Motion and object tracking

Functions
FASTCV_API void	fcvUpdateMotionHistoryu8s32 (const uint8_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, int32_t *__restrict dst, uint32_t dstStride, int32_t timeStamp, int32_t maxHistory)
	This function calculates the motion history image.
FASTCV_API uint32_t	fcvMeanShiftu8 (const uint8_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, fcvRectangleInt *window, fcvTermCriteria criteria)
	Applies the meanshift procedure and obtains the final converged position.
FASTCV_API uint32_t	fcvMeanShifts32 (const int32_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, fcvRectangleInt *window, fcvTermCriteria criteria)
	Applies the meanshift procedure and obtains the final converged position.
FASTCV_API uint32_t	fcvMeanShiftf32 (const float32_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, fcvRectangleInt *window, fcvTermCriteria criteria)
	Applies the meanshift procedure and obtains the final converged position.
FASTCV_API uint32_t	fcvConAdaTracku8 (const uint8_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, fcvRectangleInt *window, fcvTermCriteria criteria, fcvBox2D *circuBox)
	Applies the ConAdaTrack procedure and find the object center, size and orientation.
FASTCV_API uint32_t	fcvConAdaTracks32 (const int32_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, fcvRectangleInt *window, fcvTermCriteria criteria, fcvBox2D *circuBox)
	Applies the ConAdaTrack procedure and find the object center, size and orientation.
FASTCV_API uint32_t	fcvConAdaTrackf32 (const float32_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, fcvRectangleInt *window, fcvTermCriteria criteria, fcvBox2D *circuBox)
	Applies the ConAdaTrack procedure and find the object center, size and orientation.
FASTCV_API fcvBGCodeWord **	fcvCreateBGCodeBookModel (uint32_t srcWidth, uint32_t srcHeight, void **__restrict cbmodel)
	Creates codebook model according to the image size.
FASTCV_API void	fcvReleaseBGCodeBookModel (void **cbmodel)
	Releases codebook model and codebook map.
FASTCV_API void	fcvConfigBGCodeBookModel (void *cbmodel, uint8_t cbBound[3], uint8_t minMod[3], uint8_t maxMod[3])
	configure codebook model
FASTCV_API void	fcvBGCodeBookUpdateu8 (void *__restrict cbmodel, const uint8_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, const uint8_t *__restrict fgMask, uint32_t fgMaskStride, fcvBGCodeWord **__restrict cbMap, int32_t *__restrict updateTime)
	Updates codebook map according to input image. fgMask can be a reference.
FASTCV_API void	fcvBGCodeBookDiffu8 (void *__restrict cbmodel, const uint8_t *__restrict src, uint32_t srcWidth, uint32_t srcHeight, uint32_t srcStride, uint8_t *__restrict fgMask, uint32_t fgMaskStride, fcvBGCodeWord **__restrict cbMap, int32_t *__restrict numFgMask)
	Generates differential mask of input frame according to background codebook map.
FASTCV_API void	fcvBGCodeBookClearStaleu8 (void *__restrict cbmodel, int32_t staleThresh, const uint8_t *__restrict fgMask, uint32_t fgMaskWidth, uint32_t fgMaskHeight, uint32_t fgMaskStride, fcvBGCodeWord **__restrict cbMap)
	Removes stale element in codebook according to foreground mask.

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Detailed Description

Supports and tracking functions

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Function Documentation

FASTCV_API void fcvBGCodeBookClearStaleu8	(	void *__restrict	cbmodel,
		int32_t	staleThresh,
		const uint8_t *__restrict	fgMask,
		uint32_t	fgMaskWidth,
		uint32_t	fgMaskHeight,
		uint32_t	fgMaskStride,
		fcvBGCodeWord **__restrict	cbMap
	)

Removes stale element in codebook according to foreground mask.

This function removes stale element in codebook according to foreground mask. Threshold is defined in staleThresh. Codebook functions are useful in background subtraction in many use cases, such as video surveillance.

Parameters:

cbmodel	Pointer to codebook model Codebook model contains parameters for generating and maintaining codebook model
staleThresh	Threshold of stale element
fgMask	Pointer to the foreground mask image in ROI. Use NULL as default NOTE: should be 128-bit aligned. must be a 1-channel image.
fgMaskWidth	Width of the mask in pixel, which is the same as input image NOTE: should be multiple of 8.
fgMaskHeight	Height of the mask in pixel, which is the same as input image
fgMaskStride	Stride of the foreground mask image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 fgMaskStride is default to fgMaskWidth. NOTE: should be multiple of 8.
cbMap	Pointer to code book map Codebook map is a pointer map consisting of code word for each pixel of input image.

FASTCV_API void fcvBGCodeBookDiffu8	(	void *__restrict	cbmodel,
		const uint8_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		uint8_t *__restrict	fgMask,
		uint32_t	fgMaskStride,
		fcvBGCodeWord **__restrict	cbMap,
		int32_t *__restrict	numFgMask
	)

Generates differential mask of input frame according to background codebook map.

This function generates differential mask of input frame according to background codebook map. Codebook functions are useful in background subtraction in many use cases, such as video surveillance.

