First CommitHEADmaster

1 files changed, 257 insertions, 0 deletions

diff --git a/sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp b/sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp
new file mode 100644
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+++ b/sci_gateway1/cpp/opencv_HistogramBasedTracker.cpp
@@ -0,0 +1,257 @@
+/***************************************************
+Author : Tanmay Chaudhari
+ ***************************************************/
+
+#include <numeric>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/opencv.hpp"
+#include <bits/stdc++.h>
+using namespace cv;
+using namespace std;
+extern "C"
+{
+#include "api_scilab.h"
+#include "Scierror.h"
+#include "BOOL.h"
+#include <localization.h>
+#include "sciprint.h"
+#include "../common.h"
+//#include "../common.cpp"
+
+	Mat image;
+	bool backprojMode = false;
+	bool selectObject = false;
+	int trackObject = 0;
+	Point origin;
+	Rect selection;
+	int vmin = 10, vmax = 256, smin = 30;
+    double xcord[1<<20];
+    double ycord[1<<20];
+    double width[1<<20];
+    double height[1<<20];
+    double orientation[1<<20];
+
+	static void onMouse( int event, int x, int y, int, void* )
+	{
+		if( selectObject )
+		{
+			selection.x = MIN(x, origin.x);
+			selection.y = MIN(y, origin.y);
+			selection.width = std::abs(x - origin.x);
+			selection.height = std::abs(y - origin.y);
+
+			selection &= Rect(0, 0, image.cols, image.rows);
+		}
+
+		switch( event )
+		{
+			case EVENT_LBUTTONDOWN:
+				origin = Point(x,y);
+				selection = Rect(x,y,0,0);
+				selectObject = true;
+				break;
+			case EVENT_LBUTTONUP:
+				selectObject = false;
+				if( selection.width > 0 && selection.height > 0 )
+					trackObject = -1;
+				break;
+		}
+	}
+	
+	int opencv_HistogramBasedTracker()
+	{	
+		SciErr sciErr;
+        int* piAddr = NULL;
+        int iRows = 0;
+        int iter = 0;
+        int iCols = 0;
+        int iRet = 0;
+        char** pstData = NULL;
+
+        CheckInputArgument(pvApiCtx, 1, 1);
+        CheckOutputArgument(pvApiCtx, 1, 2);
+
+        sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
+        if(sciErr.iErr)
+        {
+            printError(&sciErr, 0);
+            return 0;
+        }
+        iRet = getAllocatedMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, &pstData);
+        if(iRet)
+        {
+            freeAllocatedMatrixOfString(iRows, iCols, pstData);
+            return iRet;
+        }
+        sciErr = createMatrixOfString(pvApiCtx, nbInputArgument(pvApiCtx) + 1, iRows, iCols, pstData);
+        if(sciErr.iErr)
+        {
+            freeAllocatedMatrixOfString(iRows, iCols, pstData);
+            printError(&sciErr, 0);
+            return sciErr.iErr;
+        }
+		
+		VideoCapture cap(pstData[0]);
+		Rect trackWindow;
+		int hsize = 16;
+		float hranges[] = {0,180};
+		const float* phranges = hranges;
+		namedWindow( "Video Player", 0 );
+		setMouseCallback( "Video Player", onMouse, 0 );
+
+		Mat frame, hsv, hue, mask, hist, histimg = Mat::zeros(200, 320, CV_8UC3), backproj;
+		bool paused = false;
+
+		for(;;)
+		{
+			if( !paused)
+			{
+				cap >> frame;
+				if( frame.empty() )
+					break;
+			}
+
+			frame.copyTo(image);
+
+			if( !paused )
+			{
+				cvtColor(image, hsv, COLOR_BGR2HSV);
+
+				if( trackObject )
+				{
+					int _vmin = vmin, _vmax = vmax;
+
+					inRange(hsv, Scalar(0, smin, MIN(_vmin,_vmax)),
+							Scalar(180, 256, MAX(_vmin, _vmax)), mask);
+					int ch[] = {0, 0};
+					hue.create(hsv.size(), hsv.depth());
+					mixChannels(&hsv, 1, &hue, 1, ch, 1);
