| /*M/////////////////////////////////////////////////////////////////////////////////////// |
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| // copy or use the software. |
| // |
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| // Intel License Agreement |
| // For Open Source Computer Vision Library |
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| //M*/ |
| |
| /****************************************************************************************\ |
| Contour-based face feature tracking |
| The code was created by Tatiana Cherepanova ([email protected]) |
| \****************************************************************************************/ |
| |
| #include "_cvaux.h" |
| #include "_cvvectrack.h" |
| |
| #define _ASSERT assert |
| #define NUM_FACE_ELEMENTS 3 |
| enum |
| { |
| MOUTH = 0, |
| LEYE = 1, |
| REYE = 2, |
| }; |
| |
| #define MAX_LAYERS 64 |
| |
| const double pi = 3.1415926535; |
| |
| struct CvFaceTracker; |
| struct CvTrackingRect; |
| class CvFaceElement; |
| |
| void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, float &step, float& power, int iHistMin /*= HIST_MIN*/); |
| int ChoiceTrackingFace3(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy); |
| int ChoiceTrackingFace2(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy, int noel); |
| inline int GetEnergy(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl); |
| inline int GetEnergy2(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl, int* element); |
| inline double CalculateTransformationLMS3_0( CvPoint* pTemplPoints, CvPoint* pSrcPoints); |
| inline double CalculateTransformationLMS3( CvPoint* pTemplPoints, |
| CvPoint* pSrcPoints, |
| double* pdbAverageScale, |
| double* pdbAverageRotate, |
| double* pdbAverageShiftX, |
| double* pdbAverageShiftY ); |
| |
| struct CvTrackingRect |
| { |
| CvRect r; |
| CvPoint ptCenter; |
| int iColor; |
| int iEnergy; |
| int nRectsInThis; |
| int nRectsOnLeft; |
| int nRectsOnRight; |
| int nRectsOnTop; |
| int nRectsOnBottom; |
| CvTrackingRect() { memset(this, 0, sizeof(CvTrackingRect)); }; |
| int Energy(const CvTrackingRect& prev) |
| { |
| int prev_color = 0 == prev.iColor ? iColor : prev.iColor; |
| iEnergy = 1 * pow2(r.width - prev.r.width) + |
| 1 * pow2(r.height - prev.r.height) + |
| 1 * pow2(iColor - prev_color) / 4 + |
| - 1 * nRectsInThis + |
| - 0 * nRectsOnTop + |
| + 0 * nRectsOnLeft + |
| + 0 * nRectsOnRight + |
| + 0 * nRectsOnBottom; |
| return iEnergy; |
| } |
| }; |
| |
| struct CvFaceTracker |
| { |
| CvTrackingRect face[NUM_FACE_ELEMENTS]; |
| int iTrackingFaceType; |
| double dbRotateDelta; |
| double dbRotateAngle; |
| CvPoint ptRotate; |
| |
| CvPoint ptTempl[NUM_FACE_ELEMENTS]; |
| CvRect rTempl[NUM_FACE_ELEMENTS]; |
| |
| IplImage* imgGray; |
| IplImage* imgThresh; |
| CvMemStorage* mstgContours; |
| CvFaceTracker() |
| { |
| ptRotate.x = 0; |
| ptRotate.y = 0; |
| dbRotateDelta = 0; |
| dbRotateAngle = 0; |
| iTrackingFaceType = -1; |
| imgThresh = NULL; |
| imgGray = NULL; |
| mstgContours = NULL; |
| }; |
| ~CvFaceTracker() |
| { |
| if (NULL != imgGray) |
| delete imgGray; |
| if (NULL != imgThresh) |
| delete imgThresh; |
| if (NULL != mstgContours) |
| cvReleaseMemStorage(&mstgContours); |
| }; |
| int Init(CvRect* pRects, IplImage* imgGray) |
| { |
| for (int i = 0; i < NUM_FACE_ELEMENTS; i++) |
| { |
| face[i].r = pRects[i]; |
| face[i].ptCenter = Center(face[i].r); |
| ptTempl[i] = face[i].ptCenter; |
| rTempl[i] = face[i].r; |
| } |
| imgGray = cvCreateImage(cvSize(imgGray->width, imgGray->height), 8, 1); |
| imgThresh = cvCreateImage(cvSize(imgGray->width, imgGray->height), 8, 1); |
| mstgContours = cvCreateMemStorage(); |
| if ((NULL == imgGray) || |
| (NULL == imgThresh) || |
| (NULL == mstgContours)) |
| return FALSE; |
| return TRUE; |
| }; |
| int InitNextImage(IplImage* img) |
| { |
| CvSize sz = {img->width, img->height}; |
| ReallocImage(&imgGray, sz, 1); |
| ReallocImage(&imgThresh, sz, 1); |
| ptRotate = face[MOUTH].ptCenter; |
| float m[6]; |
| CvMat mat = cvMat( 2, 3, CV_32FC1, m ); |
| |
| if (NULL == imgGray || NULL == imgThresh) |
| return FALSE; |
| |
| /*m[0] = (float)cos(-dbRotateAngle*CV_PI/180.); |
| m[1] = (float)sin(-dbRotateAngle*CV_PI/180.); |
