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blobtrack.hpp
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41
42
43 #ifndef __OPENCV_VIDEOSURVEILLANCE_H__
44 #define __OPENCV_VIDEOSURVEILLANCE_H__
45
46 /* Turn off the functionality until cvaux/src/Makefile.am gets updated: */
47 //#if _MSC_VER >= 1200
48
49 #include "opencv2/core/core_c.h"
50 #include <stdio.h>
51
52 #if _MSC_VER >= 1200 || defined __BORLANDC__
53 #define cv_stricmp stricmp
54 #define cv_strnicmp strnicmp
55 #if defined WINCE
56 #define strdup _strdup
57 #define stricmp _stricmp
58 #endif
59 #elif defined __GNUC__
60 #define cv_stricmp strcasecmp
61 #define cv_strnicmp strncasecmp
62 #else
63 #error Do not know how to make case-insensitive string comparison on this platform
64 #endif
65
66 //struct DefParam;
67 struct CvDefParam
68 {
69 struct CvDefParam* next;
70 char* pName;
71 char* pComment;
72 double* pDouble;
73 double Double;
74 float* pFloat;
75 float Float;
76 int* pInt;
77 int Int;
78 char** pStr;
79 char* Str;
80 };
81
82 class CV_EXPORTS CvVSModule
83 {
84 private: /* Internal data: */
85 CvDefParam* m_pParamList;
86 char* m_pModuleTypeName;
87 char* m_pModuleName;
88 char* m_pNickName;
89 protected:
90 int m_Wnd;
91 public: /* Constructor and destructor: */
92 CvVSModule();
93 virtual ~CvVSModule();
94 private: /* Internal functions: */
95 void FreeParam(CvDefParam** pp);
96 CvDefParam* NewParam(const char* name);
97 CvDefParam* GetParamPtr(int index);
98 CvDefParam* GetParamPtr(const char* name);
99 protected: /* INTERNAL INTERFACE */
100 int IsParam(const char* name);
101 void AddParam(const char* name, double* pAddr);
102 void AddParam(const char* name, float* pAddr);
103 void AddParam(const char* name, int* pAddr);
104 void AddParam(const char* name, const char** pAddr);
105 void AddParam(const char* name);
106 void CommentParam(const char* name, const char* pComment);
107 void SetTypeName(const char* name);
108 void SetModuleName(const char* name);
109 void DelParam(const char* name);
110
111 public: /* EXTERNAL INTERFACE */
112 const char* GetParamName(int index);
113 const char* GetParamComment(const char* name);
114 double GetParam(const char* name);
115 const char* GetParamStr(const char* name);
116 void SetParam(const char* name, double val);
117 void SetParamStr(const char* name, const char* str);
118 void TransferParamsFromChild(CvVSModule* pM, const char* prefix = NULL);
119 void TransferParamsToChild(CvVSModule* pM, char* prefix = NULL);
120 virtual void ParamUpdate();
121 const char* GetTypeName();
122 int IsModuleTypeName(const char* name);
123 char* GetModuleName();
124 int IsModuleName(const char* name);
125 void SetNickName(const char* pStr);
126 const char* GetNickName();
127 virtual void SaveState(CvFileStorage*);
128 virtual void LoadState(CvFileStorage*, CvFileNode*);
129
130 virtual void Release() = 0;
131 };/* CvVMModule */
132
133 CV_EXPORTS void cvWriteStruct(CvFileStorage* fs, const char* name, void* addr, const char* desc, int num=1);
134 CV_EXPORTS void cvReadStructByName(CvFileStorage* fs, CvFileNode* node, const char* name, void* addr, const char* desc);
135
136 /* FOREGROUND DETECTOR INTERFACE */
137 class CV_EXPORTS CvFGDetector : public CvVSModule
138 {
139 public:
140 CvFGDetector();
141 virtual IplImage* GetMask() = 0;
142 /* Process current image: */
143 virtual void Process(IplImage* pImg) = 0;
144 /* Release foreground detector: */
145 virtual void Release() = 0;
146 };
147
148 CV_EXPORTS void cvReleaseFGDetector(CvFGDetector** ppT );
149 CV_EXPORTS CvFGDetector* cvCreateFGDetectorBase(int type, void *param);
150
151
152 /* BLOB STRUCTURE*/
153 struct CvBlob
154 {
155 float x,y; /* blob position */
156 float w,h; /* blob sizes */
157 int ID; /* blob ID */
158 };
159
160 inline CvBlob cvBlob(float x,float y, float w, float h)
161 {
162 CvBlob B = {x,y,w,h,0};
163 return B;
164 }
165 #define CV_BLOB_MINW 5
166 #define CV_BLOB_MINH 5
