)
*/
/**
* Holds the maximum number of stages that will be used in the alignment algorithm.
* Each stage contains a different set of random forests and retrieves the binary
* code from a more "specialized" (i.e. smaller) region around the landmarks.
* @type {number}
* @static
*/
tracking.LBF.maxNumStages = 4;
/**
* Holds the regressor that will be responsible for extracting the local features from
* the image and guide the landmarks using the training data.
* @type {object}
* @protected
* @static
*/
tracking.LBF.regressor_ = null;
/**
* Generates a set of landmarks for a set of faces
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {array} faces The list of faces detected in the image
* @return {array} The aligned landmarks, each set of landmarks corresponding
* to a specific face.
* @static
*/
tracking.LBF.align = function(pixels, width, height, faces){
if(tracking.LBF.regressor_ == null){
tracking.LBF.regressor_ = new tracking.LBF.Regressor(
tracking.LBF.maxNumStages
);
}
pixels = tracking.Image.grayscale(pixels, width, height, false);
pixels = tracking.Image.equalizeHist(pixels, width, height);
var shapes = new Array(faces.length);
for(var i in faces){
faces[i].height = faces[i].width;
var boundingBox = {};
boundingBox.startX = faces[i].x;
boundingBox.startY = faces[i].y;
boundingBox.width = faces[i].width;
boundingBox.height = faces[i].height;
shapes[i] = tracking.LBF.regressor_.predict(pixels, width, height, boundingBox);
}
return shapes;
}
/**
* Unprojects the landmarks shape from the bounding box.
* @param {matrix} shape The landmarks shape.
* @param {matrix} boudingBox The bounding box.
* @return {matrix} The landmarks shape projected into the bounding box.
* @static
* @protected
*/
tracking.LBF.unprojectShapeToBoundingBox_ = function(shape, boundingBox){
var temp = new Array(shape.length);
for(var i=0; i < shape.length; i++){
temp[i] = [
(shape[i][0] - boundingBox.startX) / boundingBox.width,
(shape[i][1] - boundingBox.startY) / boundingBox.height
];
}
return temp;
}
/**
* Projects the landmarks shape into the bounding box. The landmarks shape has
* normalized coordinates, so it is necessary to map these coordinates into
* the bounding box coordinates.
* @param {matrix} shape The landmarks shape.
* @param {matrix} boudingBox The bounding box.
* @return {matrix} The landmarks shape.
* @static
* @protected
*/
tracking.LBF.projectShapeToBoundingBox_ = function(shape, boundingBox){
var temp = new Array(shape.length);
for(var i=0; i < shape.length; i++){
temp[i] = [
shape[i][0] * boundingBox.width + boundingBox.startX,
shape[i][1] * boundingBox.height + boundingBox.startY
];
}
return temp;
}
/**
* Calculates the rotation and scale necessary to transform shape1 into shape2.
* @param {matrix} shape1 The shape to be transformed.
* @param {matrix} shape2 The shape to be transformed in.
* @return {[matrix, scalar]} The rotation matrix and scale that applied to shape1
* results in shape2.
* @static
* @protected
*/
tracking.LBF.similarityTransform_ = function(shape1, shape2){
var center1 = [0,0];
var center2 = [0,0];
for (var i = 0; i < shape1.length; i++) {
center1[0] += shape1[i][0];
center1[1] += shape1[i][1];
center2[0] += shape2[i][0];
center2[1] += shape2[i][1];
}
center1[0] /= shape1.length;
center1[1] /= shape1.length;
center2[0] /= shape2.length;
center2[1] /= shape2.length;
var temp1 = tracking.Matrix.clone(shape1);
var temp2 = tracking.Matrix.clone(shape2);
for(var i=0; i < shape1.length; i++){
temp1[i][0] -= center1[0];
temp1[i][1] -= center1[1];
temp2[i][0] -= center2[0];
temp2[i][1] -= center2[1];
}
var covariance1, covariance2;
var mean1, mean2;
var t = tracking.Matrix.calcCovarMatrix(temp1);
covariance1 = t[0];
mean1 = t[1];
t = tracking.Matrix.calcCovarMatrix(temp2);
covariance2 = t[0];
mean2 = t[1];
var s1 = Math.sqrt(tracking.Matrix.norm(covariance1));
var s2 = Math.sqrt(tracking.Matrix.norm(covariance2));
var scale = s1/s2;
temp1 = tracking.Matrix.mulScalar(1.0/s1, temp1);
temp2 = tracking.Matrix.mulScalar(1.0/s2, temp2);
var num = 0, den = 0;
for (var i = 0; i < shape1.length; i++) {
num = num + temp1[i][1] * temp2[i][0] - temp1[i][0] * temp2[i][1];
den = den + temp1[i][0] * temp2[i][0] + temp1[i][1] * temp2[i][1];
}
var norm = Math.sqrt(num*num + den*den);
var sin_theta = num/norm;
var cos_theta = den/norm;
var rotation = [
[cos_theta, -sin_theta],
[sin_theta, cos_theta]
];
return [rotation, scale];
}
/**
* LBF Random Forest data structure.
* @static
* @constructor
*/
tracking.LBF.RandomForest = function(forestIndex){
this.maxNumTrees = tracking.LBF.RegressorData[forestIndex].max_numtrees;
this.landmarkNum = tracking.LBF.RegressorData[forestIndex].num_landmark;
this.maxDepth = tracking.LBF.RegressorData[forestIndex].max_depth;
this.stages = tracking.LBF.RegressorData[forestIndex].stages;
this.rfs = new Array(this.landmarkNum);
for(var i=0; i < this.landmarkNum; i++){
this.rfs[i] = new Array(this.maxNumTrees);
for(var j=0; j < this.maxNumTrees; j++){
this.rfs[i][j] = new tracking.LBF.Tree(forestIndex, i, j);
}
}
}
/**
* LBF Tree data structure.
* @static
* @constructor
*/
tracking.LBF.Tree = function(forestIndex, landmarkIndex, treeIndex){
var data = tracking.LBF.RegressorData[forestIndex].landmarks[landmarkIndex][treeIndex];
this.maxDepth = data.max_depth;
this.maxNumNodes = data.max_numnodes;
this.nodes = data.nodes;
this.landmarkID = data.landmark_id;
this.numLeafnodes = data.num_leafnodes;
this.numNodes = data.num_nodes;
this.maxNumFeats = data.max_numfeats;
this.maxRadioRadius = data.max_radio_radius;
this.leafnodes = data.id_leafnodes;
}
}());
================================================
FILE: examples/assets/color_camera_gui.js
================================================
function initGUIControllers(tracker) {
// GUI Controllers
var gui = new dat.GUI();
var trackedColors = {
custom: false
};
Object.keys(tracking.ColorTracker.knownColors_).forEach(function(color) {
trackedColors[color] = true;
});
tracker.customColor = '#000000';
function createCustomColor(value) {
var components = /^#?([a-f\d]{2})([a-f\d]{2})([a-f\d]{2})$/i.exec(value);
var customColorR = parseInt(components[1], 16);
var customColorG = parseInt(components[2], 16);
var customColorB = parseInt(components[3], 16);
var colorTotal = customColorR + customColorG + customColorB;
if (colorTotal === 0) {
tracking.ColorTracker.registerColor('custom', function(r, g, b) {
return r + g + b < 10;
});
} else {
var rRatio = customColorR / colorTotal;
var gRatio = customColorG / colorTotal;
tracking.ColorTracker.registerColor('custom', function(r, g, b) {
var colorTotal2 = r + g + b;
if (colorTotal2 === 0) {
if (colorTotal < 10) {
return true;
}
return false;
}
var rRatio2 = r / colorTotal2,
gRatio2 = g / colorTotal2,
deltaColorTotal = colorTotal / colorTotal2,
deltaR = rRatio / rRatio2,
deltaG = gRatio / gRatio2;
return deltaColorTotal > 0.9 && deltaColorTotal < 1.1 &&
deltaR > 0.9 && deltaR < 1.1 &&
deltaG > 0.9 && deltaG < 1.1;
});
}
updateColors();
}
function updateColors() {
var colors = [];
for (var color in trackedColors) {
if (trackedColors[color]) {
colors.push(color);
}
}
tracker.setColors(colors);
}
var colorsFolder = gui.addFolder('Colors');
Object.keys(trackedColors).forEach(function(color) {
if (color !== 'custom') {
colorsFolder.add(trackedColors, color).onFinishChange(updateColors);
}
});
colorsFolder.add(trackedColors, 'custom').onFinishChange(function(value) {
if (value) {
this.customColorElement = colorsFolder.addColor(tracker, 'customColor').onChange(createCustomColor);
} else {
colorsFolder.remove(this.customColorElement);
}
});
var parametersFolder = gui.addFolder('Parameters');
parametersFolder.add(tracker, 'minDimension', 1, 100);
parametersFolder.add(tracker, 'minGroupSize', 1, 100);
colorsFolder.open();
parametersFolder.open();
updateColors();
}
================================================
FILE: examples/assets/demo.css
================================================
* {
margin: 0;
padding: 0;
font-family: Helvetica, Arial, sans-serif;
}
.demo-title {
position: absolute;
width: 100%;
background: #2e2f33;
z-index: 2;
padding: .7em 0;
}
.demo-title a {
color: #fff;
border-bottom: 1px dotted #a64ceb;
text-decoration: none;
}
.demo-title p {
color: #fff;
text-align: center;
text-transform: lowercase;
font-size: 15px;
}
.demo-frame {
background: url(frame.png) no-repeat;
width: 854px;
height: 658px;
position: fixed;
top: 50%;
left: 50%;
margin: -329px 0 0 -429px;
padding: 95px 20px 45px 34px;
overflow: hidden;
-webkit-box-sizing: border-box;
-moz-box-sizing: border-box;
-ms-box-sizing: border-box;
box-sizing: border-box;
}
.demo-container {
width: 100%;
height: 530px;
position: relative;
background: #eee;
overflow: hidden;
border-bottom-right-radius: 10px;
border-bottom-left-radius: 10px;
}
.dg.ac {
z-index: 100 !important;
top: 50px !important;
}
================================================
FILE: examples/assets/fish_tank/FishTankRenderer.js
================================================
(function() {
var FishTankRenderer = function() {};
FishTankRenderer.prototype.init = function(container) {
if (!FishTankRenderer.isWebGLEnabled()) {
throw new Error('WebGL is not enabled in your browser.');
}
var mesh, geometry;
this.spheres = [];
this.camera = new THREE.PerspectiveCamera(60, window.innerWidth / window.innerHeight, 1, 100000);
this.camera.position.z = 3200;
this.scene = new THREE.Scene();
var geometry = new THREE.SphereGeometry(100, 32, 16);
var path = 'assets/fish_tank/';
var format = '.png';
var urls = [
path + 'px' + format, path + 'nx' + format,
path + 'py' + format, path + 'ny' + format,
path + 'pz' + format, path + 'nz' + format
];
var textureCube = THREE.ImageUtils.loadTextureCube(urls);
var material = new THREE.MeshBasicMaterial({
color: 0xffffff,
envMap: textureCube
});
for (var i = 0; i < 500; i++) {
var mesh = new THREE.Mesh(geometry, material);
mesh.position.x = Math.random() * 100000 - 50000;
mesh.position.y = Math.random() * 100000 - 50000;
mesh.position.z = Math.random() * 100000 - 50000;
mesh.scale.x = mesh.scale.y = mesh.scale.z = Math.random() * 3 + 1;
this.scene.add(mesh);
this.spheres.push(mesh);
}
// Skybox
var shader = THREE.ShaderLib["cube"];
shader.uniforms["tCube"].value = textureCube;
var material = new THREE.ShaderMaterial({
fragmentShader: shader.fragmentShader,
vertexShader: shader.vertexShader,
uniforms: shader.uniforms,
side: THREE.BackSide
}),
mesh = new THREE.Mesh(new THREE.BoxGeometry(100000, 100000, 100000), material);
this.scene.add(mesh);
var _params = {
minFilter: THREE.LinearFilter,
magFilter: THREE.NearestFilter,
format: THREE.RGBAFormat
};
var width = window.innerWidth || 2;
var height = window.innerHeight || 2;
this.renderer = new THREE.WebGLRenderer(width, height, _params);
container.appendChild(this.renderer.domElement);
this.renderer.setSize(width, height);
};
FishTankRenderer.prototype.render = function(controlX, controlY) {
var timer = 0.0001 * Date.now();
this.camera.position.x += (-controlX - this.camera.position.x) * 0.05;
this.camera.position.y += (-controlY - this.camera.position.y) * 0.05;
this.camera.lookAt(this.scene.position);
for (var i = 0, il = this.spheres.length; i < il; i++) {
var sphere = this.spheres[i];
sphere.position.x += 50 * Math.cos(timer + i);
sphere.position.y += 50 * Math.sin(timer + i * 1.1);
}
this.renderer.render(this.scene, this.camera);
};
FishTankRenderer.isWebGLEnabled = function() {
try {
var canvas = document.createElement('canvas');
return !!window.WebGLRenderingContext &&
(canvas.getContext('webgl') || canvas.getContext('experimental-webgl'));
} catch (e) {
return false;
}
};
window.FishTankRenderer = FishTankRenderer;
})();
================================================
FILE: examples/brief.html
================================================
tracking.js - feature matching
tracking.js － match similar feature points in two images
================================================
FILE: examples/brief_camera.html
================================================
tracking.js - bounding box with camera
tracking.js － Click and drag to select the area to be tracked
================================================
FILE: examples/color_camera.html
================================================
tracking.js - color with camera
tracking.js － choose the colors you want to detect through the controls on the right
================================================
FILE: examples/color_draw_something.html
================================================
tracking.js - draw something
tracking.js － use magenta color to draw and cyan to erase
================================================
FILE: examples/color_fish_tank.html
================================================
tracking.js - color tracking fish tank
tracking.js － use a magenta colored object to control the scene
tracking.js - color hello world
tracking.js - color with video
tracking.js - face alignment with images
tracking.js - face alignment with camera
tracking.js － get user's webcam and align face landmarks to detected faces
================================================
FILE: examples/face_alignment_webcam.html
================================================
tracking.js - face alignment with camera
tracking.js - face with camera
tracking.js - face tracking fish tank
tracking.js － get user's webcam and detect faces to control the scene
================================================
FILE: examples/face_hello_world.html
================================================
tracking.js - face hello world
tracking.js - tag friends
tracking.js - feature detection
tracking.js - feature detector with camera
, Thiago Menezes ,
* Thiago Domingues , Rafael Roberto ,
* Thulio Araujo , Joao Victor ,
* Tomer Simis )
*/
/**
* Holds the maximum number of stages that will be used in the alignment algorithm.
* Each stage contains a different set of random forests and retrieves the binary
* code from a more "specialized" (i.e. smaller) region around the landmarks.
* @type {number}
* @static
*/
tracking.LBF.maxNumStages = 4;
/**
* Holds the regressor that will be responsible for extracting the local features from
* the image and guide the landmarks using the training data.
* @type {object}
* @protected
* @static
*/
tracking.LBF.regressor_ = null;
/**
* Generates a set of landmarks for a set of faces
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {array} faces The list of faces detected in the image
* @return {array} The aligned landmarks, each set of landmarks corresponding
* to a specific face.
* @static
*/
tracking.LBF.align = function(pixels, width, height, faces){
if(tracking.LBF.regressor_ == null){
tracking.LBF.regressor_ = new tracking.LBF.Regressor(
tracking.LBF.maxNumStages
);
}
// NOTE: is this thesholding suitable ? if it is on image, why no skin-color filter ? and a adaptative threshold
pixels = tracking.Image.grayscale(pixels, width, height, false);
pixels = tracking.Image.equalizeHist(pixels, width, height);
var shapes = new Array(faces.length);
for(var i in faces){
faces[i].height = faces[i].width;
var boundingBox = {};
boundingBox.startX = faces[i].x;
boundingBox.startY = faces[i].y;
boundingBox.width = faces[i].width;
boundingBox.height = faces[i].height;
shapes[i] = tracking.LBF.regressor_.predict(pixels, width, height, boundingBox);
}
return shapes;
}
/**
* Unprojects the landmarks shape from the bounding box.
* @param {matrix} shape The landmarks shape.
* @param {matrix} boudingBox The bounding box.
