<filename>android-opencv/opencv/modules/video/src/blobtrackingcc.cpp
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#include "precomp.hpp"

static float CalcAverageMask(CvBlob* pBlob, IplImage* pImgFG) {
    /* Calculate sum of mask: */
    double  Area, Aver = 0;
    CvRect  r;
    CvMat   mat;

    if (pImgFG == NULL) { return 0; }

    r.x = cvRound(pBlob->x - pBlob->w * 0.5);
    r.y = cvRound(pBlob->y - pBlob->h * 0.5);
    r.width = cvRound(pBlob->w);
    r.height = cvRound(pBlob->h);
    Area = r.width * r.height;
    if (r.x < 0) {r.width += r.x; r.x = 0;}
    if (r.y < 0) {r.height += r.y; r.y = 0;}
    if ((r.x + r.width) >= pImgFG->width) {r.width = pImgFG->width - r.x - 1;}
    if ((r.y + r.height) >= pImgFG->height) {r.height = pImgFG->height - r.y - 1;}

    if (r.width > 0 && r.height > 0) {
        double Sum = cvSum(cvGetSubRect(pImgFG, &mat, r)).val[0] / 255.0;
        assert(Area > 0);
        Aver = Sum / Area;
    }
    return (float)Aver;
}   /* Calculate sum of mask. */


/*============== BLOB TRACKERCC CLASS DECLARATION =============== */
typedef struct DefBlobTracker {
    CvBlob                      blob;
    CvBlobTrackPredictor*       pPredictor;
    CvBlob                      BlobPredict;
    int                         Collision;
    CvBlobSeq*                  pBlobHyp;
    float                       AverFG;
} DefBlobTracker;

void cvFindBlobsByCCClasters(IplImage* pFG, CvBlobSeq* pBlobs, CvMemStorage* storage);

class CvBlobTrackerCC : public CvBlobTracker {
private:
    float           m_AlphaSize;
    float           m_AlphaPos;
    float           m_Alpha;
    int             m_Collision;
    int             m_ConfidenceType;
    const char*           m_ConfidenceTypeStr;
    CvBlobSeq       m_BlobList;
    CvBlobSeq       m_BlobListNew;
//  int             m_LastID;
    CvMemStorage*   m_pMem;
    int             m_ClearHyp;
    IplImage*       m_pImg;
    IplImage*       m_pImgFG;
public:
    CvBlobTrackerCC(): m_BlobList(sizeof(DefBlobTracker)) {
//      m_LastID = 0;
        m_ClearHyp = 0;
        m_pMem = cvCreateMemStorage();
        m_Collision = 1; /* if 1 then collistion will be detected and processed */
        AddParam("Collision", &m_Collision);
        CommentParam("Collision", "If 1 then collision cases are processed in special way");

        m_AlphaSize = 0.02f;
        AddParam("AlphaSize", &m_AlphaSize);
        CommentParam("AlphaSize", "Size update speed (0..1)");

        m_AlphaPos = 1.0f;
        AddParam("AlphaPos", &m_AlphaPos);
        CommentParam("AlphaPos", "Position update speed (0..1)");

        m_Alpha = 0.001f;
        AddParam("Alpha", &m_Alpha);
        CommentParam("Alpha", "Coefficient for model histogram updating (0 - hist is not updated)");

        m_ConfidenceType = 0;
        m_ConfidenceTypeStr = "NearestBlob";
        AddParam("ConfidenceType", &m_ConfidenceTypeStr);
        CommentParam("ConfidenceType", "Type of calculated Confidence (NearestBlob, AverFG, BC)");

        SetModuleName("CC");
    };

    ~CvBlobTrackerCC() {
        if (m_pMem) { cvReleaseMemStorage(&m_pMem); }
    };