167 #define CV_BLOB_ID(pB) (((CvBlob*)(pB))->ID)
168 #define CV_BLOB_CENTER(pB) cvPoint2D32f(((CvBlob*)(pB))->x,((CvBlob*)(pB))->y)
169 #define CV_BLOB_X(pB) (((CvBlob*)(pB))->x)
170 #define CV_BLOB_Y(pB) (((CvBlob*)(pB))->y)
171 #define CV_BLOB_WX(pB) (((CvBlob*)(pB))->w)
172 #define CV_BLOB_WY(pB) (((CvBlob*)(pB))->h)
173 #define CV_BLOB_RX(pB) (0.5f*CV_BLOB_WX(pB))
174 #define CV_BLOB_RY(pB) (0.5f*CV_BLOB_WY(pB))
175 #define CV_BLOB_RECT(pB) cvRect(cvRound(((CvBlob*)(pB))->x-CV_BLOB_RX(pB)),cvRound(((CvBlob*)(pB))->y-CV_BLOB_RY(pB)),cvRound(CV_BLOB_WX(pB)),cvRound(CV_BLOB_WY(pB)))
176 /* END BLOB STRUCTURE*/
177
178
179 /* simple BLOBLIST */
180 class CV_EXPORTS CvBlobSeq
181 {
182 public:
183 CvBlobSeq(int BlobSize = sizeof(CvBlob))
184 {
185 m_pMem = cvCreateMemStorage();
186 m_pSeq = cvCreateSeq(0,sizeof(CvSeq),BlobSize,m_pMem);
187 strcpy(m_pElemFormat,"ffffi");
188 }
189 virtual ~CvBlobSeq()
190 {
191 cvReleaseMemStorage(&m_pMem);
192 };
193 virtual CvBlob* GetBlob(int BlobIndex)
194 {
195 return (CvBlob*)cvGetSeqElem(m_pSeq,BlobIndex);
196 };
197 virtual CvBlob* GetBlobByID(int BlobID)
198 {
199 int i;
200 for(i=0; i<m_pSeq->total; ++i)
201 if(BlobID == CV_BLOB_ID(GetBlob(i)))
202 return GetBlob(i);
203 return NULL;
204 };
205 virtual void DelBlob(int BlobIndex)
206 {
207 cvSeqRemove(m_pSeq,BlobIndex);
208 };
209 virtual void DelBlobByID(int BlobID)
210 {
211 int i;
212 for(i=0; i<m_pSeq->total; ++i)
213 {
214 if(BlobID == CV_BLOB_ID(GetBlob(i)))
215 {
216 DelBlob(i);
217 return;
218 }
219 }
220 };
221 virtual void Clear()
222 {
223 cvClearSeq(m_pSeq);
224 };
225 virtual void AddBlob(CvBlob* pB)
226 {
227 cvSeqPush(m_pSeq,pB);
228 };
229 virtual int GetBlobNum()
230 {
231 return m_pSeq->total;
232 };
233 virtual void Write(CvFileStorage* fs, const char* name)
234 {
235 const char* attr[] = {"dt",m_pElemFormat,NULL};
236 if(fs)
237 {
238 cvWrite(fs,name,m_pSeq,cvAttrList(attr,NULL));
239 }
240 }
241 virtual void Load(CvFileStorage* fs, CvFileNode* node)
242 {
243 if(fs==NULL) return;
244 CvSeq* pSeq = (CvSeq*)cvRead(fs, node);
245 if(pSeq)
246 {
247 int i;
248 cvClearSeq(m_pSeq);
249 for(i=0;i<pSeq->total;++i)
250 {
251 void* pB = cvGetSeqElem( pSeq, i );
252 cvSeqPush( m_pSeq, pB );
253 }
254 }
255 }
256 void AddFormat(const char* str){strcat(m_pElemFormat,str);}
257 protected:
258 CvMemStorage* m_pMem;
259 CvSeq* m_pSeq;
260 char m_pElemFormat[1024];
261 };
262 /* simple BLOBLIST */
263
264
265 /* simple TRACKLIST */
266 struct CvBlobTrack
267 {
268 int TrackID;
269 int StartFrame;
270 CvBlobSeq* pBlobSeq;
271 };
272
273 class CV_EXPORTS CvBlobTrackSeq
274 {
275 public:
276 CvBlobTrackSeq(int TrackSize = sizeof(CvBlobTrack));
277 virtual ~CvBlobTrackSeq();
278 virtual CvBlobTrack* GetBlobTrack(int TrackIndex);
279 virtual CvBlobTrack* GetBlobTrackByID(int TrackID);
280 virtual void DelBlobTrack(int TrackIndex);
281 virtual void DelBlobTrackByID(int TrackID);
282 virtual void Clear();
283 virtual void AddBlobTrack(int TrackID, int StartFrame = 0);
284 virtual int GetBlobTrackNum();
285 protected:
286 CvMemStorage* m_pMem;
287 CvSeq* m_pSeq;
288 };
289
290 /* simple TRACKLIST */
291
292
293 /* BLOB DETECTOR INTERFACE */
294 class CV_EXPORTS CvBlobDetector: public CvVSModule
295 {
296 public:
297 CvBlobDetector(){SetTypeName("BlobDetector");};
298 /* Try to detect new blob entrance based on foreground mask. */
299 /* pFGMask - image of foreground mask */
300 /* pNewBlob - pointer to CvBlob structure which will be filled if new blob entrance detected */
301 /* pOldBlobList - pointer to blob list which already exist on image */
302 virtual int DetectNewBlob(IplImage* pImg, IplImage* pImgFG, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList) = 0;
303 /* release blob detector */
304 virtual void Release()=0;
305 };
306
307 /* Release any blob detector: */
308 CV_EXPORTS void cvReleaseBlobDetector(CvBlobDetector** ppBD);
309