* @return {matrix} The landmarks shape projected into the bounding box.
* @static
* @protected
*/
tracking.LBF.unprojectShapeToBoundingBox_ = function(shape, boundingBox){
var temp = new Array(shape.length);
for(var i=0; i < shape.length; i++){
temp[i] = [
(shape[i][0] - boundingBox.startX) / boundingBox.width,
(shape[i][1] - boundingBox.startY) / boundingBox.height
];
}
return temp;
}
/**
* Projects the landmarks shape into the bounding box. The landmarks shape has
* normalized coordinates, so it is necessary to map these coordinates into
* the bounding box coordinates.
* @param {matrix} shape The landmarks shape.
* @param {matrix} boudingBox The bounding box.
* @return {matrix} The landmarks shape.
* @static
* @protected
*/
tracking.LBF.projectShapeToBoundingBox_ = function(shape, boundingBox){
var temp = new Array(shape.length);
for(var i=0; i < shape.length; i++){
temp[i] = [
shape[i][0] * boundingBox.width + boundingBox.startX,
shape[i][1] * boundingBox.height + boundingBox.startY
];
}
return temp;
}
/**
* Calculates the rotation and scale necessary to transform shape1 into shape2.
* @param {matrix} shape1 The shape to be transformed.
* @param {matrix} shape2 The shape to be transformed in.
* @return {[matrix, scalar]} The rotation matrix and scale that applied to shape1
* results in shape2.
* @static
* @protected
*/
tracking.LBF.similarityTransform_ = function(shape1, shape2){
var center1 = [0,0];
var center2 = [0,0];
for (var i = 0; i < shape1.length; i++) {
center1[0] += shape1[i][0];
center1[1] += shape1[i][1];
center2[0] += shape2[i][0];
center2[1] += shape2[i][1];
}
center1[0] /= shape1.length;
center1[1] /= shape1.length;
center2[0] /= shape2.length;
center2[1] /= shape2.length;
var temp1 = tracking.Matrix.clone(shape1);
var temp2 = tracking.Matrix.clone(shape2);
for(var i=0; i < shape1.length; i++){
temp1[i][0] -= center1[0];
temp1[i][1] -= center1[1];
temp2[i][0] -= center2[0];
temp2[i][1] -= center2[1];
}
var covariance1, covariance2;
var mean1, mean2;
var t = tracking.Matrix.calcCovarMatrix(temp1);
covariance1 = t[0];
mean1 = t[1];
t = tracking.Matrix.calcCovarMatrix(temp2);
covariance2 = t[0];
mean2 = t[1];
var s1 = Math.sqrt(tracking.Matrix.norm(covariance1));
var s2 = Math.sqrt(tracking.Matrix.norm(covariance2));
var scale = s1/s2;
temp1 = tracking.Matrix.mulScalar(1.0/s1, temp1);
temp2 = tracking.Matrix.mulScalar(1.0/s2, temp2);
var num = 0, den = 0;
for (var i = 0; i < shape1.length; i++) {
num = num + temp1[i][1] * temp2[i][0] - temp1[i][0] * temp2[i][1];
den = den + temp1[i][0] * temp2[i][0] + temp1[i][1] * temp2[i][1];
}
var norm = Math.sqrt(num*num + den*den);
var sin_theta = num/norm;
var cos_theta = den/norm;
var rotation = [
[cos_theta, -sin_theta],
[sin_theta, cos_theta]
];
return [rotation, scale];
}
/**
* LBF Random Forest data structure.
* @static
* @constructor
*/
tracking.LBF.RandomForest = function(forestIndex){
this.maxNumTrees = tracking.LBF.RegressorData[forestIndex].max_numtrees;
this.landmarkNum = tracking.LBF.RegressorData[forestIndex].num_landmark;
this.maxDepth = tracking.LBF.RegressorData[forestIndex].max_depth;
this.stages = tracking.LBF.RegressorData[forestIndex].stages;
this.rfs = new Array(this.landmarkNum);
for(var i=0; i < this.landmarkNum; i++){
this.rfs[i] = new Array(this.maxNumTrees);
for(var j=0; j < this.maxNumTrees; j++){
this.rfs[i][j] = new tracking.LBF.Tree(forestIndex, i, j);
}
}
}
/**
* LBF Tree data structure.
* @static
* @constructor
*/
tracking.LBF.Tree = function(forestIndex, landmarkIndex, treeIndex){
var data = tracking.LBF.RegressorData[forestIndex].landmarks[landmarkIndex][treeIndex];
this.maxDepth = data.max_depth;
this.maxNumNodes = data.max_numnodes;
this.nodes = data.nodes;
this.landmarkID = data.landmark_id;
this.numLeafnodes = data.num_leafnodes;
this.numNodes = data.num_nodes;
this.maxNumFeats = data.max_numfeats;
this.maxRadioRadius = data.max_radio_radius;
this.leafnodes = data.id_leafnodes;
}
}());
================================================
FILE: src/alignment/Regressor.js
================================================
(function() {
tracking.LBF = {};
/**
* LBF Regressor utility.
* @constructor
*/
tracking.LBF.Regressor = function(maxNumStages){
this.maxNumStages = maxNumStages;
this.rfs = new Array(maxNumStages);
this.models = new Array(maxNumStages);
for(var i=0; i < maxNumStages; i++){
this.rfs[i] = new tracking.LBF.RandomForest(i);
this.models[i] = tracking.LBF.RegressorData[i].models;
}
this.meanShape = tracking.LBF.LandmarksData;
}
/**
* Predicts the position of the landmarks based on the bounding box of the face.
* @param {pixels} pixels The grayscale pixels in a linear array.
* @param {number} width Width of the image.
* @param {number} height Height of the image.
* @param {object} boudingBox Bounding box of the face to be aligned.
* @return {matrix} A matrix with each landmark position in a row [x,y].
*/
tracking.LBF.Regressor.prototype.predict = function(pixels, width, height, boundingBox) {
var images = [];
var currentShapes = [];
var boundingBoxes = [];
var meanShapeClone = tracking.Matrix.clone(this.meanShape);
images.push({
'data': pixels,
'width': width,
'height': height
});
boundingBoxes.push(boundingBox);
currentShapes.push(tracking.LBF.projectShapeToBoundingBox_(meanShapeClone, boundingBox));
for(var stage = 0; stage < this.maxNumStages; stage++){
var binaryFeatures = tracking.LBF.Regressor.deriveBinaryFeat(this.rfs[stage], images, currentShapes, boundingBoxes, meanShapeClone);
this.applyGlobalPrediction(binaryFeatures, this.models[stage], currentShapes, boundingBoxes);
}
return currentShapes[0];
};
/**
* Multiplies the binary features of the landmarks with the regression matrix
* to obtain the displacement for each landmark. Then applies this displacement
* into the landmarks shape.
* @param {object} binaryFeatures The binary features for the landmarks.
* @param {object} models The regressor models.
* @param {matrix} currentShapes The landmarks shapes.
* @param {array} boudingBoxes The bounding boxes of the faces.
*/
tracking.LBF.Regressor.prototype.applyGlobalPrediction = function(binaryFeatures, models, currentShapes,
boundingBoxes){
var residual = currentShapes[0].length * 2;
var rotation = [];
var deltashape = new Array(residual/2);
for(var i=0; i < residual/2; i++){
deltashape[i] = [0.0, 0.0];
}
for(var i=0; i < currentShapes.length; i++){
for(var j=0; j < residual; j++){
var tmp = 0;
for(var lx=0, idx=0; (idx = binaryFeatures[i][lx].index) != -1; lx++){
if(idx <= models[j].nr_feature){
tmp += models[j].data[(idx - 1)] * binaryFeatures[i][lx].value;
}
}
if(j < residual/2){
deltashape[j][0] = tmp;
}else{
deltashape[j - residual/2][1] = tmp;
}
}
var res = tracking.LBF.similarityTransform_(tracking.LBF.unprojectShapeToBoundingBox_(currentShapes[i], boundingBoxes[i]), this.meanShape);
var rotation = tracking.Matrix.transpose(res[0]);
var s = tracking.LBF.unprojectShapeToBoundingBox_(currentShapes[i], boundingBoxes[i]);
s = tracking.Matrix.add(s, deltashape);
currentShapes[i] = tracking.LBF.projectShapeToBoundingBox_(s, boundingBoxes[i]);
}
};
/**
* Derives the binary features from the image for each landmark.
* @param {object} forest The random forest to search for the best binary feature match.
* @param {array} images The images with pixels in a grayscale linear array.
* @param {array} currentShapes The current landmarks shape.
* @param {array} boudingBoxes The bounding boxes of the faces.
* @param {matrix} meanShape The mean shape of the current landmarks set.
* @return {array} The binary features extracted from the image and matched with the
* training data.
* @static
*/
tracking.LBF.Regressor.deriveBinaryFeat = function(forest, images, currentShapes, boundingBoxes, meanShape){
var binaryFeatures = new Array(images.length);
for(var i=0; i < images.length; i++){
var t = forest.maxNumTrees * forest.landmarkNum + 1;
binaryFeatures[i] = new Array(t);
for(var j=0; j < t; j++){
binaryFeatures[i][j] = {};
}
}
var leafnodesPerTree = 1 << (forest.maxDepth - 1);
for(var i=0; i < images.length; i++){
var projectedShape = tracking.LBF.unprojectShapeToBoundingBox_(currentShapes[i], boundingBoxes[i]);
var transform = tracking.LBF.similarityTransform_(projectedShape, meanShape);
for(var j=0; j < forest.landmarkNum; j++){
for(var k=0; k < forest.maxNumTrees; k++){
var binaryCode = tracking.LBF.Regressor.getCodeFromTree(forest.rfs[j][k], images[i],
currentShapes[i], boundingBoxes[i], transform[0], transform[1]);
var index = j*forest.maxNumTrees + k;
binaryFeatures[i][index].index = leafnodesPerTree * index + binaryCode;
binaryFeatures[i][index].value = 1;
}
}
binaryFeatures[i][forest.landmarkNum * forest.maxNumTrees].index = -1;
binaryFeatures[i][forest.landmarkNum * forest.maxNumTrees].value = -1;
}
return binaryFeatures;
}
/**
* Gets the binary code for a specific tree in a random forest. For each landmark,
* the position from two pre-defined points are recovered from the training data
* and then the intensity of the pixels corresponding to these points is extracted
* from the image and used to traverse the trees in the random forest. At the end,
* the ending nodes will be represented by 1, and the remaining nodes by 0.
*
* +--------------------------- Random Forest -----------------------------+
* | Ø = Ending leaf |
* | |
* | O O O O O |
* | / \ / \ / \ / \ / \ |
* | O O O O O O O O O O |
* | / \ / \ / \ / \ / \ / \ / \ / \ / \ / \ |
* | Ø O O O O O Ø O O Ø O O O O Ø O O O O Ø |
* | 1 0 0 0 0 0 1 0 0 1 0 0 0 0 1 0 0 0 0 1 |
* +-----------------------------------------------------------------------+
* Final binary code for this landmark: 10000010010000100001
*
* @param {object} forest The tree to be analyzed.
* @param {array} image The image with pixels in a grayscale linear array.
* @param {matrix} shape The current landmarks shape.
* @param {object} boudingBoxes The bounding box of the face.
* @param {matrix} rotation The rotation matrix used to transform the projected landmarks
* into the mean shape.
* @param {number} scale The scale factor used to transform the projected landmarks
* into the mean shape.
* @return {number} The binary code extracted from the tree.
* @static
*/
tracking.LBF.Regressor.getCodeFromTree = function(tree, image, shape, boundingBox, rotation, scale){
var current = 0;
var bincode = 0;
while(true){
var x1 = Math.cos(tree.nodes[current].feats[0]) * tree.nodes[current].feats[2] * tree.maxRadioRadius * boundingBox.width;
var y1 = Math.sin(tree.nodes[current].feats[0]) * tree.nodes[current].feats[2] * tree.maxRadioRadius * boundingBox.height;
var x2 = Math.cos(tree.nodes[current].feats[1]) * tree.nodes[current].feats[3] * tree.maxRadioRadius * boundingBox.width;
var y2 = Math.sin(tree.nodes[current].feats[1]) * tree.nodes[current].feats[3] * tree.maxRadioRadius * boundingBox.height;
var project_x1 = rotation[0][0] * x1 + rotation[0][1] * y1;
var project_y1 = rotation[1][0] * x1 + rotation[1][1] * y1;
var real_x1 = Math.floor(project_x1 + shape[tree.landmarkID][0]);
var real_y1 = Math.floor(project_y1 + shape[tree.landmarkID][1]);
real_x1 = Math.max(0.0, Math.min(real_x1, image.height - 1.0));
real_y1 = Math.max(0.0, Math.min(real_y1, image.width - 1.0));
var project_x2 = rotation[0][0] * x2 + rotation[0][1] * y2;
var project_y2 = rotation[1][0] * x2 + rotation[1][1] * y2;
var real_x2 = Math.floor(project_x2 + shape[tree.landmarkID][0]);
var real_y2 = Math.floor(project_y2 + shape[tree.landmarkID][1]);
real_x2 = Math.max(0.0, Math.min(real_x2, image.height - 1.0));
real_y2 = Math.max(0.0, Math.min(real_y2, image.width - 1.0));
var pdf = Math.floor(image.data[real_y1*image.width + real_x1]) -
Math.floor(image.data[real_y2 * image.width +real_x2]);
if(pdf < tree.nodes[current].thresh){
current = tree.nodes[current].cnodes[0];
}else{
current = tree.nodes[current].cnodes[1];
}
if (tree.nodes[current].is_leafnode == 1) {
bincode = 1;
for (var i=0; i < tree.leafnodes.length; i++) {
if (tree.leafnodes[i] == current) {
return bincode;
}
bincode++;
}
return bincode;
}
}
return bincode;
}
}());
================================================
FILE: src/alignment/training/Landmarks.js
================================================
tracking.LBF.LandmarksData=[[.0125684,.210687],[.0357801,.468239],[.115541,.712995],[.284357,.905924],[.514999,.996969],[.742149,.899084],[.908075,.698924],[.976219,.446131],[.985153,.186042],[.102259,.0993176],[.244642,.0382795],[.405298,.0817395],[.574051,.0755624],[.736492,.0254858],[.879617,.0749889],[.494662,.182299],[.409008,.498333],[.502223,.532951],[.594788,.495907],[.201686,.196578],[.249652,.163191],[.313234,.163275],[.363542,.203391],[.628143,.197082],[.675643,.154603],[.738182,.151877],[.787497,.18301],[.321899,.669231],[.502462,.632468],[.692712,.659599],[.50761,.764184]];
================================================
FILE: src/alignment/training/Regressor.js
================================================
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}]}]
================================================
FILE: src/detection/ViolaJones.js
================================================
(function() {
/**
* ViolaJones utility.
* @static
* @constructor
*/
tracking.ViolaJones = {};
/**
* Holds the minimum area of intersection that defines when a rectangle is
* from the same group. Often when a face is matched multiple rectangles are
* classified as possible rectangles to represent the face, when they
* intersects they are grouped as one face.
* @type {number}
* @default 0.5
* @static
*/
tracking.ViolaJones.REGIONS_OVERLAP = 0.5;
/**
* Holds the HAAR cascade classifiers converted from OpenCV training.
* @type {array}
* @static
*/
tracking.ViolaJones.classifiers = {};
/**
* Detects through the HAAR cascade data rectangles matches.
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {number} initialScale The initial scale to start the block
* scaling.
* @param {number} scaleFactor The scale factor to scale the feature block.
* @param {number} stepSize The block step size.
* @param {number} edgesDensity Percentage density edges inside the
* classifier block. Value from [0.0, 1.0], defaults to 0.2. If specified
* edge detection will be applied to the image to prune dead areas of the
* image, this can improve significantly performance.
* @param {number} data The HAAR cascade data.
* @return {array} Found rectangles.