    /* Blob functions: */
    virtual int     GetBlobNum() {return m_BlobList.GetBlobNum();};
    virtual CvBlob* GetBlob(int BlobIndex) {return m_BlobList.GetBlob(BlobIndex);};
    virtual void    SetBlob(int BlobIndex, CvBlob* pBlob) {
        CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
        if (pB) { pB[0] = pBlob[0]; }
    };

    virtual CvBlob* GetBlobByID(int BlobID) {return m_BlobList.GetBlobByID(BlobID);};
    virtual void    DelBlob(int BlobIndex) {
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
        if (pBT == NULL) { return; }
        if (pBT->pPredictor) {
            pBT->pPredictor->Release();
        } else {
            printf("WARNING!!! Invalid Predictor in CC tracker");
        }
        delete pBT->pBlobHyp;
        m_BlobList.DelBlob(BlobIndex);
    };
#if 0
    virtual void    DelBlobByID(int BlobID) {
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlobByID(BlobID);
        pBT->pPredictor->Release();
        delete pBT->pBlobHyp;
        m_BlobList.DelBlobByID(BlobID);
    };
#endif
    virtual void    Release() {delete this;};

    /* Add new blob to track it and assign to this blob personal ID */
    /* pBlob - pinter to structure with blob parameters (ID is ignored)*/
    /* pImg - current image */
    /* pImgFG - current foreground mask */
    /* return pointer to new added blob */
    virtual CvBlob* AddBlob(CvBlob* pB, IplImage* /*pImg*/, IplImage* pImgFG = NULL) {
        assert(pImgFG); /* This tracker uses only foreground mask. */
        DefBlobTracker NewB;
        NewB.blob = pB[0];
//        CV_BLOB_ID(&NewB) = m_LastID;
        NewB.pBlobHyp = new CvBlobSeq;
        NewB.pPredictor = cvCreateModuleBlobTrackPredictKalman(); /* Module for position prediction. */
        NewB.pPredictor->Update(pB);
        NewB.AverFG = pImgFG ? CalcAverageMask(pB, pImgFG) : 0;
        m_BlobList.AddBlob((CvBlob*)&NewB);
        return m_BlobList.GetBlob(m_BlobList.GetBlobNum() - 1);
    };

    virtual void    Process(IplImage* pImg, IplImage* pImgFG = NULL) {
        CvSeq*      cnts;
        CvSeq*      cnt;
        int i;

        m_pImg = pImg;
        m_pImgFG = pImgFG;

        if (m_BlobList.GetBlobNum() <= 0) { return; }

        /* Clear bloblist for new blobs: */
        m_BlobListNew.Clear();

        assert(m_pMem);
        cvClearMemStorage(m_pMem);
        assert(pImgFG);


        /* Find CC: */
#if 0
        {
            // By contour clustering:
            cvFindBlobsByCCClasters(pImgFG, &m_BlobListNew, m_pMem);
        }
#else
        {
            /* One contour - one blob: */
            IplImage* pBin = cvCloneImage(pImgFG);
            assert(pBin);
            cvThreshold(pBin, pBin, 128, 255, CV_THRESH_BINARY);
            cvFindContours(pBin, m_pMem, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);

            /* Process each contour: */
            for (cnt = cnts; cnt; cnt = cnt->h_next) {
                CvBlob  NewBlob;

                /* Image moments: */
                double      M00, X, Y, XX, YY;
                CvMoments   m;
                CvRect      r = ((CvContour*)cnt)->rect;
                CvMat       mat;
                if (r.height < 3 || r.width < 3) { continue; }
                cvMoments(cvGetSubRect(pImgFG, &mat, r), &m, 0);
                M00 = cvGetSpatialMoment(&m, 0, 0);
                if (M00 <= 0) { continue; }
                X = cvGetSpatialMoment(&m, 1, 0) / M00;
                Y = cvGetSpatialMoment(&m, 0, 1) / M00;
                XX = (cvGetSpatialMoment(&m, 2, 0) / M00) - X * X;
                YY = (cvGetSpatialMoment(&m, 0, 2) / M00) - Y * Y;
                NewBlob = cvBlob(r.x + (float)X, r.y + (float)Y, (float)(4 * sqrt(XX)), (float)(4 * sqrt(YY)));
                m_BlobListNew.AddBlob(&NewBlob);
            }   /* Next contour. */

            cvReleaseImage(&pBin);
        }
#endif
        for (i = m_BlobList.GetBlobNum(); i > 0; --i) {
            /* Predict new blob position: */
            CvBlob*         pB = NULL;
            DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(i - 1);