310 /* Declarations of constructors of implemented modules: */
311 CV_EXPORTS CvBlobDetector* cvCreateBlobDetectorSimple();
312 CV_EXPORTS CvBlobDetector* cvCreateBlobDetectorCC();
313
314 struct CV_EXPORTS CvDetectedBlob : public CvBlob
315 {
316 float response;
317 };
318
319 CV_INLINE CvDetectedBlob cvDetectedBlob( float x, float y, float w, float h, int ID = 0, float response = 0.0F )
320 {
321 CvDetectedBlob b;
322 b.x = x; b.y = y; b.w = w; b.h = h; b.ID = ID; b.response = response;
323 return b;
324 }
325
326
327 class CV_EXPORTS CvObjectDetector
328 {
329 public:
330 CvObjectDetector( const char* /*detector_file_name*/ = 0 );
331 ~CvObjectDetector();
332
333 /*
334 * Release the current detector and load new detector from file
335 * (if detector_file_name is not 0)
336 * Return true on success:
337 */
338 bool Load( const char* /*detector_file_name*/ = 0 );
339
340 /* Return min detector window size: */
341 CvSize GetMinWindowSize() const;
342
343 /* Return max border: */
344 int GetMaxBorderSize() const;
345
346 /*
347 * Detect the object on the image and push the detected
348 * blobs into <detected_blob_seq> which must be the sequence of <CvDetectedBlob>s
349 */
350 void Detect( const CvArr* /*img*/, /* out */ CvBlobSeq* /*detected_blob_seq*/ = 0 );
351
352 protected:
353 class CvObjectDetectorImpl* impl;
354 };
355
356
357 CV_INLINE CvRect cvRectIntersection( const CvRect r1, const CvRect r2 )
358 {
359 CvRect r = cvRect( MAX(r1.x, r2.x), MAX(r1.y, r2.y), 0, 0 );
360
361 r.width = MIN(r1.x + r1.width, r2.x + r2.width) - r.x;
362 r.height = MIN(r1.y + r1.height, r2.y + r2.height) - r.y;
363
364 return r;
365 }
366
367
368 /*
369 * CvImageDrawer
370 *
371 * Draw on an image the specified ROIs from the source image and
372 * given blobs as ellipses or rectangles:
373 */
374
375 struct CvDrawShape
376 {
377 enum {RECT, ELLIPSE} shape;
378 CvScalar color;
379 };
380
381 /*extern const CvDrawShape icv_shape[] =
382 {
383 { CvDrawShape::ELLIPSE, CV_RGB(255,0,0) },
384 { CvDrawShape::ELLIPSE, CV_RGB(0,255,0) },
385 { CvDrawShape::ELLIPSE, CV_RGB(0,0,255) },
386 { CvDrawShape::ELLIPSE, CV_RGB(255,255,0) },
387 { CvDrawShape::ELLIPSE, CV_RGB(0,255,255) },
388 { CvDrawShape::ELLIPSE, CV_RGB(255,0,255) }
389 };*/
390
391 class CV_EXPORTS CvImageDrawer
392 {
393 public:
394 CvImageDrawer() : m_image(0) {}
395 ~CvImageDrawer() { cvReleaseImage( &m_image ); }
396 void SetShapes( const CvDrawShape* shapes, int num );
397 /* <blob_seq> must be the sequence of <CvDetectedBlob>s */
398 IplImage* Draw( const CvArr* src, CvBlobSeq* blob_seq = 0, const CvSeq* roi_seq = 0 );
399 IplImage* GetImage() { return m_image; }
400 protected:
401 //static const int MAX_SHAPES = sizeof(icv_shape) / sizeof(icv_shape[0]);;
402
403 IplImage* m_image;
404 CvDrawShape m_shape[16];
405 };
406
407
408
409 /* Trajectory generation module: */
410 class CV_EXPORTS CvBlobTrackGen: public CvVSModule
411 {
412 public:
413 CvBlobTrackGen(){SetTypeName("BlobTrackGen");};
414 virtual void SetFileName(char* pFileName) = 0;
415 virtual void AddBlob(CvBlob* pBlob) = 0;
416 virtual void Process(IplImage* pImg = NULL, IplImage* pFG = NULL) = 0;
417 virtual void Release() = 0;
418 };
419
420 inline void cvReleaseBlobTrackGen(CvBlobTrackGen** pBTGen)
421 {
422 if(*pBTGen)(*pBTGen)->Release();
423 *pBTGen = 0;
424 }
425
426 /* Declarations of constructors of implemented modules: */
427 CV_EXPORTS CvBlobTrackGen* cvCreateModuleBlobTrackGen1();
428 CV_EXPORTS CvBlobTrackGen* cvCreateModuleBlobTrackGenYML();
429
430
431
432 /* BLOB TRACKER INTERFACE */
433 class CV_EXPORTS CvBlobTracker: public CvVSModule
434 {
435 public:
436 CvBlobTracker();
437
438 /* Add new blob to track it and assign to this blob personal ID */
439 /* pBlob - pointer to structure with blob parameters (ID is ignored)*/
440 /* pImg - current image */
441 /* pImgFG - current foreground mask */
442 /* Return pointer to new added blob: */