* @static
*/
tracking.ViolaJones.detect = function(pixels, width, height, initialScale, scaleFactor, stepSize, edgesDensity, data) {
var total = 0;
var rects = [];
var integralImage = new Int32Array(width * height);
var integralImageSquare = new Int32Array(width * height);
var tiltedIntegralImage = new Int32Array(width * height);
var integralImageSobel;
if (edgesDensity > 0) {
integralImageSobel = new Int32Array(width * height);
}
tracking.Image.computeIntegralImage(pixels, width, height, integralImage, integralImageSquare, tiltedIntegralImage, integralImageSobel);
var minWidth = data[0];
var minHeight = data[1];
var scale = initialScale * scaleFactor;
var blockWidth = (scale * minWidth) | 0;
var blockHeight = (scale * minHeight) | 0;
while (blockWidth < width && blockHeight < height) {
var step = (scale * stepSize + 0.5) | 0;
for (var i = 0; i < (height - blockHeight); i += step) {
for (var j = 0; j < (width - blockWidth); j += step) {
if (edgesDensity > 0) {
if (this.isTriviallyExcluded(edgesDensity, integralImageSobel, i, j, width, blockWidth, blockHeight)) {
continue;
}
}
if (this.evalStages_(data, integralImage, integralImageSquare, tiltedIntegralImage, i, j, width, blockWidth, blockHeight, scale)) {
rects[total++] = {
width: blockWidth,
height: blockHeight,
x: j,
y: i
};
}
}
}
scale *= scaleFactor;
blockWidth = (scale * minWidth) | 0;
blockHeight = (scale * minHeight) | 0;
}
return this.mergeRectangles_(rects);
};
/**
* Fast check to test whether the edges density inside the block is greater
* than a threshold, if true it tests the stages. This can improve
* significantly performance.
* @param {number} edgesDensity Percentage density edges inside the
* classifier block.
* @param {array} integralImageSobel The integral image of a sobel image.
* @param {number} i Vertical position of the pixel to be evaluated.
* @param {number} j Horizontal position of the pixel to be evaluated.
* @param {number} width The image width.
* @return {boolean} True whether the block at position i,j can be skipped,
* false otherwise.
* @static
* @protected
*/
tracking.ViolaJones.isTriviallyExcluded = function(edgesDensity, integralImageSobel, i, j, width, blockWidth, blockHeight) {
var wbA = i * width + j;
var wbB = wbA + blockWidth;
var wbD = wbA + blockHeight * width;
var wbC = wbD + blockWidth;
var blockEdgesDensity = (integralImageSobel[wbA] - integralImageSobel[wbB] - integralImageSobel[wbD] + integralImageSobel[wbC]) / (blockWidth * blockHeight * 255);
if (blockEdgesDensity < edgesDensity) {
return true;
}
return false;
};
/**
* Evaluates if the block size on i,j position is a valid HAAR cascade
* stage.
* @param {number} data The HAAR cascade data.
* @param {number} i Vertical position of the pixel to be evaluated.
* @param {number} j Horizontal position of the pixel to be evaluated.
* @param {number} width The image width.
* @param {number} blockSize The block size.
* @param {number} scale The scale factor of the block size and its original
* size.
* @param {number} inverseArea The inverse area of the block size.
* @return {boolean} Whether the region passes all the stage tests.
* @private
* @static
*/
tracking.ViolaJones.evalStages_ = function(data, integralImage, integralImageSquare, tiltedIntegralImage, i, j, width, blockWidth, blockHeight, scale) {
var inverseArea = 1.0 / (blockWidth * blockHeight);
var wbA = i * width + j;
var wbB = wbA + blockWidth;
var wbD = wbA + blockHeight * width;
var wbC = wbD + blockWidth;
var mean = (integralImage[wbA] - integralImage[wbB] - integralImage[wbD] + integralImage[wbC]) * inverseArea;
var variance = (integralImageSquare[wbA] - integralImageSquare[wbB] - integralImageSquare[wbD] + integralImageSquare[wbC]) * inverseArea - mean * mean;
var standardDeviation = 1;
if (variance > 0) {
standardDeviation = Math.sqrt(variance);
}
var length = data.length;
for (var w = 2; w < length; ) {
var stageSum = 0;
var stageThreshold = data[w++];
var nodeLength = data[w++];
while (nodeLength--) {
var rectsSum = 0;
var tilted = data[w++];
var rectsLength = data[w++];
for (var r = 0; r < rectsLength; r++) {
var rectLeft = (j + data[w++] * scale + 0.5) | 0;
var rectTop = (i + data[w++] * scale + 0.5) | 0;
var rectWidth = (data[w++] * scale + 0.5) | 0;
var rectHeight = (data[w++] * scale + 0.5) | 0;
var rectWeight = data[w++];
var w1;
var w2;
var w3;
var w4;
if (tilted) {
// RectSum(r) = RSAT(x-h+w, y+w+h-1) + RSAT(x, y-1) - RSAT(x-h, y+h-1) - RSAT(x+w, y+w-1)
w1 = (rectLeft - rectHeight + rectWidth) + (rectTop + rectWidth + rectHeight - 1) * width;
w2 = rectLeft + (rectTop - 1) * width;
w3 = (rectLeft - rectHeight) + (rectTop + rectHeight - 1) * width;
w4 = (rectLeft + rectWidth) + (rectTop + rectWidth - 1) * width;
rectsSum += (tiltedIntegralImage[w1] + tiltedIntegralImage[w2] - tiltedIntegralImage[w3] - tiltedIntegralImage[w4]) * rectWeight;
} else {
// RectSum(r) = SAT(x-1, y-1) + SAT(x+w-1, y+h-1) - SAT(x-1, y+h-1) - SAT(x+w-1, y-1)
w1 = rectTop * width + rectLeft;
w2 = w1 + rectWidth;
w3 = w1 + rectHeight * width;
w4 = w3 + rectWidth;
rectsSum += (integralImage[w1] - integralImage[w2] - integralImage[w3] + integralImage[w4]) * rectWeight;
// TODO: Review the code below to analyze performance when using it instead.
// w1 = (rectLeft - 1) + (rectTop - 1) * width;
// w2 = (rectLeft + rectWidth - 1) + (rectTop + rectHeight - 1) * width;
// w3 = (rectLeft - 1) + (rectTop + rectHeight - 1) * width;
// w4 = (rectLeft + rectWidth - 1) + (rectTop - 1) * width;
// rectsSum += (integralImage[w1] + integralImage[w2] - integralImage[w3] - integralImage[w4]) * rectWeight;
}
}
var nodeThreshold = data[w++];
var nodeLeft = data[w++];
var nodeRight = data[w++];
if (rectsSum * inverseArea < nodeThreshold * standardDeviation) {
stageSum += nodeLeft;
} else {
stageSum += nodeRight;
}
}
if (stageSum < stageThreshold) {
return false;
}
}
return true;
};
/**
* Postprocess the detected sub-windows in order to combine overlapping
* detections into a single detection.
* @param {array} rects
* @return {array}
* @private
* @static
*/
tracking.ViolaJones.mergeRectangles_ = function(rects) {
var disjointSet = new tracking.DisjointSet(rects.length);
for (var i = 0; i < rects.length; i++) {
var r1 = rects[i];
for (var j = 0; j < rects.length; j++) {
var r2 = rects[j];
if (tracking.Math.intersectRect(r1.x, r1.y, r1.x + r1.width, r1.y + r1.height, r2.x, r2.y, r2.x + r2.width, r2.y + r2.height)) {
var x1 = Math.max(r1.x, r2.x);
var y1 = Math.max(r1.y, r2.y);
var x2 = Math.min(r1.x + r1.width, r2.x + r2.width);
var y2 = Math.min(r1.y + r1.height, r2.y + r2.height);
var overlap = (x1 - x2) * (y1 - y2);
var area1 = (r1.width * r1.height);
var area2 = (r2.width * r2.height);
if ((overlap / (area1 * (area1 / area2)) >= this.REGIONS_OVERLAP) &&
(overlap / (area2 * (area1 / area2)) >= this.REGIONS_OVERLAP)) {
disjointSet.union(i, j);
}
}
}
}
var map = {};
for (var k = 0; k < disjointSet.length; k++) {
var rep = disjointSet.find(k);
if (!map[rep]) {
map[rep] = {
total: 1,
width: rects[k].width,
height: rects[k].height,
x: rects[k].x,
y: rects[k].y
};
continue;
}
map[rep].total++;
map[rep].width += rects[k].width;
map[rep].height += rects[k].height;
map[rep].x += rects[k].x;
map[rep].y += rects[k].y;
}
var result = [];
Object.keys(map).forEach(function(key) {
var rect = map[key];
result.push({
total: rect.total,
width: (rect.width / rect.total + 0.5) | 0,
height: (rect.height / rect.total + 0.5) | 0,
x: (rect.x / rect.total + 0.5) | 0,
y: (rect.y / rect.total + 0.5) | 0
});
});
return result;
};
}());
================================================
FILE: src/detection/training/haar/eye.js
================================================
tracking.ViolaJones.classifiers.eye = new 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FILE: src/detection/training/haar/face.js
================================================
tracking.ViolaJones.classifiers.face = new 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FILE: src/detection/training/haar/mouth.js
================================================
tracking.ViolaJones.classifiers.mouth = new 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================================================
FILE: src/features/Brief.js
================================================
(function() {
/**
* Brief intends for "Binary Robust Independent Elementary Features".This
* method generates a binary string for each keypoint found by an extractor
* method.
* @static
* @constructor
*/
tracking.Brief = {};
/**
* The set of binary tests is defined by the nd (x,y)-location pairs
* uniquely chosen during the initialization. Values could vary between N =
* 128,256,512. N=128 yield good compromises between speed, storage
* efficiency, and recognition rate.
* @type {number}
*/
tracking.Brief.N = 512;
/**
* Caches coordinates values of (x,y)-location pairs uniquely chosen during
* the initialization.
* @type {Object.}
* @private
* @static
*/
tracking.Brief.randomImageOffsets_ = {};
/**
* Caches delta values of (x,y)-location pairs uniquely chosen during
* the initialization.
* @type {Int32Array}
* @private
* @static
*/
tracking.Brief.randomWindowOffsets_ = null;
/**
* Generates a binary string for each found keypoints extracted using an
* extractor method.
* @param {array} The grayscale pixels in a linear [p1,p2,...] array.
* @param {number} width The image width.
* @param {array} keypoints
* @return {Int32Array} Returns an array where for each four sequence int
* values represent the descriptor binary string (128 bits) necessary
* to describe the corner, e.g. [0,0,0,0, 0,0,0,0, ...].
* @static
*/
tracking.Brief.getDescriptors = function(pixels, width, keypoints) {
// Optimizing divide by 32 operation using binary shift
// (this.N >> 5) === this.N/32.
var descriptors = new Int32Array((keypoints.length >> 1) * (this.N >> 5));
var descriptorWord = 0;
var offsets = this.getRandomOffsets_(width);
var position = 0;
for (var i = 0; i < keypoints.length; i += 2) {
var w = width * keypoints[i + 1] + keypoints[i];
var offsetsPosition = 0;
for (var j = 0, n = this.N; j < n; j++) {
if (pixels[offsets[offsetsPosition++] + w] < pixels[offsets[offsetsPosition++] + w]) {
// The bit in the position `j % 32` of descriptorWord should be set to 1. We do
// this by making an OR operation with a binary number that only has the bit
// in that position set to 1. That binary number is obtained by shifting 1 left by
// `j % 32` (which is the same as `j & 31` left) positions.
descriptorWord |= 1 << (j & 31);
}
// If the next j is a multiple of 32, we will need to use a new descriptor word to hold
// the next results.
if (!((j + 1) & 31)) {
descriptors[position++] = descriptorWord;
descriptorWord = 0;
}
}
}
return descriptors;
};
/**
* Matches sets of features {mi} and {m′j} extracted from two images taken
* from similar, and often successive, viewpoints. A classical procedure
* runs as follows. For each point {mi} in the first image, search in a
* region of the second image around location {mi} for point {m′j}. The
* search is based on the similarity of the local image windows, also known
* as kernel windows, centered on the points, which strongly characterizes
* the points when the images are sufficiently close. Once each keypoint is
* described with its binary string, they need to be compared with the
* closest matching point. Distance metric is critical to the performance of
* in- trusion detection systems. Thus using binary strings reduces the size
* of the descriptor and provides an interesting data structure that is fast
* to operate whose similarity can be measured by the Hamming distance.
* @param {array} keypoints1
* @param {array} descriptors1
* @param {array} keypoints2
* @param {array} descriptors2
* @return {Int32Array} Returns an array where the index is the corner1
* index coordinate, and the value is the corresponding match index of
* corner2, e.g. keypoints1=[x0,y0,x1,y1,...] and
* keypoints2=[x'0,y'0,x'1,y'1,...], if x0 matches x'1 and x1 matches x'0,
* the return array would be [3,0].
* @static
*/
tracking.Brief.match = function(keypoints1, descriptors1, keypoints2, descriptors2) {
var len1 = keypoints1.length >> 1;
var len2 = keypoints2.length >> 1;
var matches = new Array(len1);
for (var i = 0; i < len1; i++) {
var min = Infinity;
var minj = 0;
for (var j = 0; j < len2; j++) {
var dist = 0;
// Optimizing divide by 32 operation using binary shift
// (this.N >> 5) === this.N/32.
for (var k = 0, n = this.N >> 5; k < n; k++) {
dist += tracking.Math.hammingWeight(descriptors1[i * n + k] ^ descriptors2[j * n + k]);
}
if (dist < min) {
min = dist;
minj = j;
}
}
matches[i] = {
index1: i,
index2: minj,
keypoint1: [keypoints1[2 * i], keypoints1[2 * i + 1]],
keypoint2: [keypoints2[2 * minj], keypoints2[2 * minj + 1]],
confidence: 1 - min / this.N
};
}
return matches;
};
/**
* Removes matches outliers by testing matches on both directions.
* @param {array} keypoints1
* @param {array} descriptors1
* @param {array} keypoints2
* @param {array} descriptors2
* @return {Int32Array} Returns an array where the index is the corner1
* index coordinate, and the value is the corresponding match index of
* corner2, e.g. keypoints1=[x0,y0,x1,y1,...] and
* keypoints2=[x'0,y'0,x'1,y'1,...], if x0 matches x'1 and x1 matches x'0,
* the return array would be [3,0].
* @static
*/
tracking.Brief.reciprocalMatch = function(keypoints1, descriptors1, keypoints2, descriptors2) {
var matches = [];
if (keypoints1.length === 0 || keypoints2.length === 0) {
return matches;
}
var matches1 = tracking.Brief.match(keypoints1, descriptors1, keypoints2, descriptors2);
var matches2 = tracking.Brief.match(keypoints2, descriptors2, keypoints1, descriptors1);
for (var i = 0; i < matches1.length; i++) {
if (matches2[matches1[i].index2].index2 === i) {
matches.push(matches1[i]);
}
}
return matches;
};
/**
* Gets the coordinates values of (x,y)-location pairs uniquely chosen
* during the initialization.
* @return {array} Array with the random offset values.
* @private
*/
tracking.Brief.getRandomOffsets_ = function(width) {
if (!this.randomWindowOffsets_) {
var windowPosition = 0;
var windowOffsets = new Int32Array(4 * this.N);
for (var i = 0; i < this.N; i++) {
windowOffsets[windowPosition++] = Math.round(tracking.Math.uniformRandom(-15, 16));
windowOffsets[windowPosition++] = Math.round(tracking.Math.uniformRandom(-15, 16));
windowOffsets[windowPosition++] = Math.round(tracking.Math.uniformRandom(-15, 16));
windowOffsets[windowPosition++] = Math.round(tracking.Math.uniformRandom(-15, 16));
}
this.randomWindowOffsets_ = windowOffsets;
}
if (!this.randomImageOffsets_[width]) {
var imagePosition = 0;
var imageOffsets = new Int32Array(2 * this.N);
for (var j = 0; j < this.N; j++) {
imageOffsets[imagePosition++] = this.randomWindowOffsets_[4 * j] * width + this.randomWindowOffsets_[4 * j + 1];
imageOffsets[imagePosition++] = this.randomWindowOffsets_[4 * j + 2] * width + this.randomWindowOffsets_[4 * j + 3];
}
this.randomImageOffsets_[width] = imageOffsets;
}
return this.randomImageOffsets_[width];
};
}());
================================================
FILE: src/features/Fast.js
================================================
(function() {
/**
* FAST intends for "Features from Accelerated Segment Test". This method
* performs a point segment test corner detection. The segment test
* criterion operates by considering a circle of sixteen pixels around the
* corner candidate p. The detector classifies p as a corner if there exists
* a set of n contiguous pixelsin the circle which are all brighter than the
* intensity of the candidate pixel Ip plus a threshold t, or all darker
* than Ip − t.
