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10//                           License Agreement
11//                For Open Source Computer Vision Library
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13// Copyright (C) 2000, Intel Corporation, all rights reserved.
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41//M*/
42#include "precomp.hpp"
43
44int cv::meanShift( InputArray _probImage, Rect& window, TermCriteria criteria )
45{
46    Size size;
47    int cn;
48    Mat mat;
49    UMat umat;
50    bool isUMat = _probImage.isUMat();
51
52    if (isUMat)
53        umat = _probImage.getUMat(), cn = umat.channels(), size = umat.size();
54    else
55        mat = _probImage.getMat(), cn = mat.channels(), size = mat.size();
56
57    Rect cur_rect = window;
58
59    CV_Assert( cn == 1 );
60
61    if( window.height <= 0 || window.width <= 0 )
62        CV_Error( Error::StsBadArg, "Input window has non-positive sizes" );
63
64    window = window & Rect(0, 0, size.width, size.height);
65
66    double eps = (criteria.type & TermCriteria::EPS) ? std::max(criteria.epsilon, 0.) : 1.;
67    eps = cvRound(eps*eps);
68    int i, niters = (criteria.type & TermCriteria::MAX_ITER) ? std::max(criteria.maxCount, 1) : 100;
69
70    for( i = 0; i < niters; i++ )
71    {
72        cur_rect = cur_rect & Rect(0, 0, size.width, size.height);
73        if( cur_rect == Rect() )
74        {
75            cur_rect.x = size.width/2;
76            cur_rect.y = size.height/2;
77        }
78        cur_rect.width = std::max(cur_rect.width, 1);
79        cur_rect.height = std::max(cur_rect.height, 1);
80
81        Moments m = isUMat ? moments(umat(cur_rect)) : moments(mat(cur_rect));
82
83        // Calculating center of mass
84        if( fabs(m.m00) < DBL_EPSILON )
85            break;
86
87        int dx = cvRound( m.m10/m.m00 - window.width*0.5 );
88        int dy = cvRound( m.m01/m.m00 - window.height*0.5 );
89
90        int nx = std::min(std::max(cur_rect.x + dx, 0), size.width - cur_rect.width);
91        int ny = std::min(std::max(cur_rect.y + dy, 0), size.height - cur_rect.height);
92
93        dx = nx - cur_rect.x;
94        dy = ny - cur_rect.y;
95        cur_rect.x = nx;
96        cur_rect.y = ny;
97
98        // Check for coverage centers mass & window
99        if( dx*dx + dy*dy < eps )
100            break;
101    }
102
103    window = cur_rect;
104    return i;
105}
106
107
108cv::RotatedRect cv::CamShift( InputArray _probImage, Rect& window,
109                              TermCriteria criteria )
110{
111    const int TOLERANCE = 10;
112    Size size;
113    Mat mat;
114    UMat umat;
115    bool isUMat = _probImage.isUMat();
116
117    if (isUMat)
118        umat = _probImage.getUMat(), size = umat.size();
119    else
120        mat = _probImage.getMat(), size = mat.size();
121
122    meanShift( _probImage, window, criteria );
123
124    window.x -= TOLERANCE;
125    if( window.x < 0 )
126        window.x = 0;
127
128    window.y -= TOLERANCE;
129    if( window.y < 0 )
130        window.y = 0;
131
132    window.width += 2 * TOLERANCE;
133    if( window.x + window.width > size.width )
134        window.width = size.width - window.x;
135
136    window.height += 2 * TOLERANCE;
137    if( window.y + window.height > size.height )
138        window.height = size.height - window.y;
139
140    // Calculating moments in new center mass
141    Moments m = isUMat ? moments(umat(window)) : moments(mat(window));
142
143    double m00 = m.m00, m10 = m.m10, m01 = m.m01;
144    double mu11 = m.mu11, mu20 = m.mu20, mu02 = m.mu02;
145
146    if( fabs(m00) < DBL_EPSILON )
147        return RotatedRect();
148
149    double inv_m00 = 1. / m00;
150    int xc = cvRound( m10 * inv_m00 + window.x );
151    int yc = cvRound( m01 * inv_m00 + window.y );
152    double a = mu20 * inv_m00, b = mu11 * inv_m00, c = mu02 * inv_m00;
153
154    // Calculating width & height
155    double square = std::sqrt( 4 * b * b + (a - c) * (a - c) );
156
157    // Calculating orientation
158    double theta = atan2( 2 * b, a - c + square );
159
160    // Calculating width & length of figure
161    double cs = cos( theta );
162    double sn = sin( theta );
163
164    double rotate_a = cs * cs * mu20 + 2 * cs * sn * mu11 + sn * sn * mu02;
165    double rotate_c = sn * sn * mu20 - 2 * cs * sn * mu11 + cs * cs * mu02;
166    double length = std::sqrt( rotate_a * inv_m00 ) * 4;
167    double width = std::sqrt( rotate_c * inv_m00 ) * 4;
168
169    // In case, when tetta is 0 or 1.57... the Length & Width may be exchanged
170    if( length < width )
171    {
172        std::swap( length, width );
173        std::swap( cs, sn );
174        theta = CV_PI*0.5 - theta;
175    }
176
177    // Saving results
178    int _xc = cvRound( xc );
179    int _yc = cvRound( yc );
180
181    int t0 = cvRound( fabs( length * cs ));
182    int t1 = cvRound( fabs( width * sn ));
183
184    t0 = MAX( t0, t1 ) + 2;
185    window.width = MIN( t0, (size.width - _xc) * 2 );
186
187    t0 = cvRound( fabs( length * sn ));
188    t1 = cvRound( fabs( width * cs ));
189
190    t0 = MAX( t0, t1 ) + 2;
191    window.height = MIN( t0, (size.height - _yc) * 2 );
192
193    window.x = MAX( 0, _xc - window.width / 2 );
194    window.y = MAX( 0, _yc - window.height / 2 );
195
196    window.width = MIN( size.width - window.x, window.width );
197    window.height = MIN( size.height - window.y, window.height );
198
199    RotatedRect box;
200    box.size.height = (float)length;
201    box.size.width = (float)width;
202    box.angle = (float)((CV_PI*0.5+theta)*180./CV_PI);
203    while(box.angle < 0)
204        box.angle += 360;
205    while(box.angle >= 360)
206        box.angle -= 360;
207    if(box.angle >= 180)
208        box.angle -= 180;
209    box.center = Point2f( window.x + window.width*0.5f, window.y + window.height*0.5f);
210
211    return box;
212}
213
214/* End of file. */
215