443 virtual CvBlob* AddBlob(CvBlob* pBlob, IplImage* pImg, IplImage* pImgFG = NULL ) = 0;
444
445 /* Return number of currently tracked blobs: */
446 virtual int GetBlobNum() = 0;
447
448 /* Return pointer to specified by index blob: */
449 virtual CvBlob* GetBlob(int BlobIndex) = 0;
450
451 /* Delete blob by its index: */
452 virtual void DelBlob(int BlobIndex) = 0;
453
454 /* Process current image and track all existed blobs: */
455 virtual void Process(IplImage* pImg, IplImage* pImgFG = NULL) = 0;
456
457 /* Release blob tracker: */
458 virtual void Release() = 0;
459
460
461 /* Process one blob (for multi hypothesis tracing): */
462 virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL);
463
464 /* Get confidence/wieght/probability (0-1) for blob: */
465 virtual double GetConfidence(int /*BlobIndex*/, CvBlob* /*pBlob*/, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL);
466
467 virtual double GetConfidenceList(CvBlobSeq* pBlobList, IplImage* pImg, IplImage* pImgFG = NULL);
468
469 virtual void UpdateBlob(int /*BlobIndex*/, CvBlob* /*pBlob*/, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL);
470
471 /* Update all blob models: */
472 virtual void Update(IplImage* pImg, IplImage* pImgFG = NULL);
473
474 /* Return pointer to blob by its unique ID: */
475 virtual int GetBlobIndexByID(int BlobID);
476
477 /* Return pointer to blob by its unique ID: */
478 virtual CvBlob* GetBlobByID(int BlobID);
479
480 /* Delete blob by its ID: */
481 virtual void DelBlobByID(int BlobID);
482
483 /* Set new parameters for specified (by index) blob: */
484 virtual void SetBlob(int /*BlobIndex*/, CvBlob* /*pBlob*/);
485
486 /* Set new parameters for specified (by ID) blob: */
487 virtual void SetBlobByID(int BlobID, CvBlob* pBlob);
488
489 /* =============== MULTI HYPOTHESIS INTERFACE ================== */
490
491 /* Return number of position hyposetis of currently tracked blob: */
492 virtual int GetBlobHypNum(int /*BlobIdx*/);
493
494 /* Return pointer to specified blob hypothesis by index blob: */
495 virtual CvBlob* GetBlobHyp(int BlobIndex, int /*hypothesis*/);
496
497 /* Set new parameters for specified (by index) blob hyp
498 * (can be called several times for each hyp ):
499 */
500 virtual void SetBlobHyp(int /*BlobIndex*/, CvBlob* /*pBlob*/);
501 };
502
503 CV_EXPORTS void cvReleaseBlobTracker(CvBlobTracker**ppT );
504 /* BLOB TRACKER INTERFACE */
505
506 /*BLOB TRACKER ONE INTERFACE */
507 class CV_EXPORTS CvBlobTrackerOne : public CvVSModule
508 {
509 public:
510 virtual void Init(CvBlob* pBlobInit, IplImage* pImg, IplImage* pImgFG = NULL) = 0;
511 virtual CvBlob* Process(CvBlob* pBlobPrev, IplImage* pImg, IplImage* pImgFG = NULL) = 0;
512 virtual void Release() = 0;
513
514 /* Non-required methods: */
515 virtual void SkipProcess(CvBlob* /*pBlobPrev*/, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL){};
516 virtual void Update(CvBlob* /*pBlob*/, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL){};
517 virtual void SetCollision(int /*CollisionFlag*/){}; /* call in case of blob collision situation*/
518 virtual double GetConfidence(CvBlob* /*pBlob*/, IplImage* /*pImg*/,
519 IplImage* /*pImgFG*/ = NULL, IplImage* /*pImgUnusedReg*/ = NULL)
520 {
521 return 1;
522 };
523 };
524 inline void cvReleaseBlobTrackerOne(CvBlobTrackerOne **ppT )
525 {
526 ppT[0]->Release();
527 ppT[0] = 0;
528 }
529 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerList(CvBlobTrackerOne* (*create)());
530 /*BLOB TRACKER ONE INTERFACE */
531
532 /* Declarations of constructors of implemented modules: */
533
534 /* Some declarations for specific MeanShift tracker: */
535 #define PROFILE_EPANECHNIKOV 0
536 #define PROFILE_DOG 1
537 struct CvBlobTrackerParamMS
538 {
539 int noOfSigBits;
540 int appearance_profile;
541 int meanshift_profile;
542 float sigma;
543 };
544
545 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerMS1(CvBlobTrackerParamMS* param);
