modules/legacy/src/blobtrackingccwithcr.cpp

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  40
  41 #include "precomp.hpp"
  42
  43 /* Blob (foreground-pixel connected-component) tracking with collision resolution.
  44  *
  45  * For entrypoints into the literature see:
  46  *
  47  *  A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking
  48  *  Arulampalam &t al, 2001, 15p
  49  *  http://www-clmc.usc.edu/publications/A/arulampalam-TSP2002.pdf
  50  *
  51  *  Particle Filters for Positioning, Navigation, and Tracking
  52  *  Gustafsson et al, 2002 12p
  53  *  http://www.control.isy.liu.se/~fredrik/reports/01SPpf4pos.pdf
  54  *
  55  *  Particle Filtering in High Clutter Environments
  56  *  Korhonen et al, 2005 4p
  57  *  http://www.cs.uku.fi/finsig05/papers/paper26_FINSIG05.pdf
  58  *
  59  *   Appearance Models for Occlusion Handling
  60  *   Andrew Senior &t al, 8p 2001
  61  *   http://www.research.ibm.com/peoplevision/PETS2001.pdf
  62  *
  63  */
  64
  65 /*============== BLOB TRACKERCC CLASS DECLARATION =============== */
  66 typedef struct DefBlobTrackerCR
  67 {
  68     CvBlob                      blob;
  69     CvBlobTrackPredictor*       pPredictor;
  70     CvBlob                      BlobPredict;
  71     CvBlob                      BlobPrev;
  72     int                         Collision;
  73     CvBlobSeq*                  pBlobHyp;
  74     CvBlobTrackerOne*           pResolver;
  75 } DefBlobTrackerCR;
  76
  77 void cvFindBlobsByCCClasters(IplImage* pFG, CvBlobSeq* pBlobs, CvMemStorage* storage);
  78
  79 class CvBlobTrackerCCCR : public CvBlobTracker
  80 {
  81 private:
  82     float           m_AlphaSize;
  83     int             m_Collision;
  84     CvBlobSeq       m_BlobList;
  85     CvBlobSeq       m_BlobListNew;
  86     CvMemStorage*   m_pMem;
  87     CvBlobTrackerOne* (*m_CreateCR)();
  88     char            m_ModuleName[1024];
  89
  90
  91 public:
  92     CvBlobTrackerCCCR(CvBlobTrackerOne* (*CreateCR)(), const char* CRName):m_BlobList(sizeof(DefBlobTrackerCR))
  93     {
  94         m_CreateCR = CreateCR;
  95         m_pMem = cvCreateMemStorage();
  96
  97         m_Collision = 1; /* if 1 then collistion will be detected and processed */
  98
  99         m_AlphaSize = 0.05f;
 100         AddParam("AlphaSize",&m_AlphaSize);
 101         CommentParam("AlphaSize", "Size update speed (0..1)");
 102
 103         strcpy(m_ModuleName, "CCCR");
 104         if(CRName)strcat(m_ModuleName,CRName);
 105         SetModuleName(m_ModuleName);
 106
 107         {
 108             CvBlobTrackerOne* pM = m_CreateCR();
 109             TransferParamsFromChild(pM,NULL);
 110             pM->Release();
 111         }
 112         SetParam("SizeVar",0);
 113     }
 114
 115     ~CvBlobTrackerCCCR()
 116     {
 117         if(m_pMem)cvReleaseMemStorage(&m_pMem);
 118     }
 119
 120     /* Blob functions: */
 121     virtual int     GetBlobNum() {return m_BlobList.GetBlobNum();}
 122     virtual CvBlob* GetBlob(int BlobIndex){return m_BlobList.GetBlob(BlobIndex);}
 123     virtual void    SetBlob(int BlobIndex, CvBlob* pBlob)
 124     {
 125         CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
 126         if(pB) pB[0] = pBlob[0];
 127     }
 128
 129     virtual CvBlob* GetBlobByID(int BlobID){return m_BlobList.GetBlobByID(BlobID);}
 130     virtual void    DelBlob(int BlobIndex)
 131     {
 132         DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)m_BlobList.GetBlob(BlobIndex);
 133         if(pBT->pResolver)pBT->pResolver->Release();
 134         if(pBT->pPredictor)pBT->pPredictor->Release();
 135         delete pBT->pBlobHyp;
 136         m_BlobList.DelBlob(BlobIndex);
 137     }
 138
 139     virtual void    DelBlobByID(int BlobID)
 140     {
 141         DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)m_BlobList.GetBlobByID(BlobID);