+
+					if( trackObject < 0 )
+					{
+						Mat roi(hue, selection), maskroi(mask, selection);
+						calcHist(&roi, 1, 0, maskroi, hist, 1, &hsize, &phranges);
+						normalize(hist, hist, 0, 255, NORM_MINMAX);
+
+						trackWindow = selection;
+						trackObject = 1;
+
+						histimg = Scalar::all(0);
+						int binW = histimg.cols / hsize;
+						Mat buf(1, hsize, CV_8UC3);
+						for( int i = 0; i < hsize; i++ )
+							buf.at<Vec3b>(i) = Vec3b(saturate_cast<uchar>(i*180./hsize), 255, 255);
+						cvtColor(buf, buf, COLOR_HSV2BGR);
+
+						for( int i = 0; i < hsize; i++ )
+						{
+							int val = saturate_cast<int>(hist.at<float>(i)*histimg.rows/255);
+							rectangle( histimg, Point(i*binW,histimg.rows),
+									Point((i+1)*binW,histimg.rows - val),
+									Scalar(buf.at<Vec3b>(i)), -1, 8 );
+						}
+					}
+
+					calcBackProject(&hue, 1, 0, hist, backproj, &phranges);
+					backproj &= mask;
+					RotatedRect trackBox = CamShift(backproj, trackWindow,
+							TermCriteria( TermCriteria::EPS | TermCriteria::COUNT, 10, 1 ));
+					if( trackWindow.area() <= 1 )
+					{
+						int cols = backproj.cols, rows = backproj.rows, r = (MIN(cols, rows) + 5)/6;
+						trackWindow = Rect(trackWindow.x - r, trackWindow.y - r,
+								trackWindow.x + r, trackWindow.y + r) &
+							Rect(0, 0, cols, rows);
+					}
+
+					if( backprojMode )
+						cvtColor( backproj, image, COLOR_GRAY2BGR );
+					ellipse( image, trackBox, Scalar(0,0,255), 3, 16 );
+					xcord[iter] = trackBox.center.x;
+					ycord[iter] = trackBox.center.y;
+					width[iter] = trackBox.size.width;
+					height[iter] = trackBox.size.height;
+					orientation[iter] = trackBox.angle;
+					iter++;	
+				}
+
+			}
+			else if( trackObject < 0 )
+				paused = false;
+
+			if( selectObject && selection.width > 0 && selection.height > 0 )
+			{
+				Mat roi(image, selection);
+				bitwise_not(roi, roi);
+			}
+			imshow( "Video Player", image );
+			char c = (char)waitKey(20);
+			if( c == 27 )
+				break;
+			else if(c == 32)
+				paused = !paused;
+			else;
+			waitKey(20);
+		}
+		destroyAllWindows();
+
+		sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 4, &piAddr);
+		if(sciErr.iErr)
+		{
+			printError(&sciErr, 0);
+			return 0;
+		}
+
+		sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 1, 1, iter, xcord);
+		if(sciErr.iErr)
+		{
+			printError(&sciErr, 0);
+			return 0;
+		}
+
+		sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 2, 1, iter, ycord);
+		if(sciErr.iErr)
+		{
+			printError(&sciErr, 0);
+			return 0;
+		}
+
+		sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 3, 1, iter, width);
+		if(sciErr.iErr)
+		{
+			printError(&sciErr, 0);
+			return 0;
+		}
+
+		sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 4, 1, iter, height);
+		if(sciErr.iErr)
+		{
+			printError(&sciErr, 0);
+			return 0;
+		}
+
+		sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 1, &piAddr);
+		if(sciErr.iErr)
+		{
+			printError(&sciErr, 0);
+			return 0;
+		}
+
+		sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, piAddr, 1, 1, iter, orientation);
+		if(sciErr.iErr)
+		{
+			printError(&sciErr, 0);
+			return 0;
+		}
+
+		AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
+		AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx) + 2;
+		ReturnArguments(pvApiCtx);
+		backprojMode = false;
+		selectObject = false;
+		trackObject = 0;
+		return 0;
+	}
+	/* ==================================================================== */
+}
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