| m[2] = (float)ptRotate.x; |
| m[3] = -m[1]; |
| m[4] = m[0]; |
| m[5] = (float)ptRotate.y;*/ |
| cv2DRotationMatrix( cvPointTo32f(ptRotate), -dbRotateAngle, 1., &mat ); |
| cvWarpAffine( img, imgGray, &mat ); |
| |
| if (NULL == mstgContours) |
| mstgContours = cvCreateMemStorage(); |
| else |
| cvClearMemStorage(mstgContours); |
| if (NULL == mstgContours) |
| return FALSE; |
| return TRUE; |
| } |
| }; |
| |
| class CvFaceElement |
| { |
| public: |
| CvSeq* m_seqRects; |
| CvMemStorage* m_mstgRects; |
| CvRect m_rROI; |
| CvTrackingRect m_trPrev; |
| inline CvFaceElement() |
| { |
| m_seqRects = NULL; |
| m_mstgRects = NULL; |
| m_rROI.x = 0; |
| m_rROI.y = 0; |
| m_rROI.width = 0; |
| m_rROI.height = 0; |
| }; |
| inline int Init(const CvRect& roi, const CvTrackingRect& prev, CvMemStorage* mstg = NULL) |
| { |
| m_rROI = roi; |
| m_trPrev = prev; |
| if (NULL != mstg) |
| m_mstgRects = mstg; |
| if (NULL == m_mstgRects) |
| return FALSE; |
| if (NULL == m_seqRects) |
| m_seqRects = cvCreateSeq(0, sizeof(CvSeq), sizeof(CvTrackingRect), m_mstgRects); |
| else |
| cvClearSeq(m_seqRects); |
| if (NULL == m_seqRects) |
| return FALSE; |
| return TRUE; |
| }; |
| void FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize); |
| protected: |
| void FindContours(IplImage* img, IplImage* thresh, int nLayers, int dMinSize); |
| void MergeRects(int d); |
| void Energy(); |
| }; //class CvFaceElement |
| |
| int CV_CDECL CompareEnergy(const void* el1, const void* el2, void*) |
| { |
| return ((CvTrackingRect*)el1)->iEnergy - ((CvTrackingRect*)el2)->iEnergy; |
| }// int CV_CDECL CompareEnergy(const void* el1, const void* el2, void*) |
| |
| void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize) |
| { |
| FindContours(img, thresh, nLayers, dMinSize / 4); |
| if (0 == m_seqRects->total) |
| return; |
| Energy(); |
| cvSeqSort(m_seqRects, CompareEnergy, NULL); |
| CvTrackingRect* pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0); |
| if (m_seqRects->total < 32) |
| { |
| MergeRects(dMinSize / 8); |
| Energy(); |
| cvSeqSort(m_seqRects, CompareEnergy, NULL); |
| } |
| pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0); |
| if ((pR->iEnergy > 100 && m_seqRects->total < 32) || (m_seqRects->total < 16)) |
| { |
| MergeRects(dMinSize / 4); |
| Energy(); |
| cvSeqSort(m_seqRects, CompareEnergy, NULL); |
| } |
| pR = (CvTrackingRect*)cvGetSeqElem(m_seqRects, 0); |
| if ((pR->iEnergy > 100 && m_seqRects->total < 16) || (pR->iEnergy > 200 && m_seqRects->total < 32)) |
| { |
| MergeRects(dMinSize / 2); |
| Energy(); |
| cvSeqSort(m_seqRects, CompareEnergy, NULL); |
| } |
| |
| }// void CvFaceElement::FindRects(IplImage* img, IplImage* thresh, int nLayers, int dMinSize) |
| |
| void CvFaceElement::FindContours(IplImage* img, IplImage* thresh, int nLayers, int dMinSize) |
| { |
| CvSeq* seq; |
| CvRect roi = m_rROI; |
| Extend(roi, 1); |
| cvSetImageROI(img, roi); |
| cvSetImageROI(thresh, roi); |
| // layers |
| int colors[MAX_LAYERS] = {0}; |
| int iMinLevel = 0, iMaxLevel = 255; |
| float step, power; |
| ThresholdingParam(img, nLayers / 2, iMinLevel, iMaxLevel, step, power, 4); |
| int iMinLevelPrev = iMinLevel; |
| int iMaxLevelPrev = iMinLevel; |
| if (m_trPrev.iColor != 0) |
| { |
| iMinLevelPrev = m_trPrev.iColor - nLayers / 2; |
| iMaxLevelPrev = m_trPrev.iColor + nLayers / 2; |
| } |
| if (iMinLevelPrev < iMinLevel) |
| { |
| iMaxLevelPrev += iMinLevel - iMinLevelPrev; |
| iMinLevelPrev = iMinLevel; |
| } |
| if (iMaxLevelPrev > iMaxLevel) |
| { |
| iMinLevelPrev -= iMaxLevelPrev - iMaxLevel; |
| if (iMinLevelPrev < iMinLevel) |
| iMinLevelPrev = iMinLevel; |
| iMaxLevelPrev = iMaxLevel; |
| } |
| int n = nLayers; |
| n -= (iMaxLevelPrev - iMinLevelPrev + 1) / 2; |
| step = float(iMinLevelPrev - iMinLevel + iMaxLevel - iMaxLevelPrev) / float(n); |
| int j = 0; |
| float level; |
| for (level = (float)iMinLevel; level < iMinLevelPrev && j < nLayers; level += step, j++) |
| colors[j] = int(level + 0.5); |
| for (level = (float)iMinLevelPrev; level < iMaxLevelPrev && j < nLayers; level += 2.0, j++) |
| colors[j] = int(level + 0.5); |
| for (level = (float)iMaxLevelPrev; level < iMaxLevel && j < nLayers; level += step, j++) |