Parameters:

cbmodel	Pointer to codebook model Codebook model contains parameters for generating and maintaining codebook model
src	Pointer to the input image WARNING: should be 128-bit aligned. must be a 3-channel image.
srcWidth	Width of the image in pixel. The number of pixels in a row. NOTE: should be multiple of 8.
srcHeight	Height of the image in pixel
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*3. NOTE: should be multiple of 8.
fgMask	Pointer to the returned foreground mask image. WARNING: should be 128-bit aligned. must be a 1-channel image, same width & height as src.
fgMaskStride	Stride of the foreground mask image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 fgMaskStride is default to srcWidth. NOTE: should be multiple of 8.
cbMap	Pointer to code book map. Codebook map is a pointer map consisting of code word for each pixel of input image.
numFgMask	Number of foreground pixels in the mask numFgMask is a return value.

FASTCV_API void fcvBGCodeBookUpdateu8	(	void *__restrict	cbmodel,
		const uint8_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		const uint8_t *__restrict	fgMask,
		uint32_t	fgMaskStride,
		fcvBGCodeWord **__restrict	cbMap,
		int32_t *__restrict	updateTime
	)

Updates codebook map according to input image. fgMask can be a reference.

This function updates codebook map according to input image. fgMask is generated by fcvBGCodeBookDiffu8() and can be a reference in this function. Therefore, fgMask is NULL at the first time. Codebook functions are useful in background subtraction in many use cases, such as video surveillance.

Parameters:

cbmodel	Pointer to codebook model Codebook model contains parameters for generating and maintaining codebook model
src	Pointer to the input image WARNING: should be 128-bit aligned. must be a 3-channel image.
srcWidth	Width of the image in pixel. The number of pixels in a row. NOTE: should be multiple of 8.
srcHeight	Height of the image in pixel
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*3. NOTE: should be multiple of 8.
fgMask	Pointer to the returned foreground mask image. Use NULL as default WARNING: should be 128-bit aligned. must be a 1-channel image, same width & height as src.
fgMaskStride	Stride of the foreground mask image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 fgMaskStride is default to srcWidth. NOTE: should be multiple of 8.
cbMap	Pointer to codebook map Codebook map is a pointer map consisting of code word for each pixel of input image.
updateTime	Update time. updateTime is a return value.

FASTCV_API uint32_t fcvConAdaTrackf32	(	const float32_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		fcvRectangleInt *	window,
		fcvTermCriteria	criteria,
		fcvBox2D *	circuBox
	)

Applies the ConAdaTrack procedure and find the object center, size and orientation.

This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object. The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.

Parameters:

src	Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image. Size of buffer is srcStride*srcHeight bytes. NOTE: should be 128-bit aligned.
srcWidth	The width of the input source image. NOTE: should be a multiple of 8.
srcHeight	The height of the input source image.
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4. NOTE: should be a multiple of 8.
window	Pointer to the initial search window position which also returns the final converged window position.
criteria	The criteria used to finish the object search which consists of two termination criteria: 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
circuBox	The circumscribed box around the object

Returns:

Number of iterations

FASTCV_API uint32_t fcvConAdaTracks32	(	const int32_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		fcvRectangleInt *	window,
		fcvTermCriteria	criteria,
		fcvBox2D *	circuBox
	)

Applies the ConAdaTrack procedure and find the object center, size and orientation.

This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object. The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.

Parameters:

src	Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image. Size of buffer is srcStride*srcHeight bytes. NOTE: should be 128-bit aligned.
srcWidth	The width of the input source image. NOTE: should be a multiple of 8.
srcHeight	The height of the input source image.
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4. NOTE: should be a multiple of 8.
window	Pointer to the initial search window position which also returns the final converged window position.
criteria	The criteria used to finish the object search which consists of two termination criteria: 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
circuBox	The circumscribed box around the object

Returns:

Number of iterations

FASTCV_API uint32_t fcvConAdaTracku8	(	const uint8_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		fcvRectangleInt *	window,
		fcvTermCriteria	criteria,
		fcvBox2D *	circuBox
	)

Applies the ConAdaTrack procedure and find the object center, size and orientation.

This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object. The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.

Parameters:

src	Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8bit grayscale image. Size of buffer is srcStride*srcHeight bytes. NOTE: should be 128-bit aligned.
srcWidth	The width of the input source image. NOTE: should be a multiple of 8.
srcHeight	The height of the input source image.
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth. NOTE: should be a multiple of 8.
window	Pointer to the initial search window position which also returns the final converged window position.
criteria	The criteria used to finish the object search which consists of two termination criteria: 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
circuBox	The circumscribed box around the object

Returns:

Number of iterations

FASTCV_API void fcvConfigBGCodeBookModel	(	void *	cbmodel,
		uint8_t	cbBound[3],
		uint8_t	minMod[3],
		uint8_t	maxMod[3]
	)

configure codebook model

This function configure codebook model. It takes three parameters. They are codebook boundary, minimum and maximum mode for each channel (generally 3). These three parameters are firstly configured in fcvCreateBGCodeBookModel, and the values are (10,10,10), (3,1,1) and (10,1,1) respectively.

