OpticalFlow.h
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上传日期：2008-11-10
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- /**
- * HandVu - a library for computer vision-based hand gesture
- * recognition.
- * Copyright (C) 2004 Mathias Kolsch, matz@cs.ucsb.edu
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- *
- * $Id: OpticalFlow.h,v 1.9 2005/08/16 00:09:55 matz Exp $
- **/
- #if !defined(__OPTICAL_FLOW_H__INCLUDED_)
- #define __OPTICAL_FLOW_H__INCLUDED_
- #include <cv.h>
- #include <vector>
- using namespace std;
- #include "Mask.h"
- #include "ProbDistrProvider.h"
- typedef vector<CvPoint2D32f> CPointVector;
- typedef vector<char> CStatusVector;
- typedef vector<double> CDoubleVector;
- typedef vector<CDoubleVector> CDoubleMatrix;
- typedef vector<float> CFloatVector;
- typedef struct _CondensState {
- double x, y;
- double vx, vy;
- double angle;
- } CondensState;
- #pragma warning (disable:4786)
- class OpticalFlow {
- public:
- OpticalFlow();
- ~OpticalFlow();
- public:
- void Initialize(int width, int height);
- void PrepareTracking(IplImage* rgbImage,
- IplImage* currGrayImage, int curr_indx,
- ProbDistrProvider* pProbProv,
- const CuScanMatch& match,
- ConstMaskIt mask,
- int target_num_features,
- int winsize_width,
- int winsize_height,
- double min_distance,
- double max_feature_error);
- int Track(IplImage* rgbImage,
- IplImage* prevImage, IplImage* currImage,
- int prev_indx, int curr_indx,
- int last_width, int last_height,
- bool flock, bool use_prob_distr);
- void DrawOverlay(IplImage* iplImage, int overlay_level);
- void GetMeanFeaturePos(CvPoint2D32f& mean);
- protected:
- void LKPyramids(IplImage* prevImage, IplImage* currImage,
- int prev_indx, int curr_indx);
- void DrawFeaturesStatistics(IplImage* pImage, int overlay_level);
- void FindGoodFeatures(IplImage* grayImage, const CRect& bbox,
- CPointVector& corners);
- void PickSkinColoredFeatures(IplImage* rgbImage,
- const CPointVector& corners,
- CPointVector& features,
- const CuScanMatch& match,
- ConstMaskIt mask);
- int FindCentroid(const CDoubleMatrix& distances,
- int discard_num_furthest);
- void GetAverage(const CPointVector& features, CvPoint2D32f& avg);
- void DistanceMatrix(const CPointVector& features,
- CDoubleMatrix& distances);
- void ConcentrateFeatures(IplImage* rgbImage,
- CPointVector& features,
- CStatusVector& status,
- int last_width, int last_height,
- bool use_prob_distr);
- void AddNewFeatures(IplImage* rgbImage,
- CPointVector& features,
- CStatusVector& status,
- int last_width, int last_height,
- bool use_prob_distr);
- bool TooCloseToOthers(const CPointVector& features, int indx, int len);
- void GetPixel(IplImage* rgbImage, int x, int y, ColorBGR** color);
- // Condens
- #define OF_CONDENS_DIMS 5
- void InitCondensation(int condens_num_samples);
- void UpdateCondensation(IplImage* rgbImage,
- int prev_indx, int curr_indx);
- void FollowObservationForSmallDiffs(const CPointVector& pred,
- const CPointVector& obs,
- CPointVector& corrected,
- double diff);
- void PreparePredictFeatureLocations(const CondensState& base_state,
- const CPointVector& base,
- CDoubleVector& old_lens,
- CDoubleVector& old_d_angles);
- void PredictFeatureLocations(const CDoubleVector& old_lens,
- const CDoubleVector& old_d_angles,
- const CondensState& predicted_state,
- CPointVector& prediction);
- double EstimateProbability(const CPointVector& prediction,
- const CPointVector& observation,
- int discard_num_furthest);
- double EstimateProbability(const CPointVector& prediction,
- IplImage* rgbImage);
-
- protected:
- int m_num_features_tracked;
- double m_recent_max_rdv;
- int m_recent_max_rdv_decay;
- int m_num_features_lost;
- int m_winsize_width;
- int m_winsize_height;
- double m_min_distance;
- double m_max_feature_error;
- ProbDistrProvider* m_pProbDistrProvider;
- int m_num_pyramid_levels;
- int m_target_num_features;
- bool m_prev_buf_meaningful;
- IplImage* m_pyramids[2];
- IplImage* m_tmpEVImage[2];
- CPointVector m_features[2];
- CStatusVector m_feature_status;
- CFloatVector m_errors;
- CvPoint2D32f m_mean_feature_pos;
- int m_saved_prev_indx;
- int m_saved_curr_indx;
- bool m_prepared;
- // condensation tracking of features
- bool m_condens_is_tracking;
- CvConDensation* m_pConDens;
- CondensState m_condens_state;
- CPointVector m_tmp_predicted;
- CPointVector m_features_observation;
- CDoubleVector m_sample_confidences;
- CRect m_condens_init_rect;
- };
- #pragma warning (default:4786)
- #endif // __OPTICAL_FLOW_H__INCLUDED_
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