//This is a modify code from opencv2.1 sample code, camshiftdemo.cpp
//This program tracks a orange ping-pong ball
//LOG
//April 2, 2011: work on cvHoughCircle implemetation
//Note houghcircle doesn't work for real time applications
#ifdef _CH_
#pragma package <opencv>
#endif
#define CV_NO_BACKWARD_COMPATIBILITY
#ifndef _EiC
#include <cv.h>
#include <highgui.h>
#include <cxcore.h>
#include <stdio.h>
#include <ctype.h>
#include <time.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <math.h>
#include <float.h>
#include <limits.h>
#endif
IplImage *image = 0, *hsv = 0, *hue = 0, *mask = 0, *backproject = 0, *histimg = 0, *dst=0;
CvHistogram *hist = 0;
//initialize for cvHoughCircles
CvScalar hsv_min;
CvScalar hsv_max;
CvMemStorage* storage;
CvSeq* circles;
int backproject_mode = 0;
int select_object = 0;
int track_object = 0;
int show_hist = 1;
CvPoint origin;
CvRect selection;
CvRect leftside_selection; //added april 8, 2011, if out of view activate this tracking window
CvRect rightside_selection;//april 8, 2011
CvRect topside_selection; //april 8, 2011
CvRect bottomside_selection; //april 8, 2011
CvRect loutofviewTrackWin; //April 8, 2011 leftside out of view track window
CvRect routofviewTrackWin; //April 8, 2011
CvRect toutofviewTrackWin; //April 8, 2011
CvRect boutofviewTrackWin; //April 8, 2011
CvRect track_window;
CvBox2D track_box;
CvConnectedComp track_comp;
int hdims = 16;
float hranges_arr[] = {0,180};
float* hranges = hranges_arr;
//intialized here
//int vmin = 10, vmax = 256, smin = 30;
int vmin = 129, vmax = 256, smin = 86; //NOTE: select window in the ping-pong ball
void on_mouse( int event, int x, int y, int flags, void* param )
{
if( !image )
return;
if( image->origin )
y = image->height - y;
// do until CV_EVENT_LBUTTONUP if deactivated
if( select_object )
{
selection.x = MIN(x,origin.x); // select x-positon of left side
selection.y = MIN(y,origin.y); // select y-positon of bottom line
selection.width = selection.x + CV_IABS(x - origin.x); // width = x-position of left side + difference between original x and x
selection.height = selection.y + CV_IABS(y - origin.y); // height = y-position of bottom line + difference between original y and y
//selection.x = MAX( selection.x, 0 );
//selection.y = MAX( selection.y, 0 );
//selection.width = MIN( selection.width, image->width );
//selection.height = MIN( selection.height, image->height );
// if mouse cursor is at out-of-screen
//credit: http://read.pudn.com/downloads113/sourcecode/graph/text_recognize/474257/5/camshift.cpp__.htm
if( (selection.x < 0) || (selection.y < 0)){
selection.x = MAX( selection.x, 0 );
selection.y = MAX( selection.y, 0 );
}
// if width of height of selection box is larger than image's then
//credit: http://read.pudn.com/downloads113/sourcecode/graph/text_recognize/474257/5/camshift.cpp__.htm
if( (selection.width > image->width) || (selection.height > image->height) ){
selection.width = MIN( selection.width, image->width );
selection.height = MIN( selection.height, image->height );
}
// measurement of width and height of selection box in above is not actually width and height.
// because x and y position in above are started at (0,0), we just add it to difference between original x,y and x,y in above
// we need following calculation
printf("selection.x = %d, selection.y= %d\n", selection.x, selection.y);
selection.width -= selection.x;
selection.height -= selection.y;
printf("selection.width = %d, selection.height= %d\n", selection.width, selection.height);
}
switch( event )
{
case CV_EVENT_LBUTTONDOWN:
origin = cvPoint(x,y); // save a position of mouse cursor during left button of mouse is down
selection = cvRect(x,y,0,0);
select_object = 1;
break;
case CV_EVENT_LBUTTONUP:
select_object = 0;
if( selection.width > 0 && selection.height > 0 )
track_object = -1; // selection box is selected
break;
}
}
CvScalar hsv2rgb( float hue )
{
int rgb[3], p, sector;
static const int sector_data[][3]=
{{0,2,1}, {1,2,0}, {1,0,2}, {2,0,1}, {2,1,0}, {0,1,2}};
hue *= 0.033333333333333333333333333333333f;
sector = cvFloor(hue);
p = cvRound(255*(hue - sector));
p ^= sector & 1 ? 255 : 0;
rgb[sector_data[sector][0]] = 255;
rgb[sector_data[sector][1]] = 0;
rgb[sector_data[sector][2]] = p;
return cvScalar(rgb[2], rgb[1], rgb[0],0);
}
int main( int argc, char** argv )
{
CvCapture* capture = 0;
CvFont font;
CvPoint boxcenter;
CvPoint boxcenter2;
int radius;
char* aText[36];// character array for output