*
* 15 00 01
* 14 02
* 13 03
* 12 [] 04
* 11 05
* 10 06
* 09 08 07
*
* For more reference:
* http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.60.3991&rep=rep1&type=pdf
* @static
* @constructor
*/
tracking.Fast = {};
/**
* Holds the threshold to determine whether the tested pixel is brighter or
* darker than the corner candidate p.
* @type {number}
* @default 40
* @static
*/
tracking.Fast.THRESHOLD = 40;
/**
* Caches coordinates values of the circle surrounding the pixel candidate p.
* @type {Object.}
* @private
* @static
*/
tracking.Fast.circles_ = {};
/**
* Finds corners coordinates on the graysacaled image.
* @param {array} The grayscale pixels in a linear [p1,p2,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {number} threshold to determine whether the tested pixel is brighter or
* darker than the corner candidate p. Default value is 40.
* @return {array} Array containing the coordinates of all found corners,
* e.g. [x0,y0,x1,y1,...], where P(x0,y0) represents a corner coordinate.
* @static
*/
tracking.Fast.findCorners = function(pixels, width, height, opt_threshold) {
var circleOffsets = this.getCircleOffsets_(width);
var circlePixels = new Int32Array(16);
var corners = [];
if (opt_threshold === undefined) {
opt_threshold = this.THRESHOLD;
}
// When looping through the image pixels, skips the first three lines from
// the image boundaries to constrain the surrounding circle inside the image
// area.
for (var i = 3; i < height - 3; i++) {
for (var j = 3; j < width - 3; j++) {
var w = i * width + j;
var p = pixels[w];
// Loops the circle offsets to read the pixel value for the sixteen
// surrounding pixels.
for (var k = 0; k < 16; k++) {
circlePixels[k] = pixels[w + circleOffsets[k]];
}
if (this.isCorner(p, circlePixels, opt_threshold)) {
// The pixel p is classified as a corner, as optimization increment j
// by the circle radius 3 to skip the neighbor pixels inside the
// surrounding circle. This can be removed without compromising the
// result.
corners.push(j, i);
j += 3;
}
}
}
return corners;
};
/**
* Checks if the circle pixel is brighter than the candidate pixel p by
* a threshold.
* @param {number} circlePixel The circle pixel value.
* @param {number} p The value of the candidate pixel p.
* @param {number} threshold
* @return {Boolean}
* @static
*/
tracking.Fast.isBrighter = function(circlePixel, p, threshold) {
return circlePixel - p > threshold;
};
/**
* Checks if the circle pixel is within the corner of the candidate pixel p
* by a threshold.
* @param {number} p The value of the candidate pixel p.
* @param {number} circlePixel The circle pixel value.
* @param {number} threshold
* @return {Boolean}
* @static
*/
tracking.Fast.isCorner = function(p, circlePixels, threshold) {
if (this.isTriviallyExcluded(circlePixels, p, threshold)) {
return false;
}
for (var x = 0; x < 16; x++) {
var darker = true;
var brighter = true;
for (var y = 0; y < 9; y++) {
var circlePixel = circlePixels[(x + y) & 15];
if (!this.isBrighter(p, circlePixel, threshold)) {
brighter = false;
if (darker === false) {
break;
}
}
if (!this.isDarker(p, circlePixel, threshold)) {
darker = false;
if (brighter === false) {
break;
}
}
}
if (brighter || darker) {
return true;
}
}
return false;
};
/**
* Checks if the circle pixel is darker than the candidate pixel p by
* a threshold.
* @param {number} circlePixel The circle pixel value.
* @param {number} p The value of the candidate pixel p.
* @param {number} threshold
* @return {Boolean}
* @static
*/
tracking.Fast.isDarker = function(circlePixel, p, threshold) {
return p - circlePixel > threshold;
};
/**
* Fast check to test if the candidate pixel is a trivially excluded value.
* In order to be a corner, the candidate pixel value should be darker or
* brighter than 9-12 surrounding pixels, when at least three of the top,
* bottom, left and right pixels are brighter or darker it can be
* automatically excluded improving the performance.
* @param {number} circlePixel The circle pixel value.
* @param {number} p The value of the candidate pixel p.
* @param {number} threshold
* @return {Boolean}
* @static
* @protected
*/
tracking.Fast.isTriviallyExcluded = function(circlePixels, p, threshold) {
var count = 0;
var circleBottom = circlePixels[8];
var circleLeft = circlePixels[12];
var circleRight = circlePixels[4];
var circleTop = circlePixels[0];
if (this.isBrighter(circleTop, p, threshold)) {
count++;
}
if (this.isBrighter(circleRight, p, threshold)) {
count++;
}
if (this.isBrighter(circleBottom, p, threshold)) {
count++;
}
if (this.isBrighter(circleLeft, p, threshold)) {
count++;
}
if (count < 3) {
count = 0;
if (this.isDarker(circleTop, p, threshold)) {
count++;
}
if (this.isDarker(circleRight, p, threshold)) {
count++;
}
if (this.isDarker(circleBottom, p, threshold)) {
count++;
}
if (this.isDarker(circleLeft, p, threshold)) {
count++;
}
if (count < 3) {
return true;
}
}
return false;
};
/**
* Gets the sixteen offset values of the circle surrounding pixel.
* @param {number} width The image width.
* @return {array} Array with the sixteen offset values of the circle
* surrounding pixel.
* @private
*/
tracking.Fast.getCircleOffsets_ = function(width) {
if (this.circles_[width]) {
return this.circles_[width];
}
var circle = new Int32Array(16);
circle[0] = -width - width - width;
circle[1] = circle[0] + 1;
circle[2] = circle[1] + width + 1;
circle[3] = circle[2] + width + 1;
circle[4] = circle[3] + width;
circle[5] = circle[4] + width;
circle[6] = circle[5] + width - 1;
circle[7] = circle[6] + width - 1;
circle[8] = circle[7] - 1;
circle[9] = circle[8] - 1;
circle[10] = circle[9] - width - 1;
circle[11] = circle[10] - width - 1;
circle[12] = circle[11] - width;
circle[13] = circle[12] - width;
circle[14] = circle[13] - width + 1;
circle[15] = circle[14] - width + 1;
this.circles_[width] = circle;
return circle;
};
}());
================================================
FILE: src/math/Math.js
================================================
(function() {
/**
* Math utility.
* @static
* @constructor
*/
tracking.Math = {};
/**
* Euclidean distance between two points P(x0, y0) and P(x1, y1).
* @param {number} x0 Horizontal coordinate of P0.
* @param {number} y0 Vertical coordinate of P0.
* @param {number} x1 Horizontal coordinate of P1.
* @param {number} y1 Vertical coordinate of P1.
* @return {number} The euclidean distance.
*/
tracking.Math.distance = function(x0, y0, x1, y1) {
var dx = x1 - x0;
var dy = y1 - y0;
return Math.sqrt(dx * dx + dy * dy);
};
/**
* Calculates the Hamming weight of a string, which is the number of symbols that are
* different from the zero-symbol of the alphabet used. It is thus
* equivalent to the Hamming distance from the all-zero string of the same
* length. For the most typical case, a string of bits, this is the number
* of 1's in the string.
*
* Example:
*
*
* Binary string Hamming weight
* 11101 4
* 11101010 5
*
*
* @param {number} i Number that holds the binary string to extract the hamming weight.
* @return {number} The hamming weight.
*/
tracking.Math.hammingWeight = function(i) {
i = i - ((i >> 1) & 0x55555555);
i = (i & 0x33333333) + ((i >> 2) & 0x33333333);
return ((i + (i >> 4) & 0xF0F0F0F) * 0x1010101) >> 24;
};
/**
* Generates a random number between [a, b] interval.
* @param {number} a
* @param {number} b
* @return {number}
*/
tracking.Math.uniformRandom = function(a, b) {
return a + Math.random() * (b - a);
};
/**
* Tests if a rectangle intersects with another.
*
*
* x0y0 -------- x2y2 --------
* | | | |
* -------- x1y1 -------- x3y3
*
*
* @param {number} x0 Horizontal coordinate of P0.
* @param {number} y0 Vertical coordinate of P0.
* @param {number} x1 Horizontal coordinate of P1.
* @param {number} y1 Vertical coordinate of P1.
* @param {number} x2 Horizontal coordinate of P2.
* @param {number} y2 Vertical coordinate of P2.
* @param {number} x3 Horizontal coordinate of P3.
* @param {number} y3 Vertical coordinate of P3.
* @return {boolean}
*/
tracking.Math.intersectRect = function(x0, y0, x1, y1, x2, y2, x3, y3) {
return !(x2 > x1 || x3 < x0 || y2 > y1 || y3 < y0);
};
}());
================================================
FILE: src/math/Matrix.js
================================================
(function() {
/**
* Matrix utility.
* @static
* @constructor
*/
tracking.Matrix = {};
/**
* Loops the array organized as major-row order and executes `fn` callback
* for each iteration. The `fn` callback receives the following parameters:
* `(r,g,b,a,index,i,j)`, where `r,g,b,a` represents the pixel color with
* alpha channel, `index` represents the position in the major-row order
* array and `i,j` the respective indexes positions in two dimensions.
* @param {array} pixels The pixels in a linear [r,g,b,a,...] array to loop
* through.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {function} fn The callback function for each pixel.
* @param {number} opt_jump Optional jump for the iteration, by default it
* is 1, hence loops all the pixels of the array.
* @static
*/
tracking.Matrix.forEach = function(pixels, width, height, fn, opt_jump) {
opt_jump = opt_jump || 1;
for (var i = 0; i < height; i += opt_jump) {
for (var j = 0; j < width; j += opt_jump) {
var w = i * width * 4 + j * 4;
fn.call(this, pixels[w], pixels[w + 1], pixels[w + 2], pixels[w + 3], w, i, j);
}
}
};
/**
* Calculates the per-element subtraction of two NxM matrices and returns a
* new NxM matrix as the result.
* @param {matrix} a The first matrix.
* @param {matrix} a The second matrix.
* @static
*/
tracking.Matrix.sub = function(a, b){
var res = tracking.Matrix.clone(a);
for(var i=0; i < res.length; i++){
for(var j=0; j < res[i].length; j++){
res[i][j] -= b[i][j];
}
}
return res;
}
/**
* Calculates the per-element sum of two NxM matrices and returns a new NxM
* NxM matrix as the result.
* @param {matrix} a The first matrix.
* @param {matrix} a The second matrix.
* @static
*/
tracking.Matrix.add = function(a, b){
var res = tracking.Matrix.clone(a);
for(var i=0; i < res.length; i++){
for(var j=0; j < res[i].length; j++){
res[i][j] += b[i][j];
}
}
return res;
}
/**
* Clones a matrix (or part of it) and returns a new matrix as the result.
* @param {matrix} src The matrix to be cloned.
* @param {number} width The second matrix.
* @static
*/
tracking.Matrix.clone = function(src, width, height){
width = width || src[0].length;
height = height || src.length;
var temp = new Array(height);
var i = height;
while(i--){
temp[i] = new Array(width);
var j = width;
while(j--) temp[i][j] = src[i][j];
}
return temp;
}
/**
* Multiply a matrix by a scalar and returns a new matrix as the result.
* @param {number} scalar The scalar to multiply the matrix by.
* @param {matrix} src The matrix to be multiplied.
* @static
*/
tracking.Matrix.mulScalar = function(scalar, src){
var res = tracking.Matrix.clone(src);
for(var i=0; i < src.length; i++){
for(var j=0; j < src[i].length; j++){
res[i][j] *= scalar;
}
}
return res;
}
/**
* Transpose a matrix and returns a new matrix as the result.
* @param {matrix} src The matrix to be transposed.
* @static
*/
tracking.Matrix.transpose = function(src){
var transpose = new Array(src[0].length);
for(var i=0; i < src[0].length; i++){
transpose[i] = new Array(src.length);
for(var j=0; j < src.length; j++){
transpose[i][j] = src[j][i];
}
}
return transpose;
}
/**
* Multiply an MxN matrix with an NxP matrix and returns a new MxP matrix
* as the result.
* @param {matrix} a The first matrix.
* @param {matrix} b The second matrix.
* @static
*/
tracking.Matrix.mul = function(a, b) {
var res = new Array(a.length);
for (var i = 0; i < a.length; i++) {
res[i] = new Array(b[0].length);
for (var j = 0; j < b[0].length; j++) {
res[i][j] = 0;
for (var k = 0; k < a[0].length; k++) {
res[i][j] += a[i][k] * b[k][j];
}
}
}
return res;
}
/**
* Calculates the absolute norm of a matrix.
* @param {matrix} src The matrix which norm will be calculated.
* @static
*/
tracking.Matrix.norm = function(src){
var res = 0;
for(var i=0; i < src.length; i++){
for(var j=0; j < src[i].length; j++){
res += src[i][j]*src[i][j];
}
}
return Math.sqrt(res);
}
/**
* Calculates and returns the covariance matrix of a set of vectors as well
* as the mean of the matrix.
* @param {matrix} src The matrix which covariance matrix will be calculated.
* @static
*/
tracking.Matrix.calcCovarMatrix = function(src){
var mean = new Array(src.length);
for(var i=0; i < src.length; i++){
mean[i] = [0.0];
for(var j=0; j < src[i].length; j++){
mean[i][0] += src[i][j]/src[i].length;
}
}
var deltaFull = tracking.Matrix.clone(mean);
for(var i=0; i < deltaFull.length; i++){
for(var j=0; j < src[0].length - 1; j++){
deltaFull[i].push(deltaFull[i][0]);
}
}
var a = tracking.Matrix.sub(src, deltaFull);
var b = tracking.Matrix.transpose(a);
var covar = tracking.Matrix.mul(b,a);
return [covar, mean];
}
}());
================================================
FILE: src/pose/EPnP.js
================================================
(function() {
/**
* EPnp utility.
* @static
* @constructor
*/
tracking.EPnP = {};
tracking.EPnP.solve = function(objectPoints, imagePoints, cameraMatrix) {};
}());
================================================
FILE: src/trackers/ColorTracker.js
================================================
(function() {
/**
* ColorTracker utility to track colored blobs in a frame using color
* difference evaluation.
* @constructor
* @param {string|Array.} opt_colors Optional colors to track.
* @extends {tracking.Tracker}
*/
tracking.ColorTracker = function(opt_colors) {
tracking.ColorTracker.base(this, 'constructor');
if (typeof opt_colors === 'string') {
opt_colors = [opt_colors];
}
if (opt_colors) {
opt_colors.forEach(function(color) {
if (!tracking.ColorTracker.getColor(color)) {
throw new Error('Color not valid, try `new tracking.ColorTracker("magenta")`.');
}
});
this.setColors(opt_colors);
}
};
tracking.inherits(tracking.ColorTracker, tracking.Tracker);
/**
* Holds the known colors.
* @type {Object.}
* @private
* @static
*/
tracking.ColorTracker.knownColors_ = {};
/**
* Caches coordinates values of the neighbours surrounding a pixel.
* @type {Object.}
* @private
* @static
*/
tracking.ColorTracker.neighbours_ = {};
/**
* Registers a color as known color.
* @param {string} name The color name.
* @param {function} fn The color function to test if the passed (r,g,b) is
* the desired color.
* @static
*/
tracking.ColorTracker.registerColor = function(name, fn) {
tracking.ColorTracker.knownColors_[name] = fn;
};
/**
* Gets the known color function that is able to test whether an (r,g,b) is
* the desired color.
* @param {string} name The color name.
* @return {function} The known color test function.
* @static
*/
tracking.ColorTracker.getColor = function(name) {
return tracking.ColorTracker.knownColors_[name];
};
/**
* Holds the colors to be tracked by the `ColorTracker` instance.
* @default ['magenta']
* @type {Array.}
*/
tracking.ColorTracker.prototype.colors = ['magenta'];
/**
* Holds the minimum dimension to classify a rectangle.
* @default 20
* @type {number}
*/
tracking.ColorTracker.prototype.minDimension = 20;
/**
* Holds the maximum dimension to classify a rectangle.
