videoupdate.m

function [] = videoupdate(vidDevice)
%UNTITLED Summary of this function goes here
%   Detailed explanation goes here

%% Pattern Matching
% This example shows how to use the 2-D normalized cross-correlation for
% pattern matching and target tracking. The example uses predefined or user
% specified target and number of similar targets to be tracked. The
% normalized cross correlation plot shows that when the value exceeds the
% set threshold, the target is identified.

%   Copyright 2004-2010 The MathWorks, Inc.
%   $Revision: 1.1.6.6 $  $Date: 2012/10/29 19:42:28 $

%% Introduction
% In this example you use normalized cross correlation to track a target
% pattern in a video. The pattern matching algorithm involves 
% the following steps:
%
% * The input video frame and the template are reduced in size to minimize
%   the amount of computation required by the matching algorithm.
% * Normalized cross correlation, in the frequency domain, is used to find 
%   a template in the video frame.
% * The location of the pattern is determined by finding the maximum
%   cross correlation value.
%clear;
%clc;

%% Initialization
% Initialize required variables such as the threshold value for the cross
% correlation and the decomposition level for Gaussian Pyramid
% decomposition.
threshold = single(0.96);
level = 2;

%%
% Create System object to read a video.
% "grayscale" should be used.
hVideoSrc = vidDevice;

%%
% Create three gaussian pyramid System objects for decomposing the target
% template and decomposing the Image under Test(IUT). The decomposition is
% done so that the cross correlation can be computed over a small region
% instead of the entire original size of the image.
hGaussPymd1 = vision.Pyramid('PyramidLevel',level);
hGaussPymd2 = vision.Pyramid('PyramidLevel',level);
hGaussPymd3 = vision.Pyramid('PyramidLevel',level);

%%
% Create a System object to rotate the image by angle of pi before
% computing multiplication with the target in the frequency domain which is
% equivalent to correlation.
hRotate1 = vision.GeometricRotator('Angle', pi);

%% 
% Create two 2-D FFT System objects one for the image under test and the
% other for the target. 
hFFT2D1 = vision.FFT;
hFFT2D2 = vision.FFT;

%% 
% Create a System object to perform 2-D inverse FFT after performing
% correlation (equivalent to multiplication) in the frequency domain. 
hIFFFT2D = vision.IFFT;

%% 
% Create 2-D convolution System object to average the image energy in tiles
% of the same dimension of the target.
hConv2D = vision.Convolver('OutputSize','Valid');

%%
% Here you implement the following sequence of operations.

% Specify the target image and number of similar targets to be tracked. By
% default, the example uses a predefined target and finds up to 2 similar
% patterns. Set the variable useDefaultTarget to false to specify a new
% target and the number of similar targets to match.
useDefaultTarget = true;
[Img, numberOfTargets, target_image] = ...
  videopattern_gettemplate1(useDefaultTarget, vidDevice);

% Downsample the target image by a predefined factor using the
% gaussian pyramid System object. You do this to reduce the amount of
% computation for cross correlation.
target_image = single(target_image);
target_dim_nopyramid = size(target_image);
target_image_gp = step(hGaussPymd1, target_image);
target_energy = sqrt(sum(target_image_gp(:).^2));

% Rotate the target image by 180 degrees, and perform zero padding so that
% the dimensions of both the target and the input image are the same.
target_image_rot = step(hRotate1, target_image_gp);
[rt, ct] = size(target_image_rot);
Img = single(Img);
Img = step(hGaussPymd2, Img);
[ri, ci]= size(Img);
r_mod = 2^nextpow2(rt + ri);
c_mod = 2^nextpow2(ct + ci);
target_image_p = [target_image_rot zeros(rt, c_mod-ct)];
target_image_p = [target_image_p; zeros(r_mod-rt, c_mod)];

% Compute the 2-D FFT of the target image
target_fft = step(hFFT2D1, target_image_p);

% Initialize constant variables used in the processing loop.
target_size = repmat(target_dim_nopyramid, [numberOfTargets, 1]);
gain = 2^(level);
Im_p = zeros(r_mod, c_mod, 'single'); % Used for zero padding
C_ones = ones(rt, ct, 'single');      % Used to calculate mean using conv

%% 
% Create a System object to calculate the local maximum value for the
% normalized cross correlation.
hFindMax = vision.LocalMaximaFinder( ...
            'Threshold', single(-1), ...
            'MaximumNumLocalMaxima', numberOfTargets, ...
            'NeighborhoodSize', floor(size(target_image_gp)/2)*2 - 1);

%%
% Create a System object to display the tracking of the pattern.
sz = get(0,'ScreenSize');
pos = [20 sz(4)-400 400 300];
hROIPattern = vision.VideoPlayer('Name', 'Overlay the ROI on the target', ...
    'Position', pos);

%%
% Initialize figure window for plotting the normalized cross correlation
% value
hPlot = videopatternplots1('setup',numberOfTargets, threshold);

%% Video Processing Loop
% Create a processing loop to perform pattern matching on the input video.
% This loop uses the System objects you instantiated above. The loop is
% after 250 frames. Develop something to terminate the program by keyboard.
count = 0;
countlimit= 250;
while count<countlimit
    Im = rgb2gray(step(hVideoSrc));
    Im_gp = step(hGaussPymd3, Im);

    % Frequency domain convolution.
    Im_p(1:ri, 1:ci) = Im_gp;    % Zero-pad
    img_fft = step(hFFT2D2, Im_p);
    corr_freq = img_fft .* target_fft;
    corrOutput_f = step(hIFFFT2D, corr_freq);
    corrOutput_f = corrOutput_f(rt:ri, ct:ci);

    % Calculate image energies and block run tiles that are size of
    % target template.
    IUT_energy = (Im_gp).^2;
    IUT = step(hConv2D, IUT_energy, C_ones);
    IUT = sqrt(IUT);

    % Calculate normalized cross correlation.
    norm_Corr_f = (corrOutput_f) ./ (IUT * target_energy);
    xyLocation = step(hFindMax, norm_Corr_f);

    % Calculate linear indices.
    linear_index = sub2ind([ri-rt, ci-ct]+1, xyLocation(:,2),...
        xyLocation(:,1));

    norm_Corr_f_linear = norm_Corr_f(:);
    norm_Corr_value = norm_Corr_f_linear(linear_index);
    detect = (norm_Corr_value > threshold);
    target_roi = zeros(length(detect), 4);
    ul_corner = (gain.*(xyLocation(detect, :)-1))+1;
    target_roi(detect, :) = [ul_corner, fliplr(target_size(detect, :))];

    % Draw bounding box.   
    Imf = insertShape(Im, 'Rectangle', target_roi, 'Color', 'green');
    % Plot normalized cross correlation.
    videopatternplots1('update',hPlot,norm_Corr_value);
    step(hROIPattern, Imf);
    count=count+1;
end

%release(hVideoSrc);

%% Summary
% This example shows use of Computer Vision System Toolbox(TM) to
% find a user defined pattern in a video and track it. The algorithm is
% based on normalized frequency domain cross correlation between the target
% and the image under test. The video player window displays the input
% video with the identified target locations. Also a figure displays the
% normalized correlation between the target and the image which is used as
% a metric to match the target. As can be seen whenever the correlation
% value exceeds the threshold (indicated by the blue line), the target is
% identified in the input video and the location is marked by the green
% bounding box.