Permalink
2a81f23 Feb 8, 2016
@peterbraden @keeganbrown @kaosat-dev @mvines @jainanshul
179 lines (136 sloc) 5.05 KB
#include "CamShift.h"
#include "OpenCV.h"
#include "Matrix.h"
#if CV_MAJOR_VERSION >= 3
#include <opencv2/video/tracking.hpp>
#endif
#define CHANNEL_HUE 0
#define CHANNEL_SATURATION 1
#define CHANNEL_VALUE 2
Nan::Persistent<FunctionTemplate> TrackedObject::constructor;
void TrackedObject::Init(Local<Object> target) {
Nan::HandleScope scope;
// Constructor
Local<FunctionTemplate> ctor = Nan::New<FunctionTemplate>(TrackedObject::New);
constructor.Reset(ctor);
ctor->InstanceTemplate()->SetInternalFieldCount(1);
ctor->SetClassName(Nan::New("TrackedObject").ToLocalChecked());
// Prototype
// Local<ObjectTemplate> proto = constructor->PrototypeTemplate();
Nan::SetPrototypeMethod(ctor, "track", Track);
target->Set(Nan::New("TrackedObject").ToLocalChecked(), ctor->GetFunction());
}
NAN_METHOD(TrackedObject::New) {
Nan::HandleScope scope;
if (info.This()->InternalFieldCount() == 0) {
JSTHROW_TYPE("Cannot Instantiate without new")
}
Matrix* m = Nan::ObjectWrap::Unwrap<Matrix>(info[0]->ToObject());
cv::Rect r;
int channel = CHANNEL_HUE;
if (info[1]->IsArray()) {
Local<Object> v8rec = info[1]->ToObject();
r = cv::Rect(
v8rec->Get(0)->IntegerValue(),
v8rec->Get(1)->IntegerValue(),
v8rec->Get(2)->IntegerValue() - v8rec->Get(0)->IntegerValue(),
v8rec->Get(3)->IntegerValue() - v8rec->Get(1)->IntegerValue());
} else {
JSTHROW_TYPE("Must pass rectangle to track")
}
if (info[2]->IsObject()) {
Local<Object> opts = info[2]->ToObject();
if (opts->Get(Nan::New("channel").ToLocalChecked())->IsString()) {
v8::String::Utf8Value c(opts->Get(Nan::New("channel").ToLocalChecked())->ToString());
std::string cc = std::string(*c);
if (cc == "hue" || cc == "h") {
channel = CHANNEL_HUE;
}
if (cc == "saturation" || cc == "s") {
channel = CHANNEL_SATURATION;
}
if (cc == "value" || cc == "v") {
channel = CHANNEL_VALUE;
}
}
}
TrackedObject *to = new TrackedObject(m->mat, r, channel);
to->Wrap(info.This());
info.GetReturnValue().Set(info.This());
}
void update_chann_image(TrackedObject* t, cv::Mat image) {
// Store HSV Hue Image
cv::cvtColor(image, t->hsv, CV_BGR2HSV); // convert to HSV space
// Mask out-of-range values
int vmin = 65, vmax = 256, smin = 55;
cv::inRange(t->hsv, //source
cv::Scalar(0, smin, MIN(vmin, vmax), 0), //lower bound
cv::Scalar(180, 256, MAX(vmin, vmax), 0), //upper bound
t->mask); //destination
// Extract the hue channel, split: src, dest channels
std::vector<cv::Mat> hsvplanes;
cv::split(t->hsv, hsvplanes);
t->hue = hsvplanes[t->channel];
}
TrackedObject::TrackedObject(cv::Mat image, cv::Rect rect, int chan) {
channel = chan;
update_chann_image(this, image);
prev_rect = rect;
// Calculate Histogram
int hbins = 30, sbins = 32;
int histSizes[] = { hbins, sbins };
// float hranges[] = { 0, 180 };
// saturation varies from 0 (black-gray-white) to
// 255 (pure spectrum color)
float sranges[] = { 0, 256 };
const float* ranges[] = { sranges };
cv::Mat hue_roi = hue(rect);
cv::Mat mask_roi = mask(rect);
cv::calcHist(&hue_roi, 1, 0, mask_roi, hist, 1, histSizes, ranges, true,
false);
}
NAN_METHOD(TrackedObject::Track) {
SETUP_FUNCTION(TrackedObject)
if (info.Length() != 1) {
Nan::ThrowTypeError("track takes an image param");
return;
}
Matrix *im = Nan::ObjectWrap::Unwrap<Matrix>(info[0]->ToObject());
cv::RotatedRect r;
if ((self->prev_rect.x < 0) || (self->prev_rect.y < 0)
|| (self->prev_rect.width <= 1) || (self->prev_rect.height <= 1)) {
return Nan::ThrowTypeError("OPENCV ERROR: prev rectangle is illogical");
}
update_chann_image(self, im->mat);
cv::Rect backup_prev_rect = cv::Rect(self->prev_rect.x, self->prev_rect.y,
self->prev_rect.width, self->prev_rect.height);
float sranges[] = { 0, 256 };
const float* ranges[] = { sranges };
int channel = 0;
cv::calcBackProject(&self->hue, 1, &channel, self->hist, self->prob, ranges);
r = cv::CamShift(self->prob, self->prev_rect,
cv::TermCriteria(CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1));
cv::Rect bounds = r.boundingRect();
if (bounds.x >= 0 && bounds.y >= 0 && bounds.width > 1 && bounds.height > 1) {
self->prev_rect = bounds;
} else {
// printf("CRAP> %i %i %i %i ;", self->prev_rect.x, self->prev_rect.y,
// self->prev_rect.width, self->prev_rect.height);
// We have encountered a bug in opencv. Somehow the prev_rect has got
// mangled, so we must reset it to a good value.
self->prev_rect = backup_prev_rect;
}
v8::Local<v8::Array> arr = Nan::New<Array>(4);
arr->Set(0, Nan::New<Number>(bounds.x));
arr->Set(1, Nan::New<Number>(bounds.y));
arr->Set(2, Nan::New<Number>(bounds.x + bounds.width));
arr->Set(3, Nan::New<Number>(bounds.y + bounds.height));
/*
cv::Point2f pts[4];
r.points(pts);
for (int i = 0; i < 8; i += 2) {
arr->Set(i, Nan::New<Number>(pts[i].x));
arr->Set(i + 1, Nan::New<Number>(pts[i].y));
} */
info.GetReturnValue().Set(arr);
}