| colors[j] = int(level + 0.5); |
| // |
| for (int i = 0; i < nLayers; i++) |
| { |
| cvThreshold(img, thresh, colors[i], 255.0, CV_THRESH_BINARY); |
| if (cvFindContours(thresh, m_mstgRects, &seq, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE)) |
| { |
| CvTrackingRect cr; |
| for (CvSeq* external = seq; external; external = external->h_next) |
| { |
| cr.r = cvContourBoundingRect(external); |
| Move(cr.r, roi.x, roi.y); |
| if (RectInRect(cr.r, m_rROI) && cr.r.width > dMinSize && cr.r.height > dMinSize) |
| { |
| cr.ptCenter = Center(cr.r); |
| cr.iColor = colors[i]; |
| cvSeqPush(m_seqRects, &cr); |
| } |
| for (CvSeq* internal = external->v_next; internal; internal = internal->h_next) |
| { |
| cr.r = cvContourBoundingRect(internal); |
| Move(cr.r, roi.x, roi.y); |
| if (RectInRect(cr.r, m_rROI) && cr.r.width > dMinSize && cr.r.height > dMinSize) |
| { |
| cr.ptCenter = Center(cr.r); |
| cr.iColor = colors[i]; |
| cvSeqPush(m_seqRects, &cr); |
| } |
| } |
| } |
| cvClearSeq(seq); |
| } |
| } |
| cvResetImageROI(img); |
| cvResetImageROI(thresh); |
| }//void CvFaceElement::FindContours(IplImage* img, IplImage* thresh, int nLayers) |
| |
| void CvFaceElement::MergeRects(int d) |
| { |
| int nRects = m_seqRects->total; |
| CvSeqReader reader, reader2; |
| cvStartReadSeq( m_seqRects, &reader ); |
| int i, j; |
| for (i = 0; i < nRects; i++) |
| { |
| CvTrackingRect* pRect1 = (CvTrackingRect*)(reader.ptr); |
| cvStartReadSeq( m_seqRects, &reader2 ); |
| cvSetSeqReaderPos(&reader2, i + 1); |
| for (j = i + 1; j < nRects; j++) |
| { |
| CvTrackingRect* pRect2 = (CvTrackingRect*)(reader2.ptr); |
| if (abs(pRect1->ptCenter.y - pRect2->ptCenter.y) < d && |
| abs(pRect1->r.height - pRect2->r.height) < d) |
| { |
| CvTrackingRect rNew; |
| rNew.iColor = (pRect1->iColor + pRect2->iColor + 1) / 2; |
| rNew.r.x = min(pRect1->r.x, pRect2->r.x); |
| rNew.r.y = min(pRect1->r.y, pRect2->r.y); |
| rNew.r.width = max(pRect1->r.x + pRect1->r.width, pRect2->r.x + pRect2->r.width) - rNew.r.x; |
| rNew.r.height = min(pRect1->r.y + pRect1->r.height, pRect2->r.y + pRect2->r.height) - rNew.r.y; |
| if (rNew.r != pRect1->r && rNew.r != pRect2->r) |
| { |
| rNew.ptCenter = Center(rNew.r); |
| cvSeqPush(m_seqRects, &rNew); |
| } |
| } |
| CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader2 ); |
| } |
| CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader ); |
| } |
| // delete equal rects |
| for (i = 0; i < m_seqRects->total; i++) |
| { |
| CvTrackingRect* pRect1 = (CvTrackingRect*)cvGetSeqElem(m_seqRects, i); |
| int j_begin = i + 1; |
| for (j = j_begin; j < m_seqRects->total;) |
| { |
| CvTrackingRect* pRect2 = (CvTrackingRect*)cvGetSeqElem(m_seqRects, j); |
| if (pRect1->r == pRect2->r) |
| cvSeqRemove(m_seqRects, j); |
| else |
| j++; |
| } |
| } |
| |
| }//void CvFaceElement::MergeRects(int d) |
| |
| void CvFaceElement::Energy() |
| { |
| CvSeqReader reader, reader2; |
| cvStartReadSeq( m_seqRects, &reader ); |
| for (int i = 0; i < m_seqRects->total; i++) |
| { |
| CvTrackingRect* pRect = (CvTrackingRect*)(reader.ptr); |
| // outside and inside rects |
| cvStartReadSeq( m_seqRects, &reader2 ); |
| for (int j = 0; j < m_seqRects->total; j++) |
| { |
| CvTrackingRect* pRect2 = (CvTrackingRect*)(reader2.ptr); |
| if (i != j) |
| { |
| if (RectInRect(pRect2->r, pRect->r)) |
| pRect->nRectsInThis ++; |
| else if (pRect2->r.y + pRect2->r.height <= pRect->r.y) |
| pRect->nRectsOnTop ++; |
| else if (pRect2->r.y >= pRect->r.y + pRect->r.height) |
| pRect->nRectsOnBottom ++; |
| else if (pRect2->r.x + pRect2->r.width <= pRect->r.x) |
| pRect->nRectsOnLeft ++; |
| else if (pRect2->r.x >= pRect->r.x + pRect->r.width) |
| pRect->nRectsOnRight ++; |
| } |
| CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader2 ); |
| } |
| // energy |
| pRect->Energy(m_trPrev); |
| CV_NEXT_SEQ_ELEM( sizeof(CvTrackingRect), reader ); |
| } |
| }//void CvFaceElement::Energy() |
| |
| CV_IMPL CvFaceTracker* |
| cvInitFaceTracker(CvFaceTracker* pFaceTracker, const IplImage* imgGray, CvRect* pRects, int nRects) |
| { |
| _ASSERT(NULL != imgGray); |
| _ASSERT(NULL != pRects); |
| _ASSERT(nRects >= NUM_FACE_ELEMENTS); |
| if ((NULL == imgGray) || |
| (NULL == pRects) || |
| (nRects < NUM_FACE_ELEMENTS)) |