* @default Infinity
* @type {number}
*/
tracking.ColorTracker.prototype.maxDimension = Infinity;
/**
* Holds the minimum group size to be classified as a rectangle.
* @default 30
* @type {number}
*/
tracking.ColorTracker.prototype.minGroupSize = 30;
/**
* Calculates the central coordinate from the cloud points. The cloud points
* are all points that matches the desired color.
* @param {Array.} cloud Major row order array containing all the
* points from the desired color, e.g. [x1, y1, c2, y2, ...].
* @param {number} total Total numbers of pixels of the desired color.
* @return {object} Object containing the x, y and estimated z coordinate of
* the blog extracted from the cloud points.
* @private
*/
tracking.ColorTracker.prototype.calculateDimensions_ = function(cloud, total) {
var maxx = -1;
var maxy = -1;
var minx = Infinity;
var miny = Infinity;
for (var c = 0; c < total; c += 2) {
var x = cloud[c];
var y = cloud[c + 1];
if (x < minx) {
minx = x;
}
if (x > maxx) {
maxx = x;
}
if (y < miny) {
miny = y;
}
if (y > maxy) {
maxy = y;
}
}
return {
width: maxx - minx,
height: maxy - miny,
x: minx,
y: miny
};
};
/**
* Gets the colors being tracked by the `ColorTracker` instance.
* @return {Array.}
*/
tracking.ColorTracker.prototype.getColors = function() {
return this.colors;
};
/**
* Gets the minimum dimension to classify a rectangle.
* @return {number}
*/
tracking.ColorTracker.prototype.getMinDimension = function() {
return this.minDimension;
};
/**
* Gets the maximum dimension to classify a rectangle.
* @return {number}
*/
tracking.ColorTracker.prototype.getMaxDimension = function() {
return this.maxDimension;
};
/**
* Gets the minimum group size to be classified as a rectangle.
* @return {number}
*/
tracking.ColorTracker.prototype.getMinGroupSize = function() {
return this.minGroupSize;
};
/**
* Gets the eight offset values of the neighbours surrounding a pixel.
* @param {number} width The image width.
* @return {array} Array with the eight offset values of the neighbours
* surrounding a pixel.
* @private
*/
tracking.ColorTracker.prototype.getNeighboursForWidth_ = function(width) {
if (tracking.ColorTracker.neighbours_[width]) {
return tracking.ColorTracker.neighbours_[width];
}
var neighbours = new Int32Array(8);
neighbours[0] = -width * 4;
neighbours[1] = -width * 4 + 4;
neighbours[2] = 4;
neighbours[3] = width * 4 + 4;
neighbours[4] = width * 4;
neighbours[5] = width * 4 - 4;
neighbours[6] = -4;
neighbours[7] = -width * 4 - 4;
tracking.ColorTracker.neighbours_[width] = neighbours;
return neighbours;
};
/**
* Unites groups whose bounding box intersect with each other.
* @param {Array.} rects
* @private
*/
tracking.ColorTracker.prototype.mergeRectangles_ = function(rects) {
var intersects;
var results = [];
var minDimension = this.getMinDimension();
var maxDimension = this.getMaxDimension();
for (var r = 0; r < rects.length; r++) {
var r1 = rects[r];
intersects = true;
for (var s = r + 1; s < rects.length; s++) {
var r2 = rects[s];
if (tracking.Math.intersectRect(r1.x, r1.y, r1.x + r1.width, r1.y + r1.height, r2.x, r2.y, r2.x + r2.width, r2.y + r2.height)) {
intersects = false;
var x1 = Math.min(r1.x, r2.x);
var y1 = Math.min(r1.y, r2.y);
var x2 = Math.max(r1.x + r1.width, r2.x + r2.width);
var y2 = Math.max(r1.y + r1.height, r2.y + r2.height);
r2.height = y2 - y1;
r2.width = x2 - x1;
r2.x = x1;
r2.y = y1;
break;
}
}
if (intersects) {
if (r1.width >= minDimension && r1.height >= minDimension) {
if (r1.width <= maxDimension && r1.height <= maxDimension) {
results.push(r1);
}
}
}
}
return results;
};
/**
* Sets the colors to be tracked by the `ColorTracker` instance.
* @param {Array.} colors
*/
tracking.ColorTracker.prototype.setColors = function(colors) {
this.colors = colors;
};
/**
* Sets the minimum dimension to classify a rectangle.
* @param {number} minDimension
*/
tracking.ColorTracker.prototype.setMinDimension = function(minDimension) {
this.minDimension = minDimension;
};
/**
* Sets the maximum dimension to classify a rectangle.
* @param {number} maxDimension
*/
tracking.ColorTracker.prototype.setMaxDimension = function(maxDimension) {
this.maxDimension = maxDimension;
};
/**
* Sets the minimum group size to be classified as a rectangle.
* @param {number} minGroupSize
*/
tracking.ColorTracker.prototype.setMinGroupSize = function(minGroupSize) {
this.minGroupSize = minGroupSize;
};
/**
* Tracks the `Video` frames. This method is called for each video frame in
* order to emit `track` event.
* @param {Uint8ClampedArray} pixels The pixels data to track.
* @param {number} width The pixels canvas width.
* @param {number} height The pixels canvas height.
*/
tracking.ColorTracker.prototype.track = function(pixels, width, height) {
var self = this;
var colors = this.getColors();
if (!colors) {
throw new Error('Colors not specified, try `new tracking.ColorTracker("magenta")`.');
}
var results = [];
colors.forEach(function(color) {
results = results.concat(self.trackColor_(pixels, width, height, color));
});
this.emit('track', {
data: results
});
};
/**
* Find the given color in the given matrix of pixels using Flood fill
* algorithm to determines the area connected to a given node in a
* multi-dimensional array.
* @param {Uint8ClampedArray} pixels The pixels data to track.
* @param {number} width The pixels canvas width.
* @param {number} height The pixels canvas height.
* @param {string} color The color to be found
* @private
*/
tracking.ColorTracker.prototype.trackColor_ = function(pixels, width, height, color) {
var colorFn = tracking.ColorTracker.knownColors_[color];
var currGroup = new Int32Array(pixels.length >> 2);
var currGroupSize;
var currI;
var currJ;
var currW;
var marked = new Int8Array(pixels.length);
var minGroupSize = this.getMinGroupSize();
var neighboursW = this.getNeighboursForWidth_(width);
var queue = new Int32Array(pixels.length);
var queuePosition;
var results = [];
var w = -4;
if (!colorFn) {
return results;
}
for (var i = 0; i < height; i++) {
for (var j = 0; j < width; j++) {
w += 4;
if (marked[w]) {
continue;
}
currGroupSize = 0;
queuePosition = -1;
queue[++queuePosition] = w;
queue[++queuePosition] = i;
queue[++queuePosition] = j;
marked[w] = 1;
while (queuePosition >= 0) {
currJ = queue[queuePosition--];
currI = queue[queuePosition--];
currW = queue[queuePosition--];
if (colorFn(pixels[currW], pixels[currW + 1], pixels[currW + 2], pixels[currW + 3], currW, currI, currJ)) {
currGroup[currGroupSize++] = currJ;
currGroup[currGroupSize++] = currI;
for (var k = 0; k < neighboursW.length; k++) {
var otherW = currW + neighboursW[k];
var otherI = currI + neighboursI[k];
var otherJ = currJ + neighboursJ[k];
if (!marked[otherW] && otherI >= 0 && otherI < height && otherJ >= 0 && otherJ < width) {
queue[++queuePosition] = otherW;
queue[++queuePosition] = otherI;
queue[++queuePosition] = otherJ;
marked[otherW] = 1;
}
}
}
}
if (currGroupSize >= minGroupSize) {
var data = this.calculateDimensions_(currGroup, currGroupSize);
if (data) {
data.color = color;
results.push(data);
}
}
}
}
return this.mergeRectangles_(results);
};
// Default colors
//===================
tracking.ColorTracker.registerColor('cyan', function(r, g, b) {
var thresholdGreen = 50,
thresholdBlue = 70,
dx = r - 0,
dy = g - 255,
dz = b - 255;
if ((g - r) >= thresholdGreen && (b - r) >= thresholdBlue) {
return true;
}
return dx * dx + dy * dy + dz * dz < 6400;
});
tracking.ColorTracker.registerColor('magenta', function(r, g, b) {
var threshold = 50,
dx = r - 255,
dy = g - 0,
dz = b - 255;
if ((r - g) >= threshold && (b - g) >= threshold) {
return true;
}
return dx * dx + dy * dy + dz * dz < 19600;
});
tracking.ColorTracker.registerColor('yellow', function(r, g, b) {
var threshold = 50,
dx = r - 255,
dy = g - 255,
dz = b - 0;
if ((r - b) >= threshold && (g - b) >= threshold) {
return true;
}
return dx * dx + dy * dy + dz * dz < 10000;
});
// Caching neighbour i/j offset values.
//=====================================
var neighboursI = new Int32Array([-1, -1, 0, 1, 1, 1, 0, -1]);
var neighboursJ = new Int32Array([0, 1, 1, 1, 0, -1, -1, -1]);
}());
================================================
FILE: src/trackers/LandmarksTracker.js
================================================
(function() {
tracking.LandmarksTracker = function() {
tracking.LandmarksTracker.base(this, 'constructor');
}
tracking.inherits(tracking.LandmarksTracker, tracking.ObjectTracker);
tracking.LandmarksTracker.prototype.track = function(pixels, width, height) {
var image = {
'data': pixels,
'width': width,
'height': height
};
var classifier = tracking.ViolaJones.classifiers['face'];
var faces = tracking.ViolaJones.detect(pixels, width, height,
this.getInitialScale(), this.getScaleFactor(), this.getStepSize(),
this.getEdgesDensity(), classifier);
var landmarks = tracking.LBF.align(pixels, width, height, faces);
this.emit('track', {
'data': {
'faces' : faces,
'landmarks' : landmarks
}
});
}
}());
================================================
FILE: src/trackers/ObjectTracker.js
================================================
(function() {
/**
* ObjectTracker utility.
* @constructor
* @param {string|Array.>} opt_classifiers Optional
* object classifiers to track.
* @extends {tracking.Tracker}
*/
tracking.ObjectTracker = function(opt_classifiers) {
tracking.ObjectTracker.base(this, 'constructor');
if (opt_classifiers) {
if (!Array.isArray(opt_classifiers)) {
opt_classifiers = [opt_classifiers];
}
if (Array.isArray(opt_classifiers)) {
opt_classifiers.forEach(function(classifier, i) {
if (typeof classifier === 'string') {
opt_classifiers[i] = tracking.ViolaJones.classifiers[classifier];
}
if (!opt_classifiers[i]) {
throw new Error('Object classifier not valid, try `new tracking.ObjectTracker("face")`.');
}
});
}
}
this.setClassifiers(opt_classifiers);
};
tracking.inherits(tracking.ObjectTracker, tracking.Tracker);
/**
* Specifies the edges density of a block in order to decide whether to skip
* it or not.
* @default 0.2
* @type {number}
*/
tracking.ObjectTracker.prototype.edgesDensity = 0.2;
/**
* Specifies the initial scale to start the feature block scaling.
* @default 1.0
* @type {number}
*/
tracking.ObjectTracker.prototype.initialScale = 1.0;
/**
* Specifies the scale factor to scale the feature block.
* @default 1.25
* @type {number}
*/
tracking.ObjectTracker.prototype.scaleFactor = 1.25;
/**
* Specifies the block step size.
* @default 1.5
* @type {number}
*/
tracking.ObjectTracker.prototype.stepSize = 1.5;
/**
* Gets the tracker HAAR classifiers.
* @return {TypedArray.}
*/
tracking.ObjectTracker.prototype.getClassifiers = function() {
return this.classifiers;
};
/**
* Gets the edges density value.
* @return {number}
*/
tracking.ObjectTracker.prototype.getEdgesDensity = function() {
return this.edgesDensity;
};
/**
* Gets the initial scale to start the feature block scaling.
* @return {number}
*/
tracking.ObjectTracker.prototype.getInitialScale = function() {
return this.initialScale;
};
/**
* Gets the scale factor to scale the feature block.
* @return {number}
*/
tracking.ObjectTracker.prototype.getScaleFactor = function() {
return this.scaleFactor;
};
/**
* Gets the block step size.
* @return {number}
*/
tracking.ObjectTracker.prototype.getStepSize = function() {
return this.stepSize;
};
/**
* Tracks the `Video` frames. This method is called for each video frame in
* order to emit `track` event.
* @param {Uint8ClampedArray} pixels The pixels data to track.
* @param {number} width The pixels canvas width.
* @param {number} height The pixels canvas height.
*/
tracking.ObjectTracker.prototype.track = function(pixels, width, height) {
var self = this;
var classifiers = this.getClassifiers();
if (!classifiers) {
throw new Error('Object classifier not specified, try `new tracking.ObjectTracker("face")`.');
}
var results = [];
classifiers.forEach(function(classifier) {
results = results.concat(tracking.ViolaJones.detect(pixels, width, height, self.getInitialScale(), self.getScaleFactor(), self.getStepSize(), self.getEdgesDensity(), classifier));
});
this.emit('track', {
data: results
});
};
/**
* Sets the tracker HAAR classifiers.
* @param {TypedArray.} classifiers
*/
tracking.ObjectTracker.prototype.setClassifiers = function(classifiers) {
this.classifiers = classifiers;
};
/**
* Sets the edges density.
* @param {number} edgesDensity
*/
tracking.ObjectTracker.prototype.setEdgesDensity = function(edgesDensity) {
this.edgesDensity = edgesDensity;
};
/**
* Sets the initial scale to start the block scaling.
* @param {number} initialScale
*/
tracking.ObjectTracker.prototype.setInitialScale = function(initialScale) {
this.initialScale = initialScale;
};
/**
* Sets the scale factor to scale the feature block.
* @param {number} scaleFactor
*/
tracking.ObjectTracker.prototype.setScaleFactor = function(scaleFactor) {
this.scaleFactor = scaleFactor;
};
/**
* Sets the block step size.
* @param {number} stepSize
*/
tracking.ObjectTracker.prototype.setStepSize = function(stepSize) {
this.stepSize = stepSize;
};
}());
================================================
FILE: src/trackers/Tracker.js
================================================
(function() {
/**
* Tracker utility.
* @constructor
* @extends {tracking.EventEmitter}
*/
tracking.Tracker = function() {
tracking.Tracker.base(this, 'constructor');
};
tracking.inherits(tracking.Tracker, tracking.EventEmitter);
/**
* Tracks the pixels on the array. This method is called for each video
* frame in order to emit `track` event.
* @param {Uint8ClampedArray} pixels The pixels data to track.
* @param {number} width The pixels canvas width.
* @param {number} height The pixels canvas height.
*/
tracking.Tracker.prototype.track = function() {};
}());
================================================
FILE: src/trackers/TrackerTask.js
================================================
(function() {
/**
* TrackerTask utility.
* @constructor
* @extends {tracking.EventEmitter}
*/
tracking.TrackerTask = function(tracker) {
tracking.TrackerTask.base(this, 'constructor');
if (!tracker) {
throw new Error('Tracker instance not specified.');
}
this.setTracker(tracker);
};
tracking.inherits(tracking.TrackerTask, tracking.EventEmitter);
/**
* Holds the tracker instance managed by this task.
* @type {tracking.Tracker}
* @private
*/
tracking.TrackerTask.prototype.tracker_ = null;
/**
* Holds if the tracker task is in running.
* @type {boolean}
* @private
*/
tracking.TrackerTask.prototype.running_ = false;
/**
* Gets the tracker instance managed by this task.
* @return {tracking.Tracker}
*/
tracking.TrackerTask.prototype.getTracker = function() {
return this.tracker_;
};
/**
* Returns true if the tracker task is in running, false otherwise.
* @return {boolean}
* @private
*/
tracking.TrackerTask.prototype.inRunning = function() {
return this.running_;
};
/**
* Sets if the tracker task is in running.
* @param {boolean} running
* @private
*/
tracking.TrackerTask.prototype.setRunning = function(running) {
this.running_ = running;
};
/**
* Sets the tracker instance managed by this task.