 142         if(pBT->pResolver)pBT->pResolver->Release();
 143         if(pBT->pPredictor)pBT->pPredictor->Release();
 144         delete pBT->pBlobHyp;
 145         m_BlobList.DelBlobByID(BlobID);
 146     }
 147
 148     virtual void    Release(){delete this;}
 149
 150     /* Add new blob to track it and assign to this blob personal ID */
 151     /* pBlob - pinter to structure with blob parameters (ID is ignored)*/
 152     /* pImg - current image */
 153     /* pImgFG - current foreground mask */
 154     /* Return pointer to new added blob: */
 155     virtual CvBlob* AddBlob(CvBlob* pB, IplImage* pImg, IplImage* pImgFG = NULL )
 156     {
 157         DefBlobTrackerCR NewB;
 158         NewB.blob = pB[0];
 159         NewB.pBlobHyp = new CvBlobSeq;
 160         NewB.pPredictor = cvCreateModuleBlobTrackPredictKalman(); /* module for predict position */
 161         NewB.pPredictor->SetParam("DataNoisePos",0.001);
 162         NewB.pPredictor->ParamUpdate();
 163         NewB.pResolver = NULL;
 164         if(m_CreateCR)
 165         {
 166             NewB.pResolver = m_CreateCR();
 167             TransferParamsToChild(NewB.pResolver,NULL);
 168             NewB.pResolver->Init(pB, pImg, pImgFG);
 169         }
 170         m_BlobList.AddBlob((CvBlob*)&NewB);
 171         return m_BlobList.GetBlob(m_BlobList.GetBlobNum()-1);
 172     }
 173
 174     virtual void    Process(IplImage* pImg, IplImage* pImgFG = NULL)
 175     {
 176         CvSeq*      cnts;
 177         CvSeq*      cnt;
 178         //CvMat*      pMC = NULL;
 179
 180         if(m_BlobList.GetBlobNum() <= 0 ) return;
 181
 182         /* Clear blob list for new blobs: */
 183         m_BlobListNew.Clear();
 184
 185         assert(m_pMem);
 186         cvClearMemStorage(m_pMem);
 187         assert(pImgFG);
 188
 189         {   /* One contour - one blob: */
 190             IplImage* pBin = cvCloneImage(pImgFG);
 191             assert(pBin);
 192             cvThreshold(pBin,pBin,128,255,CV_THRESH_BINARY);
 193             cvFindContours(pBin, m_pMem, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
 194
 195             /* Process each contour: */
 196             for(cnt = cnts; cnt; cnt=cnt->h_next)
 197             {
 198                 CvBlob  NewBlob;
 199
 200                 /* Image moments: */
 201                 double      M00,X,Y,XX,YY;
 202                 CvMoments   m;
 203                 CvRect      r = ((CvContour*)cnt)->rect;
 204                 CvMat       mat;
 205                 if(r.height < 3 || r.width < 3) continue;
 206                 cvMoments( cvGetSubRect(pImgFG,&mat,r), &m, 0 );
 207                 M00 = cvGetSpatialMoment( &m, 0, 0 );
 208                 if(M00 <= 0 ) continue;
 209                 X = cvGetSpatialMoment( &m, 1, 0 )/M00;
 210                 Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
 211                 XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
 212                 YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
 213                 NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
 214                 m_BlobListNew.AddBlob(&NewBlob);
 215
 216             }   /* Next contour. */
 217
 218             cvReleaseImage(&pBin);
 219         }
 220
 221         for(int i=m_BlobList.GetBlobNum(); i>0; --i)
 222         {   /* Predict new blob position. */
 223             CvBlob*             pB = NULL;
 224             DefBlobTrackerCR*   pBT = (DefBlobTrackerCR*)m_BlobList.GetBlob(i-1);
 225
 226             /* Update predictor. */
 227             pBT->pPredictor->Update(&(pBT->blob));
 228             pB = pBT->pPredictor->Predict();
 229             if(pB)
 230             {
 231                 pBT->BlobPredict = pB[0];
 232             }
 233             pBT->BlobPrev = pBT->blob;