| return NULL; |
| |
| int new_face = FALSE; |
| CvFaceTracker* pFace = pFaceTracker; |
| if (NULL == pFace) |
| { |
| pFace = new CvFaceTracker; |
| if (NULL == pFace) |
| return NULL; |
| new_face = TRUE; |
| } |
| pFace->Init(pRects, (IplImage*)imgGray); |
| return pFace; |
| }//CvFaceTracker* InitFaceTracker(IplImage* imgGray, CvRect* pRects, int nRects) |
| |
| CV_IMPL void |
| cvReleaseFaceTracker(CvFaceTracker** ppFaceTracker) |
| { |
| if (NULL == *ppFaceTracker) |
| return; |
| delete *ppFaceTracker; |
| *ppFaceTracker = NULL; |
| }//void ReleaseFaceTracker(CvFaceTracker** ppFaceTracker) |
| |
| |
| CV_IMPL int |
| cvTrackFace(CvFaceTracker* pFaceTracker, IplImage* imgGray, CvRect* pRects, int nRects, CvPoint* ptRotate, double* dbAngleRotate) |
| { |
| _ASSERT(NULL != pFaceTracker); |
| _ASSERT(NULL != imgGray); |
| _ASSERT(NULL != pRects && nRects >= NUM_FACE_ELEMENTS); |
| if ((NULL == pFaceTracker) || |
| (NULL == imgGray)) |
| return FALSE; |
| pFaceTracker->InitNextImage(imgGray); |
| *ptRotate = pFaceTracker->ptRotate; |
| *dbAngleRotate = pFaceTracker->dbRotateAngle; |
| |
| int nElements = 16; |
| double dx = pFaceTracker->face[LEYE].ptCenter.x - pFaceTracker->face[REYE].ptCenter.x; |
| double dy = pFaceTracker->face[LEYE].ptCenter.y - pFaceTracker->face[REYE].ptCenter.y; |
| double d_eyes = sqrt(dx*dx + dy*dy); |
| int d = cvRound(0.25 * d_eyes); |
| int dMinSize = d; |
| int nRestarts = 0; |
| |
| int elem; |
| |
| CvFaceElement big_face[NUM_FACE_ELEMENTS]; |
| START: |
| // init |
| for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++) |
| { |
| CvRect r = pFaceTracker->face[elem].r; |
| Extend(r, d); |
| if (r.width < 4*d) |
| { |
| r.x -= (4*d - r.width) / 2; |
| r.width += 4*d - r.width; |
| } |
| if (r.height < 3*d) |
| { |
| r.y -= (3*d - r.height) / 2; |
| r.height += 3*d - r.height; |
| } |
| if (r.x < 1) |
| r.x = 1; |
| if (r.y < 1) |
| r.y = 1; |
| if (r.x + r.width > pFaceTracker->imgGray->width - 2) |
| r.width = pFaceTracker->imgGray->width - 2 - r.x; |
| if (r.y + r.height > pFaceTracker->imgGray->height - 2) |
| r.height = pFaceTracker->imgGray->height - 2 - r.y; |
| if (!big_face[elem].Init(r, pFaceTracker->face[elem], pFaceTracker->mstgContours)) |
| return FALSE; |
| } |
| // find contours |
| for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++) |
| big_face[elem].FindRects(pFaceTracker->imgGray, pFaceTracker->imgThresh, 32, dMinSize); |
| // candidats |
| CvTrackingRect new_face[NUM_FACE_ELEMENTS]; |
| int new_energy = 0; |
| int found = ChoiceTrackingFace3(pFaceTracker, nElements, big_face, new_face, new_energy); |
| int restart = FALSE; |
| int find2 = FALSE; |
| int noel = -1; |
| if (found) |
| { |
| if (new_energy > 100000 && -1 != pFaceTracker->iTrackingFaceType) |
| find2 = TRUE; |
| else if (new_energy > 150000) |
| { |
| int elements = 0; |
| for (int el = 0; el < NUM_FACE_ELEMENTS; el++) |
| { |
| if (big_face[el].m_seqRects->total > 16 || (big_face[el].m_seqRects->total > 8 && new_face[el].iEnergy < 100)) |
| elements++; |
| else |
| noel = el; |
| } |
| if (2 == elements) |
| find2 = TRUE; |
| else |
| restart = TRUE; |
| } |
| } |
| else |
| { |
| if (-1 != pFaceTracker->iTrackingFaceType) |
| find2 = TRUE; |
| else |
| restart = TRUE; |
| } |
| RESTART: |
| if (restart) |
| { |
| if (nRestarts++ < 2) |
| { |
| d = d + d/4; |
| goto START; |
| } |
| } |
| else if (find2) |
| { |
| if (-1 != pFaceTracker->iTrackingFaceType) |
| noel = pFaceTracker->iTrackingFaceType; |
| int found2 = ChoiceTrackingFace2(pFaceTracker, nElements, big_face, new_face, new_energy, noel); |
| if (found2 && new_energy < 100000) |
| { |
| pFaceTracker->iTrackingFaceType = noel; |
| found = TRUE; |
| } |
| else |
| { |
| restart = TRUE; |
| goto RESTART; |
| } |
| } |
| |
| if (found) |
| { |
| // angle by mouth & eyes |
| double vx_prev = double(pFaceTracker->face[LEYE].ptCenter.x + pFaceTracker->face[REYE].ptCenter.x) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.x; |
| double vy_prev = double(pFaceTracker->face[LEYE].ptCenter.y + pFaceTracker->face[REYE].ptCenter.y) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.y; |
| double vx_prev1 = vx_prev * cos(pFaceTracker->dbRotateDelta) - vy_prev * sin(pFaceTracker->dbRotateDelta); |