            /* Update predictor by previous value of blob: */
            pBT->pPredictor->Update(&(pBT->blob));

            /* Predict current position: */
            pB = pBT->pPredictor->Predict();

            if (pB) {
                pBT->BlobPredict = pB[0];
            } else {
                pBT->BlobPredict = pBT->blob;
            }
        }   /* Predict new blob position. */

        if (m_Collision)
            for (i = m_BlobList.GetBlobNum(); i > 0; --i) {
                /* Predict collision. */
                int             Collision = 0;
                int             j;
                DefBlobTracker* pF = (DefBlobTracker*)m_BlobList.GetBlob(i - 1);

                for (j = m_BlobList.GetBlobNum(); j > 0; --j) {
                    /* Predict collision: */
                    CvBlob* pB1;
                    CvBlob* pB2;
                    DefBlobTracker* pF2 = (DefBlobTracker*)m_BlobList.GetBlob(j - 1);
                    if (i == j) { continue; }
                    pB1 = &pF->BlobPredict;
                    pB2 = &pF2->BlobPredict;

                    if (fabs(pB1->x - pB2->x) < 0.6 *(pB1->w + pB2->w) &&
                            fabs(pB1->y - pB2->y) < 0.6 *(pB1->h + pB2->h)) { Collision = 1; }

                    pB1 = &pF->blob;
                    pB2 = &pF2->blob;

                    if (fabs(pB1->x - pB2->x) < 0.6 *(pB1->w + pB2->w) &&
                            fabs(pB1->y - pB2->y) < 0.6 *(pB1->h + pB2->h)) { Collision = 1; }

                    if (Collision) { break; }

                }   /* Check next blob to cross current. */

                pF->Collision = Collision;

            }   /* Predict collision. */

        for (i = m_BlobList.GetBlobNum(); i > 0; --i) {
            /* Find a neighbour on current frame
             * for each blob from previous frame:
             */
            CvBlob*         pB = m_BlobList.GetBlob(i - 1);
            DefBlobTracker* pBT = (DefBlobTracker*)pB;
            //int             BlobID = CV_BLOB_ID(pB);
            //CvBlob*         pBBest = NULL;
            //double          DistBest = -1;
            //int j;

            if (pBT->pBlobHyp->GetBlobNum() > 0) {
                /* Track all hypotheses: */
                int h, hN = pBT->pBlobHyp->GetBlobNum();
                for (h = 0; h < hN; ++h) {
                    int         j, jN = m_BlobListNew.GetBlobNum();
                    CvBlob*     pB = pBT->pBlobHyp->GetBlob(h);
                    int         BlobID = CV_BLOB_ID(pB);
                    CvBlob*     pBBest = NULL;
                    double      DistBest = -1;
                    for (j = 0; j < jN; j++) {
                        /* Find best CC: */
                        double  Dist = -1;
                        CvBlob* pBNew = m_BlobListNew.GetBlob(j);
                        double  dx = fabs(CV_BLOB_X(pB) - CV_BLOB_X(pBNew));
                        double  dy = fabs(CV_BLOB_Y(pB) - CV_BLOB_Y(pBNew));
                        if (dx > 2 * CV_BLOB_WX(pB) || dy > 2 * CV_BLOB_WY(pB)) { continue; }