CvPoint2D32f dcenter;// struct to local center of tracked object
CvPoint2D32f center;// struct to local center of of box
CvSize2D32f boxDim;// struct store the box height and width
//select webcam or avi video file
if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
else if( argc == 2 )
capture = cvCaptureFromAVI( argv[1] );
if( !capture )//if no webcam or avi video print error message
{
fprintf(stderr,"Could not initialize capturing...\n");
return -1;
}
printf( "Hot keys: \n"
"\tESC - quit the program\n"
"\tc - stop the tracking\n"
"\tb - switch to/from backprojection view\n"
"\th - show/hide object histogram\n"
"To initialize tracking, select the object with mouse\n" );
//add window here
cvNamedWindow( "Histogram", 1 );
cvNamedWindow( "CamShiftDemo", 1 );
//cvNamedWindow( "hsv", 1 );//added April 7, 2011
//cvNamedWindow( "mask", 1 );//
//cvNamedWindow( "hue", 1 );
cvSetMouseCallback( "CamShiftDemo", on_mouse, 0 );
//printf("track_object = %d \n", track_object);
//create trackbar here
cvCreateTrackbar( "Vmin", "CamShiftDemo", &vmin, 256, 0 );
cvCreateTrackbar( "Vmax", "CamShiftDemo", &vmax, 256, 0 );
cvCreateTrackbar( "Smin", "CamShiftDemo", &smin, 256, 0 );
for(;;)// very long for loop
{
IplImage* frame = 0;
int i, bin_w, c;
frame = cvQueryFrame( capture );
if( !frame )
break;
if( !image )//basically intialized here
{
/* allocate all the buffers */
image = cvCreateImage( cvGetSize(frame), 8, 3 );
image->origin = frame->origin;
hsv = cvCreateImage( cvGetSize(frame), 8, 3 );
hue = cvCreateImage( cvGetSize(frame), 8, 1 );
mask = cvCreateImage( cvGetSize(frame), 8, 1 );
backproject = cvCreateImage( cvGetSize(frame), 8, 1 );
hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
histimg = cvCreateImage( cvSize(320,200), 8, 3 );
cvZero( histimg );
dst = cvCreateImage( cvGetSize(frame), 8, 1 );//added April 6, 2011 for cvCanny
leftside_selection = cvRect(0,0,image->width/32, image->height);//April 8, 2011, specify tracking window
rightside_selection = cvRect(620,0,image->width/32, image->height);//April 8, 2011
topside_selection = cvRect(0,0,image->width, image->height/24);//April 8, 2011
bottomside_selection = cvRect(0,460,image->width, image->height/24);//April 8, 2011
//checking the output of leftside_selection
//printf("leftside_selection.x = %d, leftside_selection.y = %d\n", leftside_selection.x, leftside_selection.y);
//printf("leftside_selection.width = %d, leftside_selection.height = %d\n", leftside_selection.width, leftside_selection.height);
}//end if( !image )
cvCopy( frame, image, 0 );
cvCvtColor( image, hsv, CV_BGR2HSV );//conversion bgr color space to hsv
//printf("track_object_1 = %d \n", track_object);
if( track_object )
{
int _vmin = vmin, _vmax = vmax;
//printf("_vmin= %d \n", vmin);
//Checks that array elements lie between two scalars.
cvInRangeS(
hsv,
cvScalar(0,smin,MIN(_vmin,_vmax),0),
cvScalar(180,256,MAX(_vmin,_vmax),0),
mask );
//Divides multi-channel array into several single-channel arrays
//or extracts a single channel from the array.
cvSplit( hsv, hue, 0, 0, 0 );
//printf("track_object_2 = %d \n", track_object);
if( track_object < 0 )
{
float max_val = 0.f; //max_val = 0.000000
float test=0.f;
float a =0.f;
cvSetImageROI( hue, selection );
cvSetImageROI( mask, selection );
cvCalcHist( &hue, hist, 0, mask );//Calculates the histogram of image(s).
cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 );//Finds the minimum and maximum histogram bins.
//Converts one array to another with optional linear transformation.
cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );
//a = 255./max_val; // uncomment to see result, added April 7,2011
//test=max_val ? 255. / max_val : 0.;
//printf("max_val = %f , a = %f\n",max_val, a );
//Resets the image ROI to include the entire image and releases the ROI structure.
cvResetImageROI( hue );
cvResetImageROI( mask );
track_window = selection;
loutofviewTrackWin = leftside_selection;//april 8, 2011
routofviewTrackWin = rightside_selection;//april 8, 2011
toutofviewTrackWin = topside_selection;//april 8, 2011
boutofviewTrackWin = bottomside_selection;//april 8, 2011
track_object = 1;//By setting to 1 a loop is form
cvZero( histimg );
bin_w = histimg->width / hdims;
//printf("bin_w = %d, histimg->width = %d,hdims=%d \n",bin_w,histimg->width, hdims );
//bin_w = 20, histimg->width = 320,hdims=16
for( i = 0; i < hdims; i++ )
{
//cvGetReal1D: Return a specific element of single-channel array.