| double vy_prev1 = vx_prev * sin(pFaceTracker->dbRotateDelta) + vy_prev * cos(pFaceTracker->dbRotateDelta); |
| vx_prev = vx_prev1; |
| vy_prev = vy_prev1; |
| for (elem = 0; elem < NUM_FACE_ELEMENTS; elem++) |
| pFaceTracker->face[elem] = new_face[elem]; |
| double vx = double(pFaceTracker->face[LEYE].ptCenter.x + pFaceTracker->face[REYE].ptCenter.x) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.x; |
| double vy = double(pFaceTracker->face[LEYE].ptCenter.y + pFaceTracker->face[REYE].ptCenter.y) / 2.0 - pFaceTracker->face[MOUTH].ptCenter.y; |
| pFaceTracker->dbRotateDelta = 0; |
| double n1_n2 = (vx * vx + vy * vy) * (vx_prev * vx_prev + vy_prev * vy_prev); |
| if (n1_n2 != 0) |
| pFaceTracker->dbRotateDelta = asin((vx * vy_prev - vx_prev * vy) / sqrt(n1_n2)); |
| pFaceTracker->dbRotateAngle -= pFaceTracker->dbRotateDelta; |
| } |
| else |
| { |
| pFaceTracker->dbRotateDelta = 0; |
| pFaceTracker->dbRotateAngle = 0; |
| } |
| if ((pFaceTracker->dbRotateAngle >= pi/2 && pFaceTracker->dbRotateAngle > 0) || |
| (pFaceTracker->dbRotateAngle <= -pi/2 && pFaceTracker->dbRotateAngle < 0)) |
| { |
| pFaceTracker->dbRotateDelta = 0; |
| pFaceTracker->dbRotateAngle = 0; |
| found = FALSE; |
| } |
| if (found) |
| { |
| for (int i = 0; i < NUM_FACE_ELEMENTS && i < nRects; i++) |
| pRects[i] = pFaceTracker->face[i].r; |
| } |
| return found; |
| }//int FindFaceTracker(CvFaceTracker* pFaceTracker, IplImage* imgGray, CvRect* pRects, int nRects, CvPoint& ptRotate, double& dbAngleRotate) |
| |
| void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, float &step, float& power, int iHistMin /*= HIST_MIN*/) |
| { |
| _ASSERT(imgGray != NULL); |
| _ASSERT(imgGray->nChannels == 1); |
| int i, j; |
| // create histogram |
| int histImg[256] = {0}; |
| uchar* buffImg = (uchar*)imgGray->imageData; |
| CvRect rROI = cvGetImageROI(imgGray); |
| buffImg += rROI.y * imgGray->widthStep + rROI.x; |
| for (j = 0; j < rROI.height; j++) |
| { |
| for (i = 0; i < rROI.width; i++) |
| histImg[buffImg[i]] ++; |
| buffImg += imgGray->widthStep; |
| } |
| // params |
| for (i = 0; i < 256; i++) |
| { |
| if (histImg[i] > iHistMin) |
| break; |
| } |
| iMinLevel = i; |
| for (i = 255; i >= 0; i--) |
| { |
| if (histImg[i] > iHistMin) |
| break; |
| } |
| iMaxLevel = i; |
| if (iMaxLevel <= iMinLevel) |
| { |
| iMaxLevel = 255; |
| iMinLevel = 0; |
| } |
| // power |
| double black = 1; |
| double white = 1; |
| for (i = iMinLevel; i < (iMinLevel + iMaxLevel) / 2; i++) |
| black += histImg[i]; |
| for (i = (iMinLevel + iMaxLevel) / 2; i < iMaxLevel; i++) |
| white += histImg[i]; |
| power = float(black) / float(2 * white); |
| // |
| step = float(iMaxLevel - iMinLevel) / float(iNumLayers); |
| if (step < 1.0) |
| step = 1.0; |
| }// void ThresholdingParam(IplImage *imgGray, int iNumLayers, int &iMinLevel, int &iMaxLevel, int &iStep) |
| |
| int ChoiceTrackingFace3(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy) |
| { |
| CvTrackingRect* curr_face[NUM_FACE_ELEMENTS] = {NULL}; |
| CvTrackingRect* new_face[NUM_FACE_ELEMENTS] = {NULL}; |
| new_energy = 0x7fffffff; |
| int curr_energy = 0x7fffffff; |
| int found = FALSE; |
| int N = 0; |
| CvSeqReader reader_m, reader_l, reader_r; |
| cvStartReadSeq( big_face[MOUTH].m_seqRects, &reader_m ); |
| for (int i_mouth = 0; i_mouth < big_face[MOUTH].m_seqRects->total && i_mouth < nElements; i_mouth++) |
| { |
| curr_face[MOUTH] = (CvTrackingRect*)(reader_m.ptr); |
| cvStartReadSeq( big_face[LEYE].m_seqRects, &reader_l ); |
| for (int i_left = 0; i_left < big_face[LEYE].m_seqRects->total && i_left < nElements; i_left++) |
| { |
| curr_face[LEYE] = (CvTrackingRect*)(reader_l.ptr); |
| if (curr_face[LEYE]->r.y + curr_face[LEYE]->r.height < curr_face[MOUTH]->r.y) |
| { |
| cvStartReadSeq( big_face[REYE].m_seqRects, &reader_r ); |
| for (int i_right = 0; i_right < big_face[REYE].m_seqRects->total && i_right < nElements; i_right++) |
| { |
| curr_face[REYE] = (CvTrackingRect*)(reader_r.ptr); |
| if (curr_face[REYE]->r.y + curr_face[REYE]->r.height < curr_face[MOUTH]->r.y && |
| curr_face[REYE]->r.x > curr_face[LEYE]->r.x + curr_face[LEYE]->r.width) |
| { |
| curr_energy = GetEnergy(curr_face, pTF->face, pTF->ptTempl, pTF->rTempl); |