 234         }   /* Predict new blob position. */
 235
 236
 237         if(m_BlobList.GetBlobNum()>0 && m_BlobListNew.GetBlobNum()>0)
 238         {   /* Resolve new blob to old: */
 239             int NOld = m_BlobList.GetBlobNum();
 240             int NNew = m_BlobListNew.GetBlobNum();
 241
 242             for(int i=0; i<NOld; i++)
 243             {   /* Set 0 collision and clear all hyp: */
 244                 DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i);
 245                 pF->Collision = 0;
 246                 pF->pBlobHyp->Clear();
 247             }   /* Set 0 collision. */
 248
 249             /* Create correspondence records: */
 250             for(int j=0; j<NNew; ++j)
 251             {
 252                 CvBlob*             pB1 = m_BlobListNew.GetBlob(j);
 253                 DefBlobTrackerCR*   pFLast = NULL;
 254
 255                 for(int i=0; i<NOld; i++)
 256                 {   /* Check intersection: */
 257                     int Intersection = 0;
 258                     DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i);
 259                     CvBlob* pB2 = &(pF->BlobPredict);
 260
 261                     if( fabs(pB1->x-pB2->x)<0.5*(pB1->w+pB2->w) &&
 262                         fabs(pB1->y-pB2->y)<0.5*(pB1->h+pB2->h) ) Intersection = 1;
 263
 264                     if(Intersection)
 265                     {
 266                         if(pFLast)
 267                         {
 268                             pF->Collision = pFLast->Collision = 1;
 269                         }
 270                         pFLast = pF;
 271                         pF->pBlobHyp->AddBlob(pB1);
 272                     }
 273                 }   /* Check intersection. */
 274             }   /*  Check next new blob. */
 275         }   /*  Resolve new blob to old. */
 276
 277         for(int i=m_BlobList.GetBlobNum(); i>0; --i)
 278         {   /* Track each blob. */
 279             CvBlob*             pB = m_BlobList.GetBlob(i-1);
 280             DefBlobTrackerCR*   pBT = (DefBlobTrackerCR*)pB;
 281             int                 BlobID = CV_BLOB_ID(pB);
 282           //CvBlob*             pBBest = NULL;
 283           //double              DistBest = -1;
 284
 285             if(pBT->pResolver)
 286             {
 287                 pBT->pResolver->SetCollision(pBT->Collision);
 288             }
 289
 290             if(pBT->Collision)
 291             {   /* Tracking in collision: */
 292                 if(pBT->pResolver)
 293                 {
 294                     pB[0] = pBT->pResolver->Process(&(pBT->BlobPredict),pImg, pImgFG)[0];
 295                 }
 296             }   /* Tracking in collision. */
 297             else
 298             {   /* Non-collision tracking: */
 299                 CvBlob  NewCC = pBT->BlobPredict;
 300                 if(pBT->pBlobHyp->GetBlobNum()==1)
 301                 {   /* One blob to one CC: */
 302                     NewCC = pBT->pBlobHyp->GetBlob(0)[0];
 303                 }
 304                 else
 305                 {   /* One blob several CC: */
 306                     CvBlob* pBBest = NULL;
 307                     double  DistBest = -1;
 308                     double  CMax = 0;
 309                     for(int j=pBT->pBlobHyp->GetBlobNum();j>0;--j)
 310                     {   /* Find best CC: */
 311                         CvBlob* pBNew = pBT->pBlobHyp->GetBlob(j-1);
 312                         if(pBT->pResolver)
 313                         {     /* Choose CC by confidence: */
 314 //                            double  dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
 315 //                            double  dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
 316                             double  C = pBT->pResolver->GetConfidence(pBNew,pImg, pImgFG);