* @return {tracking.Tracker}
*/
tracking.TrackerTask.prototype.setTracker = function(tracker) {
this.tracker_ = tracker;
};
/**
* Emits a `run` event on the tracker task for the implementers to run any
* child action, e.g. `requestAnimationFrame`.
* @return {object} Returns itself, so calls can be chained.
*/
tracking.TrackerTask.prototype.run = function() {
var self = this;
if (this.inRunning()) {
return;
}
this.setRunning(true);
this.reemitTrackEvent_ = function(event) {
self.emit('track', event);
};
this.tracker_.on('track', this.reemitTrackEvent_);
this.emit('run');
return this;
};
/**
* Emits a `stop` event on the tracker task for the implementers to stop any
* child action being done, e.g. `requestAnimationFrame`.
* @return {object} Returns itself, so calls can be chained.
*/
tracking.TrackerTask.prototype.stop = function() {
if (!this.inRunning()) {
return;
}
this.setRunning(false);
this.emit('stop');
this.tracker_.removeListener('track', this.reemitTrackEvent_);
return this;
};
}());
================================================
FILE: src/tracking.js
================================================
(function(window, undefined) {
window.tracking = window.tracking || {};
/**
* Inherit the prototype methods from one constructor into another.
*
* Usage:
*
* function ParentClass(a, b) { }
* ParentClass.prototype.foo = function(a) { }
*
* function ChildClass(a, b, c) {
* tracking.base(this, a, b);
* }
* tracking.inherits(ChildClass, ParentClass);
*
* var child = new ChildClass('a', 'b', 'c');
* child.foo();
*
*
* @param {Function} childCtor Child class.
* @param {Function} parentCtor Parent class.
*/
tracking.inherits = function(childCtor, parentCtor) {
function TempCtor() {
}
TempCtor.prototype = parentCtor.prototype;
childCtor.superClass_ = parentCtor.prototype;
childCtor.prototype = new TempCtor();
childCtor.prototype.constructor = childCtor;
/**
* Calls superclass constructor/method.
*
* This function is only available if you use tracking.inherits to express
* inheritance relationships between classes.
*
* @param {!object} me Should always be "this".
* @param {string} methodName The method name to call. Calling superclass
* constructor can be done with the special string 'constructor'.
* @param {...*} var_args The arguments to pass to superclass
* method/constructor.
* @return {*} The return value of the superclass method/constructor.
*/
childCtor.base = function(me, methodName) {
var args = Array.prototype.slice.call(arguments, 2);
return parentCtor.prototype[methodName].apply(me, args);
};
};
/**
* Captures the user camera when tracking a video element and set its source
* to the camera stream.
* @param {HTMLVideoElement} element Canvas element to track.
* @param {object} opt_options Optional configuration to the tracker.
*/
tracking.initUserMedia_ = function(element, opt_options) {
window.navigator.mediaDevices.getUserMedia({
video: true,
audio: (opt_options && opt_options.audio) ? true : false,
}).then(function(stream) {
element.srcObject = stream;
}).catch(function(err) {
throw Error('Cannot capture user camera.');
});
};
/**
* Tests whether the object is a dom node.
* @param {object} o Object to be tested.
* @return {boolean} True if the object is a dom node.
*/
tracking.isNode = function(o) {
return o.nodeType || this.isWindow(o);
};
/**
* Tests whether the object is the `window` object.
* @param {object} o Object to be tested.
* @return {boolean} True if the object is the `window` object.
*/
tracking.isWindow = function(o) {
return !!(o && o.alert && o.document);
};
/**
* Selects a dom node from a CSS3 selector using `document.querySelector`.
* @param {string} selector
* @param {object} opt_element The root element for the query. When not
* specified `document` is used as root element.
* @return {HTMLElement} The first dom element that matches to the selector.
* If not found, returns `null`.
*/
tracking.one = function(selector, opt_element) {
if (this.isNode(selector)) {
return selector;
}
return (opt_element || document).querySelector(selector);
};
/**
* Tracks a canvas, image or video element based on the specified `tracker`
* instance. This method extract the pixel information of the input element
* to pass to the `tracker` instance. When tracking a video, the
* `tracker.track(pixels, width, height)` will be in a
* `requestAnimationFrame` loop in order to track all video frames.
*
* Example:
* var tracker = new tracking.ColorTracker();
*
* tracking.track('#video', tracker);
* or
* tracking.track('#video', tracker, { camera: true });
*
* tracker.on('track', function(event) {
* // console.log(event.data[0].x, event.data[0].y)
* });
*
* @param {HTMLElement} element The element to track, canvas, image or
* video.
* @param {tracking.Tracker} tracker The tracker instance used to track the
* element.
* @param {object} opt_options Optional configuration to the tracker.
*/
tracking.track = function(element, tracker, opt_options) {
element = tracking.one(element);
if (!element) {
throw new Error('Element not found, try a different element or selector.');
}
if (!tracker) {
throw new Error('Tracker not specified, try `tracking.track(element, new tracking.FaceTracker())`.');
}
switch (element.nodeName.toLowerCase()) {
case 'canvas':
return this.trackCanvas_(element, tracker, opt_options);
case 'img':
return this.trackImg_(element, tracker, opt_options);
case 'video':
if (opt_options) {
if (opt_options.camera) {
this.initUserMedia_(element, opt_options);
}
}
return this.trackVideo_(element, tracker, opt_options);
default:
throw new Error('Element not supported, try in a canvas, img, or video.');
}
};
/**
* Tracks a canvas element based on the specified `tracker` instance and
* returns a `TrackerTask` for this track.
* @param {HTMLCanvasElement} element Canvas element to track.
* @param {tracking.Tracker} tracker The tracker instance used to track the
* element.
* @param {object} opt_options Optional configuration to the tracker.
* @return {tracking.TrackerTask}
* @private
*/
tracking.trackCanvas_ = function(element, tracker) {
var self = this;
var task = new tracking.TrackerTask(tracker);
task.on('run', function() {
self.trackCanvasInternal_(element, tracker);
});
return task.run();
};
/**
* Tracks a canvas element based on the specified `tracker` instance. This
* method extract the pixel information of the input element to pass to the
* `tracker` instance.
* @param {HTMLCanvasElement} element Canvas element to track.
* @param {tracking.Tracker} tracker The tracker instance used to track the
* element.
* @param {object} opt_options Optional configuration to the tracker.
* @private
*/
tracking.trackCanvasInternal_ = function(element, tracker) {
var width = element.width;
var height = element.height;
var context = element.getContext('2d');
var imageData = context.getImageData(0, 0, width, height);
tracker.track(imageData.data, width, height);
};
/**
* Tracks a image element based on the specified `tracker` instance. This
* method extract the pixel information of the input element to pass to the
* `tracker` instance.
* @param {HTMLImageElement} element Canvas element to track.
* @param {tracking.Tracker} tracker The tracker instance used to track the
* element.
* @param {object} opt_options Optional configuration to the tracker.
* @private
*/
tracking.trackImg_ = function(element, tracker) {
var width = element.naturalWidth;
var height = element.naturalHeight;
var canvas = document.createElement('canvas');
canvas.width = width;
canvas.height = height;
var task = new tracking.TrackerTask(tracker);
task.on('run', function() {
tracking.Canvas.loadImage(canvas, element.src, 0, 0, width, height, function() {
tracking.trackCanvasInternal_(canvas, tracker);
});
});
return task.run();
};
/**
* Tracks a video element based on the specified `tracker` instance. This
* method extract the pixel information of the input element to pass to the
* `tracker` instance. The `tracker.track(pixels, width, height)` will be in
* a `requestAnimationFrame` loop in order to track all video frames.
* @param {HTMLVideoElement} element Canvas element to track.
* @param {tracking.Tracker} tracker The tracker instance used to track the
* element.
* @param {object} opt_options Optional configuration to the tracker.
* @private
*/
tracking.trackVideo_ = function(element, tracker) {
var canvas = document.createElement('canvas');
var context = canvas.getContext('2d');
var width;
var height;
// FIXME here the video display size of the analysed size
var resizeCanvas_ = function() {
width = element.offsetWidth;
height = element.offsetHeight;
canvas.width = width;
canvas.height = height;
};
resizeCanvas_();
element.addEventListener('resize', resizeCanvas_);
// FIXME: do a process function - it is up to the caller to handle the frequency of detection
// it seems all handled in the tracking.TrackerTask..
// so in short, remove the tracking.TrackerTask from here
// if the user want to use it, it can create it himself
var requestId;
var requestAnimationFrame_ = function() {
requestId = window.requestAnimationFrame(function() {
if (element.readyState === element.HAVE_ENOUGH_DATA) {
try {
// Firefox v~30.0 gets confused with the video readyState firing an
// erroneous HAVE_ENOUGH_DATA just before HAVE_CURRENT_DATA state,
// hence keep trying to read it until resolved.
context.drawImage(element, 0, 0, width, height);
} catch (err) {}
tracking.trackCanvasInternal_(canvas, tracker);
}
requestAnimationFrame_();
});
};
var task = new tracking.TrackerTask(tracker);
task.on('stop', function() {
window.cancelAnimationFrame(requestId);
});
task.on('run', function() {
requestAnimationFrame_();
});
return task.run();
};
// Browser polyfills
//===================
if (!window.URL) {
window.URL = window.URL || window.webkitURL || window.msURL || window.oURL;
}
if (!navigator.getUserMedia) {
navigator.getUserMedia = navigator.getUserMedia || navigator.webkitGetUserMedia ||
navigator.mozGetUserMedia || navigator.msGetUserMedia;
}
}(window));
================================================
FILE: src/utils/Canvas.js
================================================
(function() {
/**
* Canvas utility.
* @static
* @constructor
*/
tracking.Canvas = {};
/**
* Loads an image source into the canvas.
* @param {HTMLCanvasElement} canvas The canvas dom element.
* @param {string} src The image source.
* @param {number} x The canvas horizontal coordinate to load the image.
* @param {number} y The canvas vertical coordinate to load the image.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {function} opt_callback Callback that fires when the image is loaded
* into the canvas.
* @static
*/
tracking.Canvas.loadImage = function(canvas, src, x, y, width, height, opt_callback) {
var instance = this;
var img = new window.Image();
img.crossOrigin = '*';
img.onload = function() {
var context = canvas.getContext('2d');
canvas.width = width;
canvas.height = height;
context.drawImage(img, x, y, width, height);
if (opt_callback) {
opt_callback.call(instance);
}
img = null;
};
img.src = src;
};
}());
================================================
FILE: src/utils/DisjointSet.js
================================================
(function() {
/**
* DisjointSet utility with path compression. Some applications involve
* grouping n distinct objects into a collection of disjoint sets. Two
* important operations are then finding which set a given object belongs to
* and uniting the two sets. A disjoint set data structure maintains a
* collection S={ S1 , S2 ,..., Sk } of disjoint dynamic sets. Each set is
* identified by a representative, which usually is a member in the set.
* @static
* @constructor
*/
tracking.DisjointSet = function(length) {
if (length === undefined) {
throw new Error('DisjointSet length not specified.');
}
this.length = length;
this.parent = new Uint32Array(length);
for (var i = 0; i < length; i++) {
this.parent[i] = i;
}
};
/**
* Holds the length of the internal set.
* @type {number}
*/
tracking.DisjointSet.prototype.length = null;
/**
* Holds the set containing the representative values.
* @type {Array.}
*/
tracking.DisjointSet.prototype.parent = null;
/**
* Finds a pointer to the representative of the set containing i.
* @param {number} i
* @return {number} The representative set of i.
*/
tracking.DisjointSet.prototype.find = function(i) {
if (this.parent[i] === i) {
return i;
} else {
return (this.parent[i] = this.find(this.parent[i]));
}
};
/**
* Unites two dynamic sets containing objects i and j, say Si and Sj, into
* a new set that Si ∪ Sj, assuming that Si ∩ Sj = ∅;
* @param {number} i
* @param {number} j
*/
tracking.DisjointSet.prototype.union = function(i, j) {
var iRepresentative = this.find(i);
var jRepresentative = this.find(j);
this.parent[iRepresentative] = jRepresentative;
};
}());
================================================
FILE: src/utils/EventEmitter.js
================================================
(function() {
/**
* EventEmitter utility.
* @constructor
*/
tracking.EventEmitter = function() {};
/**
* Holds event listeners scoped by event type.
* @type {object}
* @private
*/
tracking.EventEmitter.prototype.events_ = null;
/**
* Adds a listener to the end of the listeners array for the specified event.
* @param {string} event
* @param {function} listener
* @return {object} Returns emitter, so calls can be chained.
*/
tracking.EventEmitter.prototype.addListener = function(event, listener) {
if (typeof listener !== 'function') {
throw new TypeError('Listener must be a function');
}
if (!this.events_) {
this.events_ = {};
}
this.emit('newListener', event, listener);
if (!this.events_[event]) {
this.events_[event] = [];
}
this.events_[event].push(listener);
return this;
};
/**
* Returns an array of listeners for the specified event.
* @param {string} event
* @return {array} Array of listeners.
*/
tracking.EventEmitter.prototype.listeners = function(event) {
return this.events_ && this.events_[event];
};
/**
* Execute each of the listeners in order with the supplied arguments.
* @param {string} event
* @param {*} opt_args [arg1], [arg2], [...]
* @return {boolean} Returns true if event had listeners, false otherwise.
*/
tracking.EventEmitter.prototype.emit = function(event) {
var listeners = this.listeners(event);
if (listeners) {
var args = Array.prototype.slice.call(arguments, 1);
for (var i = 0; i < listeners.length; i++) {
if (listeners[i]) {
listeners[i].apply(this, args);
}
}
return true;
}
return false;
};
/**
* Adds a listener to the end of the listeners array for the specified event.
* @param {string} event
* @param {function} listener
* @return {object} Returns emitter, so calls can be chained.
*/
tracking.EventEmitter.prototype.on = tracking.EventEmitter.prototype.addListener;
/**
* Adds a one time listener for the event. This listener is invoked only the
* next time the event is fired, after which it is removed.
* @param {string} event
* @param {function} listener
* @return {object} Returns emitter, so calls can be chained.
*/
tracking.EventEmitter.prototype.once = function(event, listener) {
var self = this;
self.on(event, function handlerInternal() {
self.removeListener(event, handlerInternal);
listener.apply(this, arguments);
});
};
/**
* Removes all listeners, or those of the specified event. It's not a good
* idea to remove listeners that were added elsewhere in the code,
* especially when it's on an emitter that you didn't create.
* @param {string} event
* @return {object} Returns emitter, so calls can be chained.
*/
tracking.EventEmitter.prototype.removeAllListeners = function(opt_event) {
if (!this.events_) {
return this;
}
if (opt_event) {
delete this.events_[opt_event];
} else {
delete this.events_;
}
return this;
};
/**
* Remove a listener from the listener array for the specified event.
* Caution: changes array indices in the listener array behind the listener.
* @param {string} event
* @param {function} listener
* @return {object} Returns emitter, so calls can be chained.
*/
tracking.EventEmitter.prototype.removeListener = function(event, listener) {
if (typeof listener !== 'function') {
throw new TypeError('Listener must be a function');
}
if (!this.events_) {
return this;
}
var listeners = this.listeners(event);
if (Array.isArray(listeners)) {
var i = listeners.indexOf(listener);
if (i < 0) {
return this;
}
listeners.splice(i, 1);
}
return this;
};
/**
* By default EventEmitters will print a warning if more than 10 listeners
* are added for a particular event. This is a useful default which helps
* finding memory leaks. Obviously not all Emitters should be limited to 10.
* This function allows that to be increased. Set to zero for unlimited.
* @param {number} n The maximum number of listeners.
*/
tracking.EventEmitter.prototype.setMaxListeners = function() {
throw new Error('Not implemented');
};
}());
================================================
FILE: src/utils/Image.js
================================================
(function() {
/**
* Image utility.
* @static
* @constructor
*/
tracking.Image = {};
/**
* Computes gaussian blur. Adapted from
* https://github.com/kig/canvasfilters.
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {number} diameter Gaussian blur diameter, must be greater than 1.
* @return {array} The edge pixels in a linear [r,g,b,a,...] array.