| if (curr_energy < new_energy) |
| { |
| for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++) |
| new_face[elem] = curr_face[elem]; |
| new_energy = curr_energy; |
| found = TRUE; |
| } |
| N++; |
| } |
| } |
| } |
| } |
| } |
| if (found) |
| { |
| for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++) |
| face[elem] = *(new_face[elem]); |
| } |
| return found; |
| } // int ChoiceTrackingFace3(const CvTrackingRect* tr_face, CvTrackingRect* new_face, int& new_energy) |
| |
| int ChoiceTrackingFace2(CvFaceTracker* pTF, const int nElements, const CvFaceElement* big_face, CvTrackingRect* face, int& new_energy, int noel) |
| { |
| int element[NUM_FACE_ELEMENTS]; |
| for (int i = 0, elem = 0; i < NUM_FACE_ELEMENTS; i++) |
| { |
| if (i != noel) |
| { |
| element[elem] = i; |
| elem ++; |
| } |
| else |
| element[2] = i; |
| } |
| CvTrackingRect* curr_face[NUM_FACE_ELEMENTS] = {NULL}; |
| CvTrackingRect* new_face[NUM_FACE_ELEMENTS] = {NULL}; |
| new_energy = 0x7fffffff; |
| int curr_energy = 0x7fffffff; |
| int found = FALSE; |
| int N = 0; |
| CvSeqReader reader0, reader1; |
| cvStartReadSeq( big_face[element[0]].m_seqRects, &reader0 ); |
| for (int i0 = 0; i0 < big_face[element[0]].m_seqRects->total && i0 < nElements; i0++) |
| { |
| curr_face[element[0]] = (CvTrackingRect*)(reader0.ptr); |
| cvStartReadSeq( big_face[element[1]].m_seqRects, &reader1 ); |
| for (int i1 = 0; i1 < big_face[element[1]].m_seqRects->total && i1 < nElements; i1++) |
| { |
| curr_face[element[1]] = (CvTrackingRect*)(reader1.ptr); |
| curr_energy = GetEnergy2(curr_face, pTF->face, pTF->ptTempl, pTF->rTempl, element); |
| if (curr_energy < new_energy) |
| { |
| for (int elem = 0; elem < NUM_FACE_ELEMENTS; elem++) |
| new_face[elem] = curr_face[elem]; |
| new_energy = curr_energy; |
| found = TRUE; |
| } |
| N++; |
| } |
| } |
| if (found) |
| { |
| face[element[0]] = *(new_face[element[0]]); |
| face[element[1]] = *(new_face[element[1]]); |
| // 3 element find by template |
| CvPoint templ_v01 = {pTF->ptTempl[element[1]].x - pTF->ptTempl[element[0]].x, pTF->ptTempl[element[1]].y - pTF->ptTempl[element[0]].y}; |
| CvPoint templ_v02 = {pTF->ptTempl[element[2]].x - pTF->ptTempl[element[0]].x, pTF->ptTempl[element[2]].y - pTF->ptTempl[element[0]].y}; |
| CvPoint prev_v01 = {pTF->face[element[1]].ptCenter.x - pTF->face[element[0]].ptCenter.x, pTF->face[element[1]].ptCenter.y - pTF->face[element[0]].ptCenter.y}; |
| CvPoint prev_v02 = {pTF->face[element[2]].ptCenter.x - pTF->face[element[0]].ptCenter.x, pTF->face[element[2]].ptCenter.y - pTF->face[element[0]].ptCenter.y}; |
| CvPoint new_v01 = {new_face[element[1]]->ptCenter.x - new_face[element[0]]->ptCenter.x, new_face[element[1]]->ptCenter.y - new_face[element[0]]->ptCenter.y}; |
| double templ_d01 = sqrt((double)templ_v01.x*templ_v01.x + templ_v01.y*templ_v01.y); |
| double templ_d02 = sqrt((double)templ_v02.x*templ_v02.x + templ_v02.y*templ_v02.y); |
| double prev_d01 = sqrt((double)prev_v01.x*prev_v01.x + prev_v01.y*prev_v01.y); |
| double prev_d02 = sqrt((double)prev_v02.x*prev_v02.x + prev_v02.y*prev_v02.y); |
| double new_d01 = sqrt((double)new_v01.x*new_v01.x + new_v01.y*new_v01.y); |
| double scale = templ_d01 / new_d01; |
| double new_d02 = templ_d02 / scale; |
| double sin_a = double(prev_v01.x * prev_v02.y - prev_v01.y * prev_v02.x) / (prev_d01 * prev_d02); |
| double cos_a = cos(asin(sin_a)); |
| double x = double(new_v01.x) * cos_a - double(new_v01.y) * sin_a; |
| double y = double(new_v01.x) * sin_a + double(new_v01.y) * cos_a; |
| x = x * new_d02 / new_d01; |
| y = y * new_d02 / new_d01; |
| CvPoint new_v02 = {int(x + 0.5), int(y + 0.5)}; |
| face[element[2]].iColor = 0; |
| face[element[2]].iEnergy = 0; |
| face[element[2]].nRectsInThis = 0; |
| face[element[2]].nRectsOnBottom = 0; |
| face[element[2]].nRectsOnLeft = 0; |
| face[element[2]].nRectsOnRight = 0; |
| face[element[2]].nRectsOnTop = 0; |
| face[element[2]].ptCenter.x = new_v02.x + new_face[element[0]]->ptCenter.x; |
| face[element[2]].ptCenter.y = new_v02.y + new_face[element[0]]->ptCenter.y; |
| face[element[2]].r.width = int(double(pTF->rTempl[element[2]].width) / (scale) + 0.5); |