 317                             if(C > CMax || pBBest == NULL)
 318                             {
 319                                 CMax = C;
 320                                 pBBest = pBNew;
 321                             }
 322                         }
 323                         else
 324                         {    /* Choose CC by distance: */
 325                             double  dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
 326                             double  dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
 327                             double  Dist = sqrt(dx*dx+dy*dy);
 328                             if(Dist < DistBest || pBBest == NULL)
 329                             {
 330                                 DistBest = Dist;
 331                                 pBBest = pBNew;
 332                             }
 333                         }
 334                     }   /* Find best CC. */
 335                     if(pBBest)
 336                         NewCC = pBBest[0];
 337                 }   /* One blob several CC. */
 338                 pB->x = NewCC.x;
 339                 pB->y = NewCC.y;
 340                 pB->w = (m_AlphaSize)*NewCC.w+(1-m_AlphaSize)*pB->w;
 341                 pB->h = (m_AlphaSize)*NewCC.h+(1-m_AlphaSize)*pB->h;
 342                 pBT->pResolver->SkipProcess(&(pBT->BlobPredict),pImg, pImgFG);
 343             }   /* Non-collision tracking. */
 344
 345             pBT->pResolver->Update(pB, pImg, pImgFG);
 346
 347             CV_BLOB_ID(pB)=BlobID;
 348
 349         }   /* Track next blob. */
 350
 351         if(m_Wnd)
 352         {
 353             IplImage* pI = cvCloneImage(pImg);
 354             for(int i=m_BlobListNew.GetBlobNum(); i>0; --i)
 355             {   /* Draw each new CC: */
 356                 CvBlob* pB = m_BlobListNew.GetBlob(i-1);
 357                 CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
 358                 int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
 359                 CvSize  s = cvSize(MAX(1,x), MAX(1,y));
 360                 //int c = 255;
 361                 cvEllipse( pI,
 362                     p,
 363                     s,
 364                     0, 0, 360,
 365                     CV_RGB(255,255,0), 1 );
 366             }
 367
 368             for(int i=m_BlobList.GetBlobNum(); i>0; --i)
 369             {   /* Draw each new CC: */
 370                 DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i-1);
 371                 CvBlob* pB = &(pF->BlobPredict);
 372                 CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
 373                 int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
 374                 CvSize  s = cvSize(MAX(1,x), MAX(1,y));
 375                 cvEllipse( pI,
 376                     p,
 377                     s,
 378                     0, 0, 360,
 379                     CV_RGB(0,0,255), 1 );
 380
 381                 pB = &(pF->blob);
 382                 p = cvPointFrom32f(CV_BLOB_CENTER(pB));
 383                 x = cvRound(CV_BLOB_RX(pB)); y = cvRound(CV_BLOB_RY(pB));
 384                 s = cvSize(MAX(1,x), MAX(1,y));
 385                 cvEllipse( pI,
 386                     p,
 387                     s,
 388                     0, 0, 360,
 389                     CV_RGB(0,255,0), 1 );
 390             }
 391
 392             //cvNamedWindow("CCwithCR",0);
 393             //cvShowImage("CCwithCR",pI);
 394             cvReleaseImage(&pI);
 395         }
 396
 397     } /* Process. */
 398
 399     virtual void SaveState(CvFileStorage* fs)
 400     {
 401         int     b,bN = m_BlobList.GetBlobNum();
 402         cvWriteInt(fs,"BlobNum",m_BlobList.GetBlobNum());
 403         cvStartWriteStruct(fs,"BlobList",CV_NODE_SEQ);
 404
 405         for(b=0; b<bN; ++b)
 406         {