546 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerMS2(CvBlobTrackerParamMS* param);
547 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerMS1ByList();
548
549 /* Some declarations for specific Likelihood tracker: */
550 struct CvBlobTrackerParamLH
551 {
552 int HistType; /* see Prob.h */
553 int ScaleAfter;
554 };
555
556 /* Without scale optimization: */
557 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerLHR(CvBlobTrackerParamLH* /*param*/ = NULL);
558
559 /* With scale optimization: */
560 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerLHRS(CvBlobTrackerParamLH* /*param*/ = NULL);
561
562 /* Simple blob tracker based on connected component tracking: */
563 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerCC();
564
565 /* Connected component tracking and mean-shift particle filter collion-resolver: */
566 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerCCMSPF();
567
568 /* Blob tracker that integrates meanshift and connected components: */
569 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerMSFG();
570 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerMSFGS();
571
572 /* Meanshift without connected-components */
573 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerMS();
574
575 /* Particle filtering via Bhattacharya coefficient, which */
576 /* is roughly the dot-product of two probability densities. */
577 /* See: Real-Time Tracking of Non-Rigid Objects using Mean Shift */
578 /* Comanicius, Ramesh, Meer, 2000, 8p */
579 /* http://citeseer.ist.psu.edu/321441.html */
580 CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerMSPF();
581
582 /* =========== tracker integrators trackers =============*/
583
584 /* Integrator based on Particle Filtering method: */
585 //CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerIPF();
586
587 /* Rule based integrator: */
588 //CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerIRB();
589
590 /* Integrator based on data fusion using particle filtering: */
591 //CV_EXPORTS CvBlobTracker* cvCreateBlobTrackerIPFDF();
592
593
594
595
596 /* Trajectory postprocessing module: */
597 class CV_EXPORTS CvBlobTrackPostProc: public CvVSModule
598 {
599 public:
600 CvBlobTrackPostProc(){SetTypeName("BlobTrackPostProc");};
601 virtual void AddBlob(CvBlob* pBlob) = 0;
602 virtual void Process() = 0;
603 virtual int GetBlobNum() = 0;
604 virtual CvBlob* GetBlob(int index) = 0;
605 virtual void Release() = 0;
606
607 /* Additional functionality: */
608 virtual CvBlob* GetBlobByID(int BlobID)
609 {
610 int i;
611 for(i=GetBlobNum();i>0;i--)
612 {
613 CvBlob* pB=GetBlob(i-1);
614 if(pB->ID==BlobID) return pB;
615 }
616 return NULL;
617 };
618 };
619
620 inline void cvReleaseBlobTrackPostProc(CvBlobTrackPostProc** pBTPP)
621 {
622 if(pBTPP == NULL) return;
623 if(*pBTPP)(*pBTPP)->Release();
624 *pBTPP = 0;
625 }
626
627 /* Trajectory generation module: */
628 class CV_EXPORTS CvBlobTrackPostProcOne: public CvVSModule
629 {
630 public:
631 CvBlobTrackPostProcOne(){SetTypeName("BlobTrackPostOne");};
632 virtual CvBlob* Process(CvBlob* pBlob) = 0;
633 virtual void Release() = 0;
634 };
635
636 /* Create blob tracking post processing module based on simle module: */
637 CV_EXPORTS CvBlobTrackPostProc* cvCreateBlobTrackPostProcList(CvBlobTrackPostProcOne* (*create)());
638
639
640 /* Declarations of constructors of implemented modules: */
641 CV_EXPORTS CvBlobTrackPostProc* cvCreateModuleBlobTrackPostProcKalman();
642 CV_EXPORTS CvBlobTrackPostProc* cvCreateModuleBlobTrackPostProcTimeAverRect();
643 CV_EXPORTS CvBlobTrackPostProc* cvCreateModuleBlobTrackPostProcTimeAverExp();
644
645
646 /* PREDICTORS */
647 /* blob PREDICTOR */
648 class CvBlobTrackPredictor: public CvVSModule
649 {
650 public:
651 CvBlobTrackPredictor(){SetTypeName("BlobTrackPredictor");};
652 virtual CvBlob* Predict() = 0;
653 virtual void Update(CvBlob* pBlob) = 0;
654 virtual void Release() = 0;
655 };