                        Dist = sqrt(dx * dx + dy * dy);
                        if (Dist < DistBest || pBBest == NULL) {
                            DistBest = Dist;
                            pBBest = pBNew;
                        }
                    }   /* Find best CC. */

                    if (pBBest) {
                        pB[0] = pBBest[0];
                        CV_BLOB_ID(pB) = BlobID;
                    } else {
                        /* Delete this hypothesis. */
                        pBT->pBlobHyp->DelBlob(h);
                        h--;
                        hN--;
                    }
                }   /* Next hypothysis. */
            }   /*  Track all hypotheses. */
        }   /*  Track next blob. */

        m_ClearHyp = 1;

    } /* Process. */

    virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL) {
        int             ID = pBlob->ID;
        CvBlob*         pB = m_BlobList.GetBlob(BlobIndex);
        DefBlobTracker* pBT = (DefBlobTracker*)pB;
        //CvBlob*         pBBest = NULL;
        //double          DistBest = -1;
        int             BlobID;

        if (pB == NULL) { return; }

        BlobID = pB->ID;

        if (m_Collision && pBT->Collision) {
            /* Tracking in collision: */
            pB[0] = pBT->BlobPredict;
            CV_BLOB_ID(pB) = BlobID;
        }   /* Tracking in collision. */
        else {
            /* Non-collision tracking: */
            CvBlob* pBBest = GetNearestBlob(pB);
            if (pBBest) {
                float   w = pBlob->w * (1 - m_AlphaSize) + m_AlphaSize * pBBest->w;
                float   h = pBlob->h * (1 - m_AlphaSize) + m_AlphaSize * pBBest->h;
                float   x = pBlob->x * (1 - m_AlphaPos) + m_AlphaPos * pBBest->x;
                float   y = pBlob->y * (1 - m_AlphaPos) + m_AlphaPos * pBBest->y;
                pB->w = w;
                pB->h = h;
                pB->x = x;
                pB->y = y;
                CV_BLOB_ID(pB) = BlobID;
            }
        }   /* Non-collision tracking. */

        pBlob[0] = pB[0];
        pBlob->ID = ID;
    };

    virtual double  GetConfidence(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* pImgFG = NULL) {
        /* Define coefficients in exp by exp(-XT*K)=VT: */
        static double _KS = -log(0.1) / pow(0.5, 2); /* XT = 1, VT = 0.1 - when size is Larger in 2 times Confidence is smoller in 10 times */
        static double _KP = -log(0.1) / pow(m_pImg->width * 0.02, 2); /* XT = 0.02*ImgWidth, VT = 0.1*/
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
        float   dx, dy, dw, dh;
        float   dp2, ds2;
        double  W = 1;
        CvBlob* pBC = GetNearestBlob(pBlob);
        if (pBC == NULL) { return 0; }

        dx = pBC->x - pBlob->x;
        dy = pBC->y - pBlob->y;
        dw = (pBC->w - pBlob->w) / pBC->w;
        dh = (pBC->h - pBlob->h) / pBC->h;

        dp2 = dx * dx + dy * dy;
        ds2 = dw * dw + dh * dh;

        if (!pBT->Collision) {
            /* Confidence for size by nearest blob: */
            W *= exp(-_KS * ds2);
        }

        if (m_ConfidenceType == 0 && !pBT->Collision) {
            /* Confidence by nearest blob: */
            W *= exp(-_KP * dp2);
        }

        if (m_ConfidenceType == 1 && pBT->AverFG > 0) {
            /* Calculate sum of mask: */
            float   Aver = CalcAverageMask(pBlob, pImgFG);
            if (Aver < pBT->AverFG) {
                float diff = 1 + 0.9f * (Aver - pBT->AverFG) / pBT->AverFG;
                if (diff < 0.1f) { diff = 0.1f; }
                W *= diff;
            }
        }   /* Calculate sum of mask. */

        if (m_ConfidenceType == 2) {
            /* Calculate BCoeff: */
            float   S = 0.2f;
            float   Aver = CalcAverageMask(pBlob, pImgFG);
            double B = sqrt(Aver * pBT->AverFG) + sqrt((1 - Aver) * (1 - pBT->AverFG));