*/
tracking.Image.blur = function(pixels, width, height, diameter) {
diameter = Math.abs(diameter);
if (diameter <= 1) {
throw new Error('Diameter should be greater than 1.');
}
var radius = diameter / 2;
var len = Math.ceil(diameter) + (1 - (Math.ceil(diameter) % 2));
var weights = new Float32Array(len);
var rho = (radius + 0.5) / 3;
var rhoSq = rho * rho;
var gaussianFactor = 1 / Math.sqrt(2 * Math.PI * rhoSq);
var rhoFactor = -1 / (2 * rho * rho);
var wsum = 0;
var middle = Math.floor(len / 2);
for (var i = 0; i < len; i++) {
var x = i - middle;
var gx = gaussianFactor * Math.exp(x * x * rhoFactor);
weights[i] = gx;
wsum += gx;
}
for (var j = 0; j < weights.length; j++) {
weights[j] /= wsum;
}
return this.separableConvolve(pixels, width, height, weights, weights, false);
};
/**
* Computes the integral image for summed, squared, rotated and sobel pixels.
* @param {array} pixels The pixels in a linear [r,g,b,a,...] array to loop
* through.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {array} opt_integralImage Empty array of size `width * height` to
* be filled with the integral image values. If not specified compute sum
* values will be skipped.
* @param {array} opt_integralImageSquare Empty array of size `width *
* height` to be filled with the integral image squared values. If not
* specified compute squared values will be skipped.
* @param {array} opt_tiltedIntegralImage Empty array of size `width *
* height` to be filled with the rotated integral image values. If not
* specified compute sum values will be skipped.
* @param {array} opt_integralImageSobel Empty array of size `width *
* height` to be filled with the integral image of sobel values. If not
* specified compute sobel filtering will be skipped.
* @static
*/
tracking.Image.computeIntegralImage = function(pixels, width, height, opt_integralImage, opt_integralImageSquare, opt_tiltedIntegralImage, opt_integralImageSobel) {
if (arguments.length < 4) {
throw new Error('You should specify at least one output array in the order: sum, square, tilted, sobel.');
}
var pixelsSobel;
if (opt_integralImageSobel) {
pixelsSobel = tracking.Image.sobel(pixels, width, height);
}
for (var i = 0; i < height; i++) {
for (var j = 0; j < width; j++) {
var w = i * width * 4 + j * 4;
var pixel = ~~(pixels[w] * 0.299 + pixels[w + 1] * 0.587 + pixels[w + 2] * 0.114);
if (opt_integralImage) {
this.computePixelValueSAT_(opt_integralImage, width, i, j, pixel);
}
if (opt_integralImageSquare) {
this.computePixelValueSAT_(opt_integralImageSquare, width, i, j, pixel * pixel);
}
if (opt_tiltedIntegralImage) {
var w1 = w - width * 4;
var pixelAbove = ~~(pixels[w1] * 0.299 + pixels[w1 + 1] * 0.587 + pixels[w1 + 2] * 0.114);
this.computePixelValueRSAT_(opt_tiltedIntegralImage, width, i, j, pixel, pixelAbove || 0);
}
if (opt_integralImageSobel) {
this.computePixelValueSAT_(opt_integralImageSobel, width, i, j, pixelsSobel[w]);
}
}
}
};
/**
* Helper method to compute the rotated summed area table (RSAT) by the
* formula:
*
* RSAT(x, y) = RSAT(x-1, y-1) + RSAT(x+1, y-1) - RSAT(x, y-2) + I(x, y) + I(x, y-1)
*
* @param {number} width The image width.
* @param {array} RSAT Empty array of size `width * height` to be filled with
* the integral image values. If not specified compute sum values will be
* skipped.
* @param {number} i Vertical position of the pixel to be evaluated.
* @param {number} j Horizontal position of the pixel to be evaluated.
* @param {number} pixel Pixel value to be added to the integral image.
* @static
* @private
*/
tracking.Image.computePixelValueRSAT_ = function(RSAT, width, i, j, pixel, pixelAbove) {
var w = i * width + j;
RSAT[w] = (RSAT[w - width - 1] || 0) + (RSAT[w - width + 1] || 0) - (RSAT[w - width - width] || 0) + pixel + pixelAbove;
};
/**
* Helper method to compute the summed area table (SAT) by the formula:
*
* SAT(x, y) = SAT(x, y-1) + SAT(x-1, y) + I(x, y) - SAT(x-1, y-1)
*
* @param {number} width The image width.
* @param {array} SAT Empty array of size `width * height` to be filled with
* the integral image values. If not specified compute sum values will be
* skipped.
* @param {number} i Vertical position of the pixel to be evaluated.
* @param {number} j Horizontal position of the pixel to be evaluated.
* @param {number} pixel Pixel value to be added to the integral image.
* @static
* @private
*/
tracking.Image.computePixelValueSAT_ = function(SAT, width, i, j, pixel) {
var w = i * width + j;
SAT[w] = (SAT[w - width] || 0) + (SAT[w - 1] || 0) + pixel - (SAT[w - width - 1] || 0);
};
/**
* Converts a color from a color-space based on an RGB color model to a
* grayscale representation of its luminance. The coefficients represent the
* measured intensity perception of typical trichromat humans, in
* particular, human vision is most sensitive to green and least sensitive
* to blue.
* @param {Uint8Array|Uint8ClampedArray|Array} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {boolean} fillRGBA If the result should fill all RGBA values with the gray scale
* values, instead of returning a single value per pixel.
* @return {Uint8Array} The grayscale pixels in a linear array ([p,p,p,a,...] if fillRGBA
* is true and [p1, p2, p3, ...] if fillRGBA is false).
* @static
*/
tracking.Image.grayscale = function(pixels, width, height, fillRGBA) {
/*
Performance result (rough EST. - image size, CPU arch. will affect):
https://jsperf.com/tracking-new-image-to-grayscale
Firefox v.60b:
fillRGBA Gray only
Old 11 551 OPs/sec
New 3548 6487 OPs/sec
---------------------------------
322.5x 11.8x faster
Chrome v.67b:
fillRGBA Gray only
Old 291 489 OPs/sec
New 6975 6635 OPs/sec
---------------------------------
24.0x 13.6x faster
- Ken Nilsen / epistemex
*/
var len = pixels.length>>2;
var gray = fillRGBA ? new Uint32Array(len) : new Uint8Array(len);
var data32 = new Uint32Array(pixels.buffer || new Uint8Array(pixels).buffer);
var i = 0;
var c = 0;
var luma = 0;
// unrolled loops to not have to check fillRGBA each iteration
if (fillRGBA) {
while(i < len) {
// Entire pixel in little-endian order (ABGR)
c = data32[i];
// Using the more up-to-date REC/BT.709 approx. weights for luma instead: [0.2126, 0.7152, 0.0722].
// luma = ((c>>>16 & 0xff) * 0.2126 + (c>>>8 & 0xff) * 0.7152 + (c & 0xff) * 0.0722 + 0.5)|0;
// But I'm using scaled integers here for speed (x 0xffff). This can be improved more using 2^n
// close to the factors allowing for shift-ops (i.e. 4732 -> 4096 => .. (c&0xff) << 12 .. etc.)
// if "accuracy" is not important (luma is anyway an visual approx.):
luma = ((c>>>16&0xff) * 13933 + (c>>>8&0xff) * 46871 + (c&0xff) * 4732)>>>16;
gray[i++] = luma * 0x10101 | c & 0xff000000;
}
}
else {
while(i < len) {
c = data32[i];
luma = ((c>>>16&0xff) * 13933 + (c>>>8&0xff) * 46871 + (c&0xff) * 4732)>>>16;
// ideally, alpha should affect value here: value * (alpha/255) or with shift-ops for the above version
gray[i++] = luma;
}
}
// Consolidate array view to byte component format independent of source view
return new Uint8Array(gray.buffer);
};
/**
* Fast horizontal separable convolution. A point spread function (PSF) is
* said to be separable if it can be broken into two one-dimensional
* signals: a vertical and a horizontal projection. The convolution is
* performed by sliding the kernel over the image, generally starting at the
* top left corner, so as to move the kernel through all the positions where
* the kernel fits entirely within the boundaries of the image. Adapted from
* https://github.com/kig/canvasfilters.
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {array} weightsVector The weighting vector, e.g [-1,0,1].
* @param {number} opaque
* @return {array} The convoluted pixels in a linear [r,g,b,a,...] array.
*/
tracking.Image.horizontalConvolve = function(pixels, width, height, weightsVector, opaque) {
var side = weightsVector.length;
var halfSide = Math.floor(side / 2);
var output = new Float32Array(width * height * 4);
var alphaFac = opaque ? 1 : 0;
for (var y = 0; y < height; y++) {
for (var x = 0; x < width; x++) {
var sy = y;
var sx = x;
var offset = (y * width + x) * 4;
var r = 0;
var g = 0;
var b = 0;
var a = 0;
for (var cx = 0; cx < side; cx++) {
var scy = sy;
var scx = Math.min(width - 1, Math.max(0, sx + cx - halfSide));
var poffset = (scy * width + scx) * 4;
var wt = weightsVector[cx];
r += pixels[poffset] * wt;
g += pixels[poffset + 1] * wt;
b += pixels[poffset + 2] * wt;
a += pixels[poffset + 3] * wt;
}
output[offset] = r;
output[offset + 1] = g;
output[offset + 2] = b;
output[offset + 3] = a + alphaFac * (255 - a);
}
}
return output;
};
/**
* Fast vertical separable convolution. A point spread function (PSF) is
* said to be separable if it can be broken into two one-dimensional
* signals: a vertical and a horizontal projection. The convolution is
* performed by sliding the kernel over the image, generally starting at the
* top left corner, so as to move the kernel through all the positions where
* the kernel fits entirely within the boundaries of the image. Adapted from
* https://github.com/kig/canvasfilters.
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {array} weightsVector The weighting vector, e.g [-1,0,1].
* @param {number} opaque
* @return {array} The convoluted pixels in a linear [r,g,b,a,...] array.
*/
tracking.Image.verticalConvolve = function(pixels, width, height, weightsVector, opaque) {
var side = weightsVector.length;
var halfSide = Math.floor(side / 2);
var output = new Float32Array(width * height * 4);
var alphaFac = opaque ? 1 : 0;
for (var y = 0; y < height; y++) {
for (var x = 0; x < width; x++) {
var sy = y;
var sx = x;
var offset = (y * width + x) * 4;
var r = 0;
var g = 0;
var b = 0;
var a = 0;
for (var cy = 0; cy < side; cy++) {
var scy = Math.min(height - 1, Math.max(0, sy + cy - halfSide));
var scx = sx;
var poffset = (scy * width + scx) * 4;
var wt = weightsVector[cy];
r += pixels[poffset] * wt;
g += pixels[poffset + 1] * wt;
b += pixels[poffset + 2] * wt;
a += pixels[poffset + 3] * wt;
}
output[offset] = r;
output[offset + 1] = g;
output[offset + 2] = b;
output[offset + 3] = a + alphaFac * (255 - a);
}
}
return output;
};
/**
* Fast separable convolution. A point spread function (PSF) is said to be
* separable if it can be broken into two one-dimensional signals: a
* vertical and a horizontal projection. The convolution is performed by
* sliding the kernel over the image, generally starting at the top left
* corner, so as to move the kernel through all the positions where the
* kernel fits entirely within the boundaries of the image. Adapted from
* https://github.com/kig/canvasfilters.
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @param {array} horizWeights The horizontal weighting vector, e.g [-1,0,1].
* @param {array} vertWeights The vertical vector, e.g [-1,0,1].
* @param {number} opaque
* @return {array} The convoluted pixels in a linear [r,g,b,a,...] array.
*/
tracking.Image.separableConvolve = function(pixels, width, height, horizWeights, vertWeights, opaque) {
var vertical = this.verticalConvolve(pixels, width, height, vertWeights, opaque);
return this.horizontalConvolve(vertical, width, height, horizWeights, opaque);
};
/**
* Compute image edges using Sobel operator. Computes the vertical and
* horizontal gradients of the image and combines the computed images to
* find edges in the image. The way we implement the Sobel filter here is by
* first grayscaling the image, then taking the horizontal and vertical
* gradients and finally combining the gradient images to make up the final
* image. Adapted from https://github.com/kig/canvasfilters.
* @param {pixels} pixels The pixels in a linear [r,g,b,a,...] array.
* @param {number} width The image width.
* @param {number} height The image height.
* @return {array} The edge pixels in a linear [r,g,b,a,...] array.
*/
tracking.Image.sobel = function(pixels, width, height) {
pixels = this.grayscale(pixels, width, height, true);
var output = new Float32Array(width * height * 4);
var sobelSignVector = new Float32Array([-1, 0, 1]);
var sobelScaleVector = new Float32Array([1, 2, 1]);
var vertical = this.separableConvolve(pixels, width, height, sobelSignVector, sobelScaleVector);
var horizontal = this.separableConvolve(pixels, width, height, sobelScaleVector, sobelSignVector);
for (var i = 0; i < output.length; i += 4) {
var v = vertical[i];
var h = horizontal[i];
var p = Math.sqrt(h * h + v * v);
output[i] = p;
output[i + 1] = p;
output[i + 2] = p;
output[i + 3] = 255;
}
return output;
};
/**
* Equalizes the histogram of a grayscale image, normalizing the
* brightness and increasing the contrast of the image.
* @param {pixels} pixels The grayscale pixels in a linear array.
* @param {number} width The image width.
* @param {number} height The image height.
* @return {array} The equalized grayscale pixels in a linear array.
*/
tracking.Image.equalizeHist = function(pixels, width, height){
var equalized = new Uint8ClampedArray(pixels.length);
var histogram = new Array(256);
for(var i=0; i < 256; i++) histogram[i] = 0;
for(var i=0; i < pixels.length; i++){
equalized[i] = pixels[i];
histogram[pixels[i]]++;
}
var prev = histogram[0];
for(var i=0; i < 256; i++){
histogram[i] += prev;
prev = histogram[i];
}
var norm = 255 / pixels.length;
for(var i=0; i < pixels.length; i++)
equalized[i] = (histogram[pixels[i]] * norm + 0.5) | 0;
return equalized;
}
}());
================================================
FILE: test/Benchmark.js
================================================
var Benchmark = require('./utils/benchmark.js');
module.exports = {
setUp: function(done) {
Benchmark.setUpAll(done);
},
testBenchmark: function(test) {
Benchmark.runAll(function(results) {
test.ok(results.passed, Benchmark.createFailureMessage(results.resultDetails));
test.done();
});
}
};
================================================
FILE: test/Brief.js
================================================
'use strict';
var tracking = require('./utils/sandbox.js');
module.exports = {
setUp: function(done) {
done();
},
tearDown: function(done) {
done();
},
// TODO: Update this test to generate randomWindowOffsets_ and randomImageOffsets_ instead.
testGetDescriptors: function(test) {
var descriptors;
var descriptorsPerKeypoint = tracking.Brief.N / 32;
var grayScale = [
0, 0, 1, 0, 0, 0,
1, 9, 0, 9, 1, 0,
0, 1, 1, 1, 0, 0
];
var repeat = [-7, 7, -6, 6, -5, 5, -1, 1];
var width = 6;
// Write the offsets manually, as we can't verify results that are obtained randomly.