int val = cvRound( cvGetReal1D(hist->bins,i)*histimg->height/255 );//very fast float->int conversion
CvScalar color = hsv2rgb(i*180.f/hdims);
//draw histograph
cvRectangle(
histimg,
cvPoint(i*bin_w,histimg->height),
cvPoint((i+1)*bin_w,histimg->height - val),
color, -1, 8, 0 );
//printf("val(%d) = %d \n", i,val);
//val(0) = 0
//val(1) = 200 (orange)
//val(2) = 0
//val(3) = 0
//val(4) = 0
//val(5) = 0
//val(6) = 0
//val(7) = 0
//val(8) = 0
//val(9) = 0
//val(10) = 0
//val(11) = 0
//val(12) = 0
//val(13) = 0
//val(14) = 0
//val(15) = 0
}// end for( i = 0; i < hdims; i++ )
}// if( track_object < 0 )
cvCalcBackProject( &hue, backproject, hist );//Calculates the back projection.
cvAnd( backproject, mask, backproject, 0 );//Calculates per-element bit-wise conjunction of two arrays.
//erode backproject, added april 7/11
//cvErode(backproject,backproject,0,3);
//smooth backproject, added april 7/11
//cvSmooth(backproject,backproject,CV_GAUSSIAN,13,0,0,0);
cvCamShift(
backproject,
track_window,
cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1),
&track_comp, &track_box );
//track_window = track_comp.rect;
//credit: http://read.pudn.com/downloads113/sourcecode/graph/text_recognize/474257/5/camshift.cpp__.htm
center =track_box.center;
//if object is out of view on the left side select ioutofviewTrackwin
if( center.x >=0 && center.x <=20)//leftside
track_window = loutofviewTrackWin;
else if( center.x >=620 && center.x <=640)//rightside
track_window = routofviewTrackWin;
else if( center.y >=0 && center.y <=20)//topside
track_window = toutofviewTrackWin;
else if( center.y >=460 && center.y <=480)//bottomside
track_window = boutofviewTrackWin;
else
track_window = track_comp.rect;
//end if
boxDim =track_box.size;
boxcenter2=cvPointFrom32f(center);
//draw a circle around tracked ping-pong ball
radius = pow(pow((int)boxDim.height/3,2) +pow((int)boxDim.width/3,2), 0.5);
cvCircle( image, boxcenter2,radius , CV_RGB(255,0,255), 4, 8,0);
if( backproject_mode )
cvCvtColor( backproject, image, CV_GRAY2BGR );
if( !image->origin )
track_box.angle = -track_box.angle;
//cvEllipseBox( image, track_box, CV_RGB(255,0,0), 3, CV_AA, 0 );
//added April 2, 2011
//cvCanny(backproject, dst, 10,100, 3);
//cvNamedWindow( "cvCanny",CV_WINDOW_AUTOSIZE );
//cvShowImage( "cvCanny" , dst);
}//end if( track_object )
dcenter =track_box.center;
boxcenter=cvPointFrom32f(dcenter);
cvCircle( image, boxcenter, 3, CV_RGB(0,255,0), -1, 8,0);
//cvCircle( image, cvPoint(30,50), 3, CV_RGB(255,0,0), 30, 8,1);
cvInitFont( &font, CV_FONT_HERSHEY_COMPLEX, .65, .65, 0, 2, CV_AA);
//shows the location
sprintf(aText,"x=%d, y=%d, frame size =%d x %d",boxcenter.x,boxcenter.y,cvGetSize(frame) );
cvPutText( image, aText, cvPoint(20,20), &font, CV_RGB(255,0,0));
//fprintf(output,"%d, %d\n", boxcenter.x, boxcenter.y);
if( select_object && selection.width > 0 && selection.height > 0 )
{
cvSetImageROI( image, selection );
cvXorS( image, cvScalarAll(255), image, 0 );
cvResetImageROI( image );
}
//diplay window
cvShowImage( "CamShiftDemo", image );
cvShowImage( "Histogram", histimg );
//cvShowImage( "hsv", hsv);//added April 7, 2011
//cvShowImage( "mask", mask );
//cvShowImage( "hue", hue);
c = cvWaitKey(10);
if( (char) c == 27 )
break;
switch( (char) c )
{
case 'b':
backproject_mode ^= 1;
break;
case 'c':
track_object = 0;
cvZero( histimg );
break;
case 'h':
show_hist ^= 1;
if( !show_hist )
cvDestroyWindow( "Histogram" );
else
cvNamedWindow( "Histogram", 1 );
break;
default:
;
}//end if( track_object )
} //end for(;;)
cvReleaseCapture( &capture );
cvDestroyWindow("CamShiftDemo");
return 0;
}
#ifdef _EiC
main(1,"camshiftdemo.c");
#endif
//For testing outputs
//checking the output of leftside_selection
//printf("loutofviewTrackWin.x = %d, loutofviewTrackWin.y = %d\n", loutofviewTrackWin.x, loutofviewTrackWin.y);
//printf("loutofviewTrackWin.width = %d, loutofviewTrackWin.height = %d\n", loutofviewTrackWin.width, loutofviewTrackWin.height);
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