656 CV_EXPORTS CvBlobTrackPredictor* cvCreateModuleBlobTrackPredictKalman();
657
658
659
660 /* Trajectory analyser module: */
661 class CV_EXPORTS CvBlobTrackAnalysis: public CvVSModule
662 {
663 public:
664 CvBlobTrackAnalysis(){SetTypeName("BlobTrackAnalysis");};
665 virtual void AddBlob(CvBlob* pBlob) = 0;
666 virtual void Process(IplImage* pImg, IplImage* pFG) = 0;
667 virtual float GetState(int BlobID) = 0;
668 /* return 0 if trajectory is normal
669 return >0 if trajectory abnormal */
670 virtual const char* GetStateDesc(int /*BlobID*/){return NULL;};
671 virtual void SetFileName(char* /*DataBaseName*/){};
672 virtual void Release() = 0;
673 };
674
675
676 inline void cvReleaseBlobTrackAnalysis(CvBlobTrackAnalysis** pBTPP)
677 {
678 if(pBTPP == NULL) return;
679 if(*pBTPP)(*pBTPP)->Release();
680 *pBTPP = 0;
681 }
682
683 /* Feature-vector generation module: */
684 class CV_EXPORTS CvBlobTrackFVGen : public CvVSModule
685 {
686 public:
687 CvBlobTrackFVGen(){SetTypeName("BlobTrackFVGen");};
688 virtual void AddBlob(CvBlob* pBlob) = 0;
689 virtual void Process(IplImage* pImg, IplImage* pFG) = 0;
690 virtual void Release() = 0;
691 virtual int GetFVSize() = 0;
692 virtual int GetFVNum() = 0;
693 virtual float* GetFV(int index, int* pFVID) = 0; /* Returns pointer to FV, if return 0 then FV not created */
694 virtual float* GetFVVar(){return NULL;}; /* Returns pointer to array of variation of values of FV, if returns 0 then FVVar does not exist. */
695 virtual float* GetFVMin() = 0; /* Returns pointer to array of minimal values of FV, if returns 0 then FVrange does not exist */
696 virtual float* GetFVMax() = 0; /* Returns pointer to array of maximal values of FV, if returns 0 then FVrange does not exist */
697 };
698
699
700 /* Trajectory Analyser module: */
701 class CV_EXPORTS CvBlobTrackAnalysisOne
702 {
703 public:
704 virtual ~CvBlobTrackAnalysisOne() {};
705 virtual int Process(CvBlob* pBlob, IplImage* pImg, IplImage* pFG) = 0;
706 /* return 0 if trajectory is normal
707 return >0 if trajectory abnormal */
708 virtual void Release() = 0;
709 };
710
711 /* Create blob tracking post processing module based on simle module: */
712 CV_EXPORTS CvBlobTrackAnalysis* cvCreateBlobTrackAnalysisList(CvBlobTrackAnalysisOne* (*create)());
713
714 /* Declarations of constructors of implemented modules: */
715
716 /* Based on histogram analysis of 2D FV (x,y): */
717 CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisHistP();
718
719 /* Based on histogram analysis of 4D FV (x,y,vx,vy): */
720 CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisHistPV();
721
722 /* Based on histogram analysis of 5D FV (x,y,vx,vy,state): */
723 CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisHistPVS();
724
725 /* Based on histogram analysis of 4D FV (startpos,stoppos): */
726 CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisHistSS();
727
728
729
730 /* Based on SVM classifier analysis of 2D FV (x,y): */
731 //CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisSVMP();
732
733 /* Based on SVM classifier analysis of 4D FV (x,y,vx,vy): */
734 //CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisSVMPV();
735
736 /* Based on SVM classifier analysis of 5D FV (x,y,vx,vy,state): */
737 //CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisSVMPVS();
738
739 /* Based on SVM classifier analysis of 4D FV (startpos,stoppos): */
740 //CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisSVMSS();
741
742 /* Track analysis based on distance between tracks: */
743 CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisTrackDist();
744
745 /* Analyzer based on reation Road and height map: */
746 //CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysis3DRoadMap();
747
748 /* Analyzer that makes OR decision using set of analyzers: */
749 CV_EXPORTS CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisIOR();
750
751 /* Estimator of human height: */
