You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
232 lines
11 KiB
232 lines
11 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
|
// |
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
|
// |
|
// By downloading, copying, installing or using the software you agree to this license. |
|
// If you do not agree to this license, do not download, install, |
|
// copy or use the software. |
|
// |
|
// |
|
// License Agreement |
|
// For Open Source Computer Vision Library |
|
// |
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
|
// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
|
// Copyright (C) 2013, OpenCV Foundation, all rights reserved. |
|
// Third party copyrights are property of their respective owners. |
|
// |
|
// Redistribution and use in source and binary forms, with or without modification, |
|
// are permitted provided that the following conditions are met: |
|
// |
|
// * Redistribution's of source code must retain the above copyright notice, |
|
// this list of conditions and the following disclaimer. |
|
// |
|
// * Redistribution's in binary form must reproduce the above copyright notice, |
|
// this list of conditions and the following disclaimer in the documentation |
|
// and/or other materials provided with the distribution. |
|
// |
|
// * The name of the copyright holders may not be used to endorse or promote products |
|
// derived from this software without specific prior written permission. |
|
// |
|
// This software is provided by the copyright holders and contributors "as is" and |
|
// any express or implied warranties, including, but not limited to, the implied |
|
// warranties of merchantability and fitness for a particular purpose are disclaimed. |
|
// In no event shall the Intel Corporation or contributors be liable for any direct, |
|
// indirect, incidental, special, exemplary, or consequential damages |
|
// (including, but not limited to, procurement of substitute goods or services; |
|
// loss of use, data, or profits; or business interruption) however caused |
|
// and on any theory of liability, whether in contract, strict liability, |
|
// or tort (including negligence or otherwise) arising in any way out of |
|
// the use of this software, even if advised of the possibility of such damage. |
|
// |
|
//M*/ |
|
|
|
#ifndef OPENCV_TRACKING_C_H |
|
#define OPENCV_TRACKING_C_H |
|
|
|
#include "opencv2/imgproc/types_c.h" |
|
|
|
#ifdef __cplusplus |
|
extern "C" { |
|
#endif |
|
|
|
/** @addtogroup video_c |
|
@{ |
|
*/ |
|
|
|
/****************************************************************************************\ |
|
* Motion Analysis * |
|
\****************************************************************************************/ |
|
|
|
/************************************ optical flow ***************************************/ |
|
|
|
#define CV_LKFLOW_PYR_A_READY 1 |
|
#define CV_LKFLOW_PYR_B_READY 2 |
|
#define CV_LKFLOW_INITIAL_GUESSES 4 |
|
#define CV_LKFLOW_GET_MIN_EIGENVALS 8 |
|
|
|
/* It is Lucas & Kanade method, modified to use pyramids. |
|
Also it does several iterations to get optical flow for |
|
every point at every pyramid level. |
|
Calculates optical flow between two images for certain set of points (i.e. |
|
it is a "sparse" optical flow, which is opposite to the previous 3 methods) */ |
|
CVAPI(void) cvCalcOpticalFlowPyrLK( const CvArr* prev, const CvArr* curr, |
|
CvArr* prev_pyr, CvArr* curr_pyr, |
|
const CvPoint2D32f* prev_features, |
|
CvPoint2D32f* curr_features, |
|
int count, |
|
CvSize win_size, |
|
int level, |
|
char* status, |
|
float* track_error, |
|
CvTermCriteria criteria, |
|
int flags ); |
|
|
|
|
|
/* Modification of a previous sparse optical flow algorithm to calculate |
|
affine flow */ |
|
CVAPI(void) cvCalcAffineFlowPyrLK( const CvArr* prev, const CvArr* curr, |
|
CvArr* prev_pyr, CvArr* curr_pyr, |
|
const CvPoint2D32f* prev_features, |
|
CvPoint2D32f* curr_features, |
|
float* matrices, int count, |
|
CvSize win_size, int level, |
|
char* status, float* track_error, |
|
CvTermCriteria criteria, int flags ); |
|
|
|
/* Estimate rigid transformation between 2 images or 2 point sets */ |
|
CVAPI(int) cvEstimateRigidTransform( const CvArr* A, const CvArr* B, |
|
CvMat* M, int full_affine ); |
|
|
|
/* Estimate optical flow for each pixel using the two-frame G. Farneback algorithm */ |
|
CVAPI(void) cvCalcOpticalFlowFarneback( const CvArr* prev, const CvArr* next, |
|
CvArr* flow, double pyr_scale, int levels, |
|
int winsize, int iterations, int poly_n, |
|
double poly_sigma, int flags ); |
|
|
|
/********************************* motion templates *************************************/ |
|
|
|
/****************************************************************************************\ |
|
* All the motion template functions work only with single channel images. * |
|