tracking.Brief.randomImageOffsets_[width] = [];
for (var i = 0; i < tracking.Brief.N; i++) {
var position = i % 4;
tracking.Brief.randomImageOffsets_[width].push(repeat[position * 2], repeat[position * 2 + 1]);
}
descriptors = tracking.Brief.getDescriptors(grayScale, width, [1, 1, 3, 1]);
test.equal(2 * descriptorsPerKeypoint, descriptors.length, 'There should be 8 descriptor words');
for (var j = 0; j < descriptorsPerKeypoint; j++) {
test.equal(858993459, descriptors[j], 'Descriptor should be 858993459');
}
for (var k = descriptorsPerKeypoint; k < 2 * descriptorsPerKeypoint; k++) {
test.equal(-286331154, descriptors[k], 'Descriptor should be -286331154');
}
test.done();
},
testGetMatchings: function(test) {
var descriptors1;
var descriptors2;
var grayScale1 = [
0, 0, 1, 0, 0, 0,
1, 9, 0, 9, 1, 0,
0, 1, 1, 1, 0, 0
];
var grayScale2 = [
0, 0, 0, 1, 0, 0,
0, 1, 9, 0, 9, 1,
0, 0, 1, 1, 1, 0
];
var keypoints1 = [1, 1, 3, 1];
var keypoints2 = [4, 1, 2, 1];
var matchings;
var width = 6;
descriptors1 = tracking.Brief.getDescriptors(grayScale1, width, keypoints1);
descriptors2 = tracking.Brief.getDescriptors(grayScale2, width, keypoints2);
matchings = tracking.Brief.match(keypoints1, descriptors1, keypoints2, descriptors2);
test.equal(2, matchings.length, 'There should be 2 matchings');
test.equal(1, matchings[0].index2, 'Keypoint 0 from 1st array should match keypoint 1 from the 2nd');
test.equal(0, matchings[1].index2, 'Keypoint 1 from 1st array should match keypoint 0 from the 2nd');
test.done();
}
};
================================================
FILE: test/ColorTracker.js
================================================
'use strict';
var tracking = require('./utils/sandbox.js');
module.exports = {
setUp: function(done) {
done();
},
tearDown: function(done) {
done();
},
testConstructorEmpty: function(test) {
var colors;
var tracker;
test.doesNotThrow(function() {
tracker = new tracking.ColorTracker();
});
colors = tracker.getColors();
test.equal(1, colors.length, 'Colors array should have a single value');
test.equal('magenta', colors[0], 'Default color is magenta');
test.done();
},
testConstructorString: function(test) {
var colors;
var tracker;
test.doesNotThrow(function() {
tracker = new tracking.ColorTracker('yellow');
});
colors = tracker.getColors();
test.equal(1, colors.length, 'Colors array should have a single value');
test.equal('yellow', colors[0], 'The colors array should be set to value in the constructor');
test.throws(function() {
tracker = new tracking.ColorTracker('notvalid');
});
test.done();
},
testConstructorArray: function(test) {
var colors;
var tracker;
test.doesNotThrow(function() {
tracker = new tracking.ColorTracker([]);
});
colors = tracker.getColors();
test.equal(0, colors.length, 'Colors array should be empty');
test.doesNotThrow(function() {
tracker = new tracking.ColorTracker(['magenta', 'cyan', 'yellow']);
});
colors = tracker.getColors();
test.equal(3, colors.length, 'Colors array have 3 values');
test.equal('magenta', colors[0], 'The colors array should be set to values in the constructor');
test.equal('cyan', colors[1], 'The colors array should be set to values in the constructor');
test.equal('yellow', colors[2], 'The colors array should be set to values in the constructor');
test.throws(function() {
tracker = new tracking.ColorTracker(['magenta', null, 'yellow']);
});
test.done();
},
testFindColor: function(test) {
var colors;
var pixels;
var tracker;
tracking.ColorTracker.registerColor('black', function(r, g, b) {
return r === 0 && g === 0 && b === 0;
});
tracker = new tracking.ColorTracker('black');
colors = tracker.getColors();
test.equal(1, colors.length, 'Colors array have a single value');
test.equal('black', colors[0], 'The colors array should be set to values in the constructor');
tracker.setMinDimension(2);
tracker.setMinGroupSize(6);
pixels = [
1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1,
1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1,
1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1,
];
tracker.on('track', function(event) {
test.equal(1, event.data.length, 'There should only be one result rectangle');
test.equal(1, event.data[0].x, 'The first rectangle should be at x = 1');
test.equal(0, event.data[0].y, 'The first rectangle should be at y = 0');
test.equal(2, event.data[0].width, 'The first rectangle\'s width should be 2');
test.equal(3, event.data[0].height, 'The first rectangle\'s height should be 3');
test.done();
});
tracker.track(pixels, 5, 4);
},
testMergedRectangles: function(test) {
var pixels;
var tracker;
tracking.ColorTracker.registerColor('black', function(r, g, b) {
return r === 0 && g === 0 && b === 0;
});
tracker = new tracking.ColorTracker('black');
tracker.setMinDimension(1);
tracker.setMinGroupSize(6);
pixels = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0
];
tracker.on('track', function(event) {
test.equal(2, event.data.length, 'There should be 2 result rectangles');
test.equal(0, event.data[0].x, 'The first rectangle should be at x = 0');
test.equal(0, event.data[0].y, 'The first rectangle should be at y = 0');
test.equal(5, event.data[0].width, 'The first rectangle\'s width should be 5');
test.equal(6, event.data[0].height, 'The first rectangle\'s height should be 6');
test.equal(2, event.data[1].x, 'The second rectangle should be at x = 2');
test.equal(8, event.data[1].y, 'The second rectangle should be at y = 8');
test.equal(1, event.data[1].width, 'The second rectangle\'s width should be 1');
test.equal(2, event.data[1].height, 'The second rectangle\'s height should be 2');
test.done();
});
tracker.track(pixels, 6, 11);
},
testDimensionConstraints: function(test) {
var pixels;
var tracker;
tracking.ColorTracker.registerColor('black', function(r, g, b) {
return r === 0 && g === 0 && b === 0;
});
tracker = new tracking.ColorTracker('black');
tracker.setMinDimension(1);
tracker.setMaxDimension(2);
tracker.setMinGroupSize(6);
pixels = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0
];
tracker.on('track', function(event) {
test.equal(1, event.data.length, 'There should be 1 result rectangle');
test.equal(1, event.data[0].width, 'The rectangle\'s width should be 1');
test.equal(2, event.data[0].height, 'The rectangle\'s height should be 2');
test.done();
});
tracker.track(pixels, 6, 11);
}
};
================================================
FILE: test/Fast.js
================================================
'use strict';
var tracking = require('./utils/sandbox.js');
module.exports = {
setUp: function(done) {
done();
},
tearDown: function(done) {
done();
},
testCornerDetection: function(test) {
test.ok(
tracking.Fast.isCorner(
150,
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255],
10
),
'A corner should have been detected'
);
test.equal(
false,
tracking.Fast.isCorner(
150,
[0, 0, 0, 0, 0, 0, 0, 0, 255, 255, 255, 255, 255, 255, 255, 255],
10
),
'No corners should have been detected'
);
test.done();
},
testFindCorners: function(test) {
var corners,
pixels = [];
for (var i = 0; i < 64; i++) {
if (i === 27 || i === 28) {
pixels.push(0);
}
else {
pixels.push(255);
}
}
corners = tracking.Fast.findCorners(pixels, 8, 8);
test.equal(
2,
corners.length,
'Should have found 2 corners'
);
test.equal(
3,
corners[0],
'Corner should at x = 3'
);
test.equal(
3,
corners[1],
'Corner should be at y = 3'
);
test.done();
}
};
================================================
FILE: test/ObjectTracker.js
================================================
'use strict';
var tracking = require('./utils/sandbox.js');
module.exports = {
setUp: function(done) {
done();
},
tearDown: function(done) {
done();
},
testConstructorEmpty: function(test) {
test.doesNotThrow(
function() {
new tracking.ObjectTracker();
}
);
test.done();
},
testConstructorClassifier: function(test) {
test.doesNotThrow(
function() {
new tracking.ObjectTracker(tracking.ViolaJones.classifiers.face);
}
);
test.done();
},
testConstructorString: function(test) {
test.doesNotThrow(
function() {
new tracking.ObjectTracker('face');
}
);
test.throws(
function() {
new tracking.ObjectTracker('notvalid');
}
);
test.done();
},
testConstructorArray: function(test) {
test.doesNotThrow(
function() {
new tracking.ObjectTracker([]);
}
);
test.doesNotThrow(
function() {
new tracking.ObjectTracker([tracking.ViolaJones.classifiers.face]);
}
);
test.doesNotThrow(
function() {
new tracking.ObjectTracker(['face', 'mouth', 'eye']);
}
);
test.throws(
function() {
new tracking.ObjectTracker(['face', null, 'eye']);
}
);
test.done();
}
};
================================================
FILE: test/perf/Brief.js
================================================
var PNG = require('png-js');
var tracking = require('../utils/sandbox.js');
var corners1;
var corners2;
var image1Gray;
var image2Gray;
var imageHeight = 192;
var imageWidth = 256;
var descriptors1;
var descriptors2;
module.exports = {
setUp: function(done) {
PNG.decode('test/assets/box1.png', function(pixels1) {
image1Gray = tracking.Image.grayscale(pixels1, imageWidth, imageHeight);
corners1 = tracking.Fast.findCorners(image1Gray, imageWidth, imageHeight);
descriptors1 = tracking.Brief.getDescriptors(image1Gray, imageWidth, corners1);
PNG.decode('test/assets/box2.png', function(pixels2) {
image2Gray = tracking.Image.grayscale(pixels2, imageWidth, imageHeight);
corners2 = tracking.Fast.findCorners(image2Gray, imageWidth, imageHeight);
descriptors2 = tracking.Brief.getDescriptors(image2Gray, imageWidth, corners1);
done();
});
});
},
testGetDescriptors: function() {
tracking.Brief.getDescriptors(image1Gray, imageWidth, corners1);
},
testFindMatchingCorners: function() {
tracking.Brief.match(corners1, descriptors1, corners2, descriptors2);
}
};
================================================
FILE: test/perf/ColorTracker.js
================================================
var PNG = require('png-js');
var tracking = require('../utils/sandbox.js');
var image;
var imageHeight = 550;
var imageWidth = 732;
module.exports = {
setUp: function(done) {
PNG.decode('test/assets/psmove.png', function(pixels) {
image = pixels;
done();
});
},
testFindColors: function() {
var tracker = new tracking.ColorTracker(['magenta', 'cyan', 'yellow']);
tracker.track(image, imageWidth, imageHeight);
}
};
================================================
FILE: test/perf/Fast.js
================================================
var PNG = require('png-js');
var tracking = require('../utils/sandbox.js');
var image;
var imageGray;
var imageHeight = 192;
var imageWidth = 256;
module.exports = {
setUp: function(done) {
PNG.decode('test/assets/box1.png', function(pixels) {
image = pixels;
imageGray = tracking.Image.grayscale(image, imageWidth, imageHeight);
done();
});
},
testFindCorners: function() {
tracking.Fast.findCorners(imageGray, imageWidth, imageHeight);
}
};
================================================
FILE: test/perf/ObjectTracker.js
================================================
var PNG = require('png-js');
var tracking = require('../utils/sandbox.js');
var image;
var imageHeight = 600;
var imageWidth = 348;
module.exports = {
setUp: function(done) {
PNG.decode('test/assets/faces.png', function(pixels) {
image = pixels;
done();
});
},
testFindFaces: function() {
var tracker = new tracking.ObjectTracker(['face']);
tracker.setStepSize(2);
tracker.track(image, imageWidth, imageHeight);
},
testFindEyes: function() {
var tracker = new tracking.ObjectTracker(['eye']);
tracker.setStepSize(2);
tracker.track(image, imageWidth, imageHeight);
},
testFindMouths: function() {
var tracker = new tracking.ObjectTracker(['mouth']);
tracker.setStepSize(2);
tracker.track(image, imageWidth, imageHeight);
}
};
================================================
FILE: test/utils/benchmark.js
================================================
var fs = require('fs');
var PNG = require('png-js');
var BENCHMARK_FILENAME = 'benchmark.json';
var PATH_PERF_TESTS = 'test/perf';
var PATH_BENCHMARK_FILE = 'test/assets/' + BENCHMARK_FILENAME;
var TEST_TIMES_RUN = 5;
var TIME_THRESHOLD = 30;
var Benchmark = {
/**
* Calls the setUp function for all performance tests.
* @param {function} done Function to be called when the set up is done.
*/
setUpAll: function(done) {
readTestFiles(function(files) {
Benchmark.files = files;
runAllSetUps(done);
});
},
/**
* Runs all the performance tests.
* @param {function} callback Function to be called when all tests finish running.
*/
runAll: function(callback) {
var results;
getBenchmarkContents(function(benchmark) {
results = runAllTests(benchmark);
fs.writeFile(PATH_BENCHMARK_FILE, JSON.stringify(benchmark), function() {
callback(results);
});
});
},
/**
* Creates a failure message for the given results.
* @param {array} results An array with the results of the performance tests.
*/
createFailureMessage: function(results) {
var message = '';
for(var i = 0; i < results.length; i++) {
if (results[i].failedTests.length > 0) {
message += '\n' + results[i].failedTests.length + ' failures for ' + results[i].filename + ':';
for (var j = 0; j < results[i].failedTests.length; j++) {
message += '\n\t' + results[i].failedTests[j];
}
}
}
return message;
}
};
/**
* Gets the contents of the benchmark json file.
* @param {function} callback Function to be called with the contents.
*/
function getBenchmarkContents(callback){
fs.exists(PATH_BENCHMARK_FILE, function (exists) {
if (exists) {
fs.readFile(PATH_BENCHMARK_FILE, 'utf8', function(error, data) {
callback(JSON.parse(data));
});
} else {
callback({});
}
});
}
/**
* Reads all performance test files.
* @param {function} callback Function to be called when all tests are read.
*/
function readTestFiles(callback) {
fs.readdir(PATH_PERF_TESTS, function(error, files_list) {
var files = [];
for (var i = 0; i < files_list.length; i++) {
var filename = files_list[i];
if (filename.match('.*.js$')) {
files.push({
filename: filename,
test: require('../../' + PATH_PERF_TESTS + '/' + filename)
});
}
}
callback(files);
});
}
/**
* Runs the setUp function for each performance test.
* @param {function} callback Function to be called when all set ups are done.
*/
function runAllSetUps(callback) {
Benchmark.totalDone = 0;
for (var i = 0; i < Benchmark.files.length; i++) {
test = Benchmark.files[i].test;
if (test.setUp) {
test.setUp(function() {
setUpDone(callback);
});
} else {
setUpDone(callback);
}
}
}
/**
* Runs all the performance tests.
* @param {object} benchmark Information about duration of previous test runs.
*/
function runAllTests(benchmark) {
var allResults = [];
var benchmarkTime;
var benchmarkTimes;
var currentResults;
var duration;
var filename;
var passed = true;
var test;
for (var i = 0; i < Benchmark.files.length; i++) {
filename = Benchmark.files[i].filename;
test = Benchmark.files[i].test;
if (!benchmark[filename]) {
benchmark[filename] = {};
}
currentResults = {
filename: filename,
failedTests: [],
passedTests: []
};
for (var key in test) {
if (test.hasOwnProperty(key) && (typeof test[key] === 'function') && key !== 'setUp') {
duration = runTest(test[key]);
benchmarkTimes = benchmark[filename][key];
if (benchmarkTimes && benchmarkTimes.length) {
benchmarkTime = benchmarkTimes[benchmarkTimes.length - 1];
if (duration > benchmarkTime + TIME_THRESHOLD) {
currentResults.failedTests.push(key);
passed = false;
}
else {
currentResults.passedTests.push(key);
benchmark[filename][key].push(duration);
}
}
else {
currentResults.passedTests.push(key);
benchmark[filename][key] = [duration];
}
}
}
allResults.push(currentResults);
}
return {
passed: passed,
resultDetails: allResults
};
}
/**
* Runs a single test.
* @param {object} test The test to be run.
*/
function runTest(test) {
var timeBefore;
var timeTotal = 0;
for (var i = 0; i < TEST_TIMES_RUN; i++) {
timeBefore = new Date().getTime();
test();
timeTotal += new Date().getTime() - timeBefore;
}
return timeTotal / TEST_TIMES_RUN;
}
/**
* Increments the number of setUp functions that are done, and invokes the callback when all
* have been finished.
* @param {function} callback The function to be called when the last setUp function is done
*/
function setUpDone(callback) {
Benchmark.totalDone++;
if (Benchmark.totalDone === Benchmark.files.length) {
callback();
}
}
module.exports = Benchmark;
================================================
FILE: test/utils/sandbox.js
================================================
'use strict';
var nodeunit = require('nodeunit');
var context = nodeunit.utils.sandbox(['build/tracking.js', 'build/data/eye.js', 'build/data/face.js', 'build/data/mouth.js'], {
Float32Array: Float32Array,
Float64Array: Float64Array,
Int16Array: Int16Array,
Int32Array: Int32Array,
Int8Array: Int8Array,
Uint8ClampedArray: Uint8ClampedArray,
Uint32Array: Uint32Array,
navigator: {},
tracking: {},
window: {}
});
module.exports = context.tracking;