Parameters:

cbmodel	Pointer to codebook model
cbBound	Pointer to uint8_t array that should be of 3 elements. This parameter is for updating codebook model in fcvBGCodeBookUpdateu8 that specifies the boundary of each channel.
minMod	Pointer to uint8_t array that should be of 3 elements. This parameter is for generating the mask in fcvBGCodeBookDiffu8 that specifies the minimum mode of each channel of the code word.
maxMod	Pointer to uint8_t array that should be of 3 elements. This parameter is for generating the mask in fcvBGCodeBookDiffu8 that specifies the maximum mode of each channel of the code word.

FASTCV_API fcvBGCodeWord** fcvCreateBGCodeBookModel	(	uint32_t	srcWidth,
		uint32_t	srcHeight,
		void **__restrict	cbmodel
	)

Creates codebook model according to the image size.

This function creates codebook model and returns codebook map. These 2 parameters will be used in fcvBGCodeBookUpdateu8(), fcvBGCodeBookDiffu8() and fcvBGCodeBookClearStaleu8(). Codebook functions are useful in background subtraction in many use cases, such as video surveillance.

Parameters:

srcWidth	Width of the input image. NOTE: should be multiple of 8. The number of pixels in a row.
srcHeight	Height of the input image.
cbmodel	Double pointer to codebook model. Codebook model contains parameters for generating and maintaining codebook model.

Returns:

Double pointer to codebook map. Codebook map is a pointer map consisting of code word for each pixel of input image.

FASTCV_API uint32_t fcvMeanShiftf32	(	const float32_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		fcvRectangleInt *	window,
		fcvTermCriteria	criteria
	)

Applies the meanshift procedure and obtains the final converged position.

This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position. The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.

Parameters:

src	Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image. Size of buffer is srcStride*srcHeight bytes. NOTE: should be 128-bit aligned.
srcWidth	The width of the input source image. NOTE: should be a multiple of 8.
srcHeight	The height of the input source image.
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4. NOTE: should be a multiple of 8.
window	Pointer to the initial search window position which also returns the final converged window position.
criteria	The criteria used to finish the MeanShift which consists of two termination criteria: 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations

Returns:

Number of iterations

FASTCV_API uint32_t fcvMeanShifts32	(	const int32_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		fcvRectangleInt *	window,
		fcvTermCriteria	criteria
	)

Applies the meanshift procedure and obtains the final converged position.

This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position. The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.

Parameters:

src	Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image. Size of buffer is srcStride*srcHeight bytes. NOTE: should be 128-bit aligned.
srcWidth	The width of the input source image. NOTE: should be a multiple of 8.
srcHeight	The height of the input source image.
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4. NOTE: should be a multiple of 8.
window	Pointer to the initial search window position which also returns the final converged window position.
criteria	The criteria used to finish the MeanShift which consists of two termination criteria: 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations

Returns:

Number of iterations

FASTCV_API uint32_t fcvMeanShiftu8	(	const uint8_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		fcvRectangleInt *	window,
		fcvTermCriteria	criteria
	)

Applies the meanshift procedure and obtains the final converged position.

This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position. The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.

Parameters:

src	Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes. NOTE: should be 128-bit aligned.
srcWidth	The width of the input source image. NOTE: should be a multiple of 8.
srcHeight	The height of the input source image.
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth. NOTE: should be a multiple of 8.
window	Pointer to the initial search window position which also returns the final converged window position.
criteria	The criteria used to finish the MeanShift which consists of two termination criteria: 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations

Returns:

The actually number of iterations

FASTCV_API void fcvReleaseBGCodeBookModel

(

void **

cbmodel

)

Releases codebook model and codebook map.

This function release codebook model and codebook map. Codebook map is referred in codebook model.

Parameters:

cbmodel

Double pointer to codebook model

FASTCV_API void fcvUpdateMotionHistoryu8s32	(	const uint8_t *__restrict	src,
		uint32_t	srcWidth,
		uint32_t	srcHeight,
		uint32_t	srcStride,
		int32_t *__restrict	dst,
		uint32_t	dstStride,
		int32_t	timeStamp,
		int32_t	maxHistory
	)

This function calculates the motion history image.

This function updates the motion history image based on the input motion image. src is a motion image where pixelvalue!=0 indicates a moving pixel. The function go through all the pixels in the src image. If the value is non zero, it sets the corresponding value of the dst image as the timestamp value. If the value is zero, it compares the corresponding value at the dst image with the timestamp value, if the difference is larger than the

Parameters:

src	The input image/patch. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes. NOTE:should be 128-bit aligned.
srcWidth	Image width, the number of pixels in a row NOTE: should be a multiple of 8.
srcHeight	Image height.
srcStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth. NOTE: should be a multiple of 8.
dst	The input image/patch. Must be 8 bit grayscale image. Size of buffer is dstStride*srcHeight bytes. NOTE:should be 128-bit aligned.
dstStride	Stride of image is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth. NOTE: should be a multiple of 8.
timeStamp	The timestamp value of the current frame that's being updated.
maxHistory	The maximum window size that the motion history image will keep.

Returns:

No return value.