticle *>(particle) );
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CvParticleState maxs = cvParticleStateGet( static_cast<CvParticle *>(particle), maxp_id );
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Selection objectPosition(maxs.x, maxs.y, maxs.width, maxs.height, maxs.angle);
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cvParticleNormalize( static_cast<CvParticle *>(particle));
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cvParticleResample( static_cast<CvParticle *>(particle) );
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return objectPosition;
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}
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