            W *= exp((B - 1) / (2 * S));
        }   /* Calculate sum of mask. */

        return W;
    };

    virtual void UpdateBlob(int BlobIndex, CvBlob* /*pBlob*/, IplImage* /*pImg*/, IplImage* pImgFG = NULL) {
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);

        if (pImgFG == NULL || pBT == NULL) { return; }

        if (!pBT->Collision) {
            //pBT->AverFG = pBT->AverFG * (1-m_Alpha) + m_Alpha * CalcAverageMask(pBlob,pImgFG);
        }
    };

    virtual void ParamUpdate() {
        const char*   pCT[3] = {"NearestBlob", "AverFG", "BC"};
        int     i;

        CvBlobTracker::ParamUpdate();

        for (i = 0; i < 3; ++i) {
            if (cv_stricmp(m_ConfidenceTypeStr, pCT[i]) == 0) {
                m_ConfidenceType = i;
            }
        }
        SetParamStr("ConfidenceType", pCT[m_ConfidenceType]);
    }

    /* ===============  MULTI HYPOTHESIS INTERFACE ================== */
    /* Return number of position hypotheses of currently tracked blob: */
    virtual int     GetBlobHypNum(int BlobIdx) {
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIdx);
        assert(pBT->pBlobHyp);
        return pBT->pBlobHyp->GetBlobNum();
    };  /* CvBlobtrackerList::GetBlobHypNum() */

    /* Return pointer to specified blob hypothesis by index blob: */
    virtual CvBlob* GetBlobHyp(int BlobIndex, int hypothesis) {
        DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
        assert(pBT->pBlobHyp);
        return pBT->pBlobHyp->GetBlob(hypothesis);
    };  /* CvBlobtrackerList::GetBlobHyp() */

    /* Set new parameters for specified (by index) blob hypothesis
     * (can be called several times for each hypothesis):
     */
    virtual void    SetBlobHyp(int BlobIndex, CvBlob* pBlob) {
        if (m_ClearHyp) {
            /* Clear all hypotheses: */
            int b, bN = m_BlobList.GetBlobNum();
            for (b = 0; b < bN; ++b) {
                DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(b);
                assert(pBT->pBlobHyp);
                pBT->pBlobHyp->Clear();
            }
            m_ClearHyp = 0;
        }
        {
            /* Add hypothesis: */
            DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
            assert(pBT->pBlobHyp);
            pBT->pBlobHyp->AddBlob(pBlob);
        }
    };

private:
    CvBlob* GetNearestBlob(CvBlob* pB) {
        //DefBlobTracker* pBT = (DefBlobTracker*)pB;
        CvBlob*         pBBest = NULL;
        double          DistBest = -1;
        int             j, BlobID;

        if (pB == NULL) { return NULL; }

        BlobID = pB->ID;

        for (j = m_BlobListNew.GetBlobNum(); j > 0; --j) {
            /* Find best CC: */
            double  Dist = -1;
            CvBlob* pBNew = m_BlobListNew.GetBlob(j - 1);
            double  dx = fabs(CV_BLOB_X(pB) - CV_BLOB_X(pBNew));
            double  dy = fabs(CV_BLOB_Y(pB) - CV_BLOB_Y(pBNew));
            if (dx > 2 * CV_BLOB_WX(pB) || dy > 2 * CV_BLOB_WY(pB)) { continue; }

            Dist = sqrt(dx * dx + dy * dy);
            if (Dist < DistBest || pBBest == NULL) {
                DistBest = Dist;
                pBBest = pBNew;
            }

        }   /* Find best CC. */

        return pBBest;

    }; /* GetNearestBlob */

};

CvBlobTracker* cvCreateBlobTrackerCC() {
    return (CvBlobTracker*) new CvBlobTrackerCC;
}
/*============== BLOB TRACKERCC CLASS DECLARATION =============== */