752 class CV_EXPORTS CvBlobTrackAnalysisHeight: public CvBlobTrackAnalysis
753 {
754 public:
755 virtual double GetHeight(CvBlob* pB) = 0;
756 };
757 //CV_EXPORTS CvBlobTrackAnalysisHeight* cvCreateModuleBlobTrackAnalysisHeightScale();
758
759
760
761 /* AUTO BLOB TRACKER INTERFACE -- pipeline of 3 modules: */
762 class CV_EXPORTS CvBlobTrackerAuto: public CvVSModule
763 {
764 public:
765 CvBlobTrackerAuto(){SetTypeName("BlobTrackerAuto");};
766 virtual void Process(IplImage* pImg, IplImage* pMask = NULL) = 0;
767 virtual CvBlob* GetBlob(int index) = 0;
768 virtual CvBlob* GetBlobByID(int ID) = 0;
769 virtual int GetBlobNum() = 0;
770 virtual IplImage* GetFGMask(){return NULL;};
771 virtual float GetState(int BlobID) = 0;
772 virtual const char* GetStateDesc(int BlobID) = 0;
773 /* return 0 if trajectory is normal;
774 * return >0 if trajectory abnormal. */
775 virtual void Release() = 0;
776 };
777 inline void cvReleaseBlobTrackerAuto(CvBlobTrackerAuto** ppT)
778 {
779 ppT[0]->Release();
780 ppT[0] = 0;
781 }
782 /* END AUTO BLOB TRACKER INTERFACE */
783
784
785 /* Constructor functions and data for specific BlobTRackerAuto modules: */
786
787 /* Parameters of blobtracker auto ver1: */
788 struct CvBlobTrackerAutoParam1
789 {
790 int FGTrainFrames; /* Number of frames needed for FG (foreground) detector to train. */
791
792 CvFGDetector* pFG; /* FGDetector module. If this field is NULL the Process FG mask is used. */
793
794 CvBlobDetector* pBD; /* Selected blob detector module. */
795 /* If this field is NULL default blobdetector module will be created. */
796
797 CvBlobTracker* pBT; /* Selected blob tracking module. */
798 /* If this field is NULL default blobtracker module will be created. */
799
800 CvBlobTrackGen* pBTGen; /* Selected blob trajectory generator. */
801 /* If this field is NULL no generator is used. */
802
803 CvBlobTrackPostProc* pBTPP; /* Selected blob trajectory postprocessing module. */
804 /* If this field is NULL no postprocessing is done. */
805
806 int UsePPData;
807
808 CvBlobTrackAnalysis* pBTA; /* Selected blob trajectory analysis module. */
809 /* If this field is NULL no track analysis is done. */
810 };
811
812 /* Create blob tracker auto ver1: */
813 CV_EXPORTS CvBlobTrackerAuto* cvCreateBlobTrackerAuto1(CvBlobTrackerAutoParam1* param = NULL);
814
815 /* Simple loader for many auto trackers by its type : */
816 inline CvBlobTrackerAuto* cvCreateBlobTrackerAuto(int type, void* param)
817 {
818 if(type == 0) return cvCreateBlobTrackerAuto1((CvBlobTrackerAutoParam1*)param);
819 return 0;
820 }
821
822
823
824 struct CvTracksTimePos
825 {
826 int len1,len2;
827 int beg1,beg2;
828 int end1,end2;
829 int comLen; //common length for two tracks
830 int shift1,shift2;
831 };
832
833 /*CV_EXPORTS int cvCompareTracks( CvBlobTrackSeq *groundTruth,
834 CvBlobTrackSeq *result,
835 FILE *file);*/
836
837
838 /* Constructor functions: */
839
840 CV_EXPORTS void cvCreateTracks_One(CvBlobTrackSeq *TS);
841 CV_EXPORTS void cvCreateTracks_Same(CvBlobTrackSeq *TS1, CvBlobTrackSeq *TS2);
842 CV_EXPORTS void cvCreateTracks_AreaErr(CvBlobTrackSeq *TS1, CvBlobTrackSeq *TS2, int addW, int addH);
843
844
845 /* HIST API */
846 class CV_EXPORTS CvProb
847 {
848 public:
849 virtual ~CvProb() {};
850
851 /* Calculate probability value: */
852 virtual double Value(int* /*comp*/, int /*x*/ = 0, int /*y*/ = 0){return -1;};
853
854 /* Update histograpp Pnew = (1-W)*Pold + W*Padd*/
855 /* W weight of new added prob */
856 /* comps - matrix of new fetature vectors used to update prob */
857 virtual void AddFeature(float W, int* comps, int x =0, int y = 0) = 0;
858 virtual void Scale(float factor = 0, int x = -1, int y = -1) = 0;
859 virtual void Release() = 0;
860 };
861 inline void cvReleaseProb(CvProb** ppProb){ppProb[0]->Release();ppProb[0]=NULL;}
862 /* HIST API */
863
864 /* Some Prob: */
865 CV_EXPORTS CvProb* cvCreateProbS(int dim, CvSize size, int sample_num);