| face[element[2]].r.height = int(double(pTF->rTempl[element[2]].height) / (scale) + 0.5); |
| face[element[2]].r.x = face[element[2]].ptCenter.x - (face[element[2]].r.width + 1) / 2; |
| face[element[2]].r.y = face[element[2]].ptCenter.y - (face[element[2]].r.height + 1) / 2; |
| _ASSERT(face[LEYE].r.x + face[LEYE].r.width <= face[REYE].r.x); |
| } |
| return found; |
| } // int ChoiceTrackingFace3(const CvTrackingRect* tr_face, CvTrackingRect* new_face, int& new_energy) |
| |
| inline int GetEnergy(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl) |
| { |
| int energy = 0; |
| CvPoint ptNew[NUM_FACE_ELEMENTS]; |
| CvPoint ptPrev[NUM_FACE_ELEMENTS]; |
| for (int i = 0; i < NUM_FACE_ELEMENTS; i++) |
| { |
| ptNew[i] = ppNew[i]->ptCenter; |
| ptPrev[i] = pPrev[i].ptCenter; |
| energy += ppNew[i]->iEnergy - 2 * ppNew[i]->nRectsInThis; |
| } |
| double dx = 0, dy = 0, scale = 1, rotate = 0; |
| double e_templ = CalculateTransformationLMS3(ptTempl, ptNew, &scale, &rotate, &dx, &dy); |
| double e_prev = CalculateTransformationLMS3_0(ptPrev, ptNew); |
| double w_eye = double(ppNew[LEYE]->r.width + ppNew[REYE]->r.width) * scale / 2.0; |
| double h_eye = double(ppNew[LEYE]->r.height + ppNew[REYE]->r.height) * scale / 2.0; |
| double w_mouth = double(ppNew[MOUTH]->r.width) * scale; |
| double h_mouth = double(ppNew[MOUTH]->r.height) * scale; |
| energy += |
| int(512.0 * (e_prev + 16.0 * e_templ)) + |
| 4 * pow2(ppNew[LEYE]->r.width - ppNew[REYE]->r.width) + |
| 4 * pow2(ppNew[LEYE]->r.height - ppNew[REYE]->r.height) + |
| 4 * (int)pow(w_eye - double(rTempl[LEYE].width + rTempl[REYE].width) / 2.0, 2) + |
| 2 * (int)pow(h_eye - double(rTempl[LEYE].height + rTempl[REYE].height) / 2.0, 2) + |
| 1 * (int)pow(w_mouth - double(rTempl[MOUTH].width), 2) + |
| 1 * (int)pow(h_mouth - double(rTempl[MOUTH].height), 2) + |
| 0; |
| return energy; |
| } |
| |
| inline int GetEnergy2(CvTrackingRect** ppNew, const CvTrackingRect* pPrev, CvPoint* ptTempl, CvRect* rTempl, int* element) |
| { |
| CvPoint new_v = {ppNew[element[0]]->ptCenter.x - ppNew[element[1]]->ptCenter.x, |
| ppNew[element[0]]->ptCenter.y - ppNew[element[1]]->ptCenter.y}; |
| CvPoint prev_v = {pPrev[element[0]].ptCenter.x - pPrev[element[1]].ptCenter.x, |
| pPrev[element[0]].ptCenter.y - pPrev[element[1]].ptCenter.y}; |
| double new_d = sqrt((double)new_v.x*new_v.x + new_v.y*new_v.y); |
| double prev_d = sqrt((double)prev_v.x*prev_v.x + prev_v.y*prev_v.y); |
| double dx = ptTempl[element[0]].x - ptTempl[element[1]].x; |
| double dy = ptTempl[element[0]].y - ptTempl[element[1]].y; |
| double templ_d = sqrt(dx*dx + dy*dy); |
| double scale_templ = new_d / templ_d; |
| double w0 = (double)ppNew[element[0]]->r.width * scale_templ; |
| double h0 = (double)ppNew[element[0]]->r.height * scale_templ; |
| double w1 = (double)ppNew[element[1]]->r.width * scale_templ; |
| double h1 = (double)ppNew[element[1]]->r.height * scale_templ; |
| |
| int energy = ppNew[element[0]]->iEnergy + ppNew[element[1]]->iEnergy + |
| - 2 * (ppNew[element[0]]->nRectsInThis - ppNew[element[1]]->nRectsInThis) + |
| (int)pow(w0 - (double)rTempl[element[0]].width, 2) + |
| (int)pow(h0 - (double)rTempl[element[0]].height, 2) + |
| (int)pow(w1 - (double)rTempl[element[1]].width, 2) + |
| (int)pow(h1 - (double)rTempl[element[1]].height, 2) + |
| (int)pow(new_d - prev_d, 2) + |
| 0; |
| |
| return energy; |
| } |
| |
| inline double CalculateTransformationLMS3( CvPoint* pTemplPoints, |
| CvPoint* pSrcPoints, |
| double* pdbAverageScale, |
| double* pdbAverageRotate, |
| double* pdbAverageShiftX, |
| double* pdbAverageShiftY ) |
| { |
| // double WS = 0; |
| double dbAverageScale = 1; |
| double dbAverageRotate = 0; |
| double dbAverageShiftX = 0; |
| double dbAverageShiftY = 0; |
| double dbLMS = 0; |
| |
| _ASSERT( NULL != pTemplPoints); |
| _ASSERT( NULL != pSrcPoints); |
| |
| double dbXt = double(pTemplPoints[0].x + pTemplPoints[1].x + pTemplPoints[2].x) / 3.0; |
| double dbYt = double(pTemplPoints[0].y + pTemplPoints[1].y + pTemplPoints[2].y ) / 3.0; |
| double dbXs = double(pSrcPoints[0].x + pSrcPoints[1].x + pSrcPoints[2].x) / 3.0; |
| double dbYs = double(pSrcPoints[0].y + pSrcPoints[1].y + pSrcPoints[2].y) / 3.0; |
| |
| double dbXtXt = double(pow2(pTemplPoints[0].x) + pow2(pTemplPoints[1].x) + pow2(pTemplPoints[2].x)) / 3.0; |