 407             DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(b);
 408             cvStartWriteStruct(fs,NULL,CV_NODE_MAP);
 409             cvWriteInt(fs,"ID",CV_BLOB_ID(pF));
 410             cvStartWriteStruct(fs,"Blob",CV_NODE_SEQ|CV_NODE_FLOW);
 411             cvWriteRawData(fs,&(pF->blob),1,"ffffi");
 412             cvEndWriteStruct(fs);
 413             cvStartWriteStruct(fs,"BlobPredict",CV_NODE_SEQ|CV_NODE_FLOW);
 414             cvWriteRawData(fs,&(pF->BlobPredict),1,"ffffi");
 415             cvEndWriteStruct(fs);
 416             cvStartWriteStruct(fs,"BlobPrev",CV_NODE_SEQ|CV_NODE_FLOW);
 417             cvWriteRawData(fs,&(pF->BlobPrev),1,"ffffi");
 418             cvEndWriteStruct(fs);
 419             pF->pBlobHyp->Write(fs,"BlobHyp");
 420             cvWriteInt(fs,"Collision",pF->Collision);
 421
 422             cvStartWriteStruct(fs,"Predictor",CV_NODE_MAP);
 423             pF->pPredictor->SaveState(fs);
 424             cvEndWriteStruct(fs);
 425
 426             cvStartWriteStruct(fs,"Resolver",CV_NODE_MAP);
 427             pF->pResolver->SaveState(fs);
 428             cvEndWriteStruct(fs);
 429             cvEndWriteStruct(fs);
 430         }
 431
 432         cvEndWriteStruct(fs);
 433
 434     }   /* SaveState. */
 435
 436     virtual void LoadState(CvFileStorage* fs, CvFileNode* node)
 437     {
 438         int         b,bN = cvReadIntByName(fs,node,"BlobNum",0);
 439         CvFileNode* pBlobListNode = cvGetFileNodeByName(fs,node,"BlobList");
 440         if(!CV_NODE_IS_SEQ(pBlobListNode->tag)) return;
 441         bN = pBlobListNode->data.seq->total;
 442
 443         for(b=0; b<bN; ++b)
 444         {
 445             DefBlobTrackerCR*   pF = NULL;
 446             CvBlob              Blob;
 447             CvFileNode*         pSeqNode = NULL;
 448             CvFileNode*         pBlobNode = (CvFileNode*)cvGetSeqElem(pBlobListNode->data.seq,b);
 449             assert(pBlobNode);
 450
 451             Blob.ID = cvReadIntByName(fs,pBlobNode,"ID",0);
 452
 453             pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Blob");
 454             if(CV_NODE_IS_SEQ(pSeqNode->tag))
 455                 cvReadRawData( fs, pSeqNode, &Blob, "ffffi" );
 456
 457             AddBlob(&Blob,NULL,NULL);
 458             pF = (DefBlobTrackerCR*)m_BlobList.GetBlobByID(Blob.ID);
 459
 460             pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobPredict");
 461             if(CV_NODE_IS_SEQ(pSeqNode->tag))
 462                 cvReadRawData( fs, pSeqNode, &pF->BlobPredict, "ffffi" );
 463
 464             pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobPrev");
 465             if(CV_NODE_IS_SEQ(pSeqNode->tag))
 466                 cvReadRawData( fs, pSeqNode, &pF->BlobPrev, "ffffi" );
 467
 468             pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobHyp");
 469             if(pSeqNode)
 470                 pF->pBlobHyp->Load(fs,pSeqNode);
 471             pF->Collision = cvReadIntByName(fs, pBlobNode,"Collision",pF->Collision);
 472
 473             pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Predictor");
 474             if(pSeqNode)
 475                 pF->pPredictor->LoadState(fs,pSeqNode);
 476
 477             pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Resolver");
 478             if(pSeqNode)
 479                 pF->pResolver->LoadState(fs,pSeqNode);
 480         }   /* Read next blob. */
 481     }   /*  CCwithCR LoadState */
 482
 483     //void SetCollision(int Collision){m_Collision = Collision;}
 484 };
 485
 486 CvBlobTrackerOne* cvCreateBlobTrackerOneMSPF();
 487 CvBlobTracker* cvCreateBlobTrackerCCMSPF()
 488 {
 489     return (CvBlobTracker*) new CvBlobTrackerCCCR(cvCreateBlobTrackerOneMSPF,"MSPF");
 490 }
 491 /*============== BLOB TRACKERCC CLASS DECLARATION =============== */