866 CV_EXPORTS CvProb* cvCreateProbMG(int dim, CvSize size, int sample_num);
867 CV_EXPORTS CvProb* cvCreateProbMG2(int dim, CvSize size, int sample_num);
868 CV_EXPORTS CvProb* cvCreateProbHist(int dim, CvSize size);
869
870 #define CV_BT_HIST_TYPE_S 0
871 #define CV_BT_HIST_TYPE_MG 1
872 #define CV_BT_HIST_TYPE_MG2 2
873 #define CV_BT_HIST_TYPE_H 3
874 inline CvProb* cvCreateProb(int type, int dim, CvSize size = cvSize(1,1), void* /*param*/ = NULL)
875 {
876 if(type == CV_BT_HIST_TYPE_S) return cvCreateProbS(dim, size, -1);
877 if(type == CV_BT_HIST_TYPE_MG) return cvCreateProbMG(dim, size, -1);
878 if(type == CV_BT_HIST_TYPE_MG2) return cvCreateProbMG2(dim, size, -1);
879 if(type == CV_BT_HIST_TYPE_H) return cvCreateProbHist(dim, size);
880 return NULL;
881 }
882
883
884
885 /* Noise type definitions: */
886 #define CV_NOISE_NONE 0
887 #define CV_NOISE_GAUSSIAN 1
888 #define CV_NOISE_UNIFORM 2
889 #define CV_NOISE_SPECKLE 3
890 #define CV_NOISE_SALT_AND_PEPPER 4
891
892 /* Add some noise to image: */
893 /* pImg - (input) image without noise */
894 /* pImg - (output) image with noise */
895 /* noise_type - type of added noise */
896 /* CV_NOISE_GAUSSIAN - pImg += n , n - is gaussian noise with Ampl standart deviation */
897 /* CV_NOISE_UNIFORM - pImg += n , n - is uniform noise with Ampl standart deviation */
898 /* CV_NOISE_SPECKLE - pImg += n*pImg , n - is gaussian noise with Ampl standart deviation */
899 /* CV_NOISE_SALT_AND_PAPPER - pImg = pImg with blacked and whited pixels,
900 Ampl is density of brocken pixels (0-there are not broken pixels, 1 - all pixels are broken)*/
901 /* Ampl - "amplitude" of noise */
902 //CV_EXPORTS void cvAddNoise(IplImage* pImg, int noise_type, double Ampl, CvRNG* rnd_state = NULL);
903
904 /*================== GENERATOR OF TEST VIDEO SEQUENCE ===================== */
905 typedef void CvTestSeq;
906
907 /* pConfigfile - Name of file (yml or xml) with description of test sequence */
908 /* videos - array of names of test videos described in "pConfigfile" file */
909 /* numvideos - size of "videos" array */
910 CV_EXPORTS CvTestSeq* cvCreateTestSeq(char* pConfigfile, char** videos, int numvideo, float Scale = 1, int noise_type = CV_NOISE_NONE, double noise_ampl = 0);
911 CV_EXPORTS void cvReleaseTestSeq(CvTestSeq** ppTestSeq);
912
913 /* Generate next frame from test video seq and return pointer to it: */
914 CV_EXPORTS IplImage* cvTestSeqQueryFrame(CvTestSeq* pTestSeq);
915
916 /* Return pointer to current foreground mask: */
917 CV_EXPORTS IplImage* cvTestSeqGetFGMask(CvTestSeq* pTestSeq);
918
919 /* Return pointer to current image: */
920 CV_EXPORTS IplImage* cvTestSeqGetImage(CvTestSeq* pTestSeq);
921
922 /* Return frame size of result test video: */
923 CV_EXPORTS CvSize cvTestSeqGetImageSize(CvTestSeq* pTestSeq);
924
925 /* Return number of frames result test video: */
926 CV_EXPORTS int cvTestSeqFrameNum(CvTestSeq* pTestSeq);
927
928 /* Return number of existing objects.
929 * This is general number of any objects.
930 * For example number of trajectories may be equal or less than returned value:
931 */
932 CV_EXPORTS int cvTestSeqGetObjectNum(CvTestSeq* pTestSeq);
933
934 /* Return 0 if there is not position for current defined on current frame */
935 /* Return 1 if there is object position and pPos was filled */
936 CV_EXPORTS int cvTestSeqGetObjectPos(CvTestSeq* pTestSeq, int ObjIndex, CvPoint2D32f* pPos);
937 CV_EXPORTS int cvTestSeqGetObjectSize(CvTestSeq* pTestSeq, int ObjIndex, CvPoint2D32f* pSize);
938
939 /* Add noise to final image: */
940 CV_EXPORTS void cvTestSeqAddNoise(CvTestSeq* pTestSeq, int noise_type = CV_NOISE_NONE, double noise_ampl = 0);
941
942 /* Add Intensity variation: */
943 CV_EXPORTS void cvTestSeqAddIntensityVariation(CvTestSeq* pTestSeq, float DI_per_frame, float MinI, float MaxI);
944 CV_EXPORTS void cvTestSeqSetFrame(CvTestSeq* pTestSeq, int n);
945
946 #endif
947
948 /* End of file. */