| double dbYtYt = double(pow2(pTemplPoints[0].y) + pow2(pTemplPoints[1].y) + pow2(pTemplPoints[2].y)) / 3.0; |
| |
| double dbXsXs = double(pow2(pSrcPoints[0].x) + pow2(pSrcPoints[1].x) + pow2(pSrcPoints[2].x)) / 3.0; |
| double dbYsYs = double(pow2(pSrcPoints[0].y) + pow2(pSrcPoints[1].y) + pow2(pSrcPoints[2].y)) / 3.0; |
| |
| double dbXtXs = double(pTemplPoints[0].x * pSrcPoints[0].x + |
| pTemplPoints[1].x * pSrcPoints[1].x + |
| pTemplPoints[2].x * pSrcPoints[2].x) / 3.0; |
| double dbYtYs = double(pTemplPoints[0].y * pSrcPoints[0].y + |
| pTemplPoints[1].y * pSrcPoints[1].y + |
| pTemplPoints[2].y * pSrcPoints[2].y) / 3.0; |
| |
| double dbXtYs = double(pTemplPoints[0].x * pSrcPoints[0].y + |
| pTemplPoints[1].x * pSrcPoints[1].y + |
| pTemplPoints[2].x * pSrcPoints[2].y) / 3.0; |
| double dbYtXs = double(pTemplPoints[0].y * pSrcPoints[0].x + |
| pTemplPoints[1].y * pSrcPoints[1].x + |
| pTemplPoints[2].y * pSrcPoints[2].x ) / 3.0; |
| |
| dbXtXt -= dbXt * dbXt; |
| dbYtYt -= dbYt * dbYt; |
| |
| dbXsXs -= dbXs * dbXs; |
| dbYsYs -= dbYs * dbYs; |
| |
| dbXtXs -= dbXt * dbXs; |
| dbYtYs -= dbYt * dbYs; |
| |
| dbXtYs -= dbXt * dbYs; |
| dbYtXs -= dbYt * dbXs; |
| |
| dbAverageRotate = atan2( dbXtYs - dbYtXs, dbXtXs + dbYtYs ); |
| |
| double cosR = cos(dbAverageRotate); |
| double sinR = sin(dbAverageRotate); |
| double del = dbXsXs + dbYsYs; |
| if( del != 0 ) |
| { |
| dbAverageScale = (double(dbXtXs + dbYtYs) * cosR + double(dbXtYs - dbYtXs) * sinR) / del; |
| dbLMS = dbXtXt + dbYtYt - ((double)pow(dbXtXs + dbYtYs,2) + (double)pow(dbXtYs - dbYtXs,2)) / del; |
| } |
| |
| dbAverageShiftX = double(dbXt) - dbAverageScale * (double(dbXs) * cosR + double(dbYs) * sinR); |
| dbAverageShiftY = double(dbYt) - dbAverageScale * (double(dbYs) * cosR - double(dbXs) * sinR); |
| |
| if( pdbAverageScale != NULL ) *pdbAverageScale = dbAverageScale; |
| if( pdbAverageRotate != NULL ) *pdbAverageRotate = dbAverageRotate; |
| if( pdbAverageShiftX != NULL ) *pdbAverageShiftX = dbAverageShiftX; |
| if( pdbAverageShiftY != NULL ) *pdbAverageShiftY = dbAverageShiftY; |
| |
| _ASSERT(dbLMS >= 0); |
| return dbLMS; |
| } |
| |
| inline double CalculateTransformationLMS3_0( CvPoint* pTemplPoints, CvPoint* pSrcPoints) |
| { |
| double dbLMS = 0; |
| |
| _ASSERT( NULL != pTemplPoints); |
| _ASSERT( NULL != pSrcPoints); |
| |
| double dbXt = double(pTemplPoints[0].x + pTemplPoints[1].x + pTemplPoints[2].x) / 3.0; |
| double dbYt = double(pTemplPoints[0].y + pTemplPoints[1].y + pTemplPoints[2].y ) / 3.0; |
| double dbXs = double(pSrcPoints[0].x + pSrcPoints[1].x + pSrcPoints[2].x) / 3.0; |
| double dbYs = double(pSrcPoints[0].y + pSrcPoints[1].y + pSrcPoints[2].y) / 3.0; |
| |
| double dbXtXt = double(pow2(pTemplPoints[0].x) + pow2(pTemplPoints[1].x) + pow2(pTemplPoints[2].x)) / 3.0; |
| double dbYtYt = double(pow2(pTemplPoints[0].y) + pow2(pTemplPoints[1].y) + pow2(pTemplPoints[2].y)) / 3.0; |
| |
| double dbXsXs = double(pow2(pSrcPoints[0].x) + pow2(pSrcPoints[1].x) + pow2(pSrcPoints[2].x)) / 3.0; |
| double dbYsYs = double(pow2(pSrcPoints[0].y) + pow2(pSrcPoints[1].y) + pow2(pSrcPoints[2].y)) / 3.0; |
| |
| double dbXtXs = double(pTemplPoints[0].x * pSrcPoints[0].x + |
| pTemplPoints[1].x * pSrcPoints[1].x + |
| pTemplPoints[2].x * pSrcPoints[2].x) / 3.0; |
| double dbYtYs = double(pTemplPoints[0].y * pSrcPoints[0].y + |
| pTemplPoints[1].y * pSrcPoints[1].y + |
| pTemplPoints[2].y * pSrcPoints[2].y) / 3.0; |
| |
| double dbXtYs = double(pTemplPoints[0].x * pSrcPoints[0].y + |
| pTemplPoints[1].x * pSrcPoints[1].y + |
| pTemplPoints[2].x * pSrcPoints[2].y) / 3.0; |
| double dbYtXs = double(pTemplPoints[0].y * pSrcPoints[0].x + |
| pTemplPoints[1].y * pSrcPoints[1].x + |
| pTemplPoints[2].y * pSrcPoints[2].x ) / 3.0; |
| |
| dbXtXt -= dbXt * dbXt; |
| dbYtYt -= dbYt * dbYt; |
| |
| dbXsXs -= dbXs * dbXs; |
| dbYsYs -= dbYs * dbYs; |
| |
| dbXtXs -= dbXt * dbXs; |
| dbYtYs -= dbYt * dbYs; |
| |
| dbXtYs -= dbXt * dbYs; |
| dbYtXs -= dbYt * dbXs; |
| |
| double del = dbXsXs + dbYsYs; |
| if( del != 0 ) |
| dbLMS = dbXtXt + dbYtYt - ((double)pow(dbXtXs + dbYtYs,2) + (double)pow(dbXtYs - dbYtXs,2)) / del; |
| return dbLMS; |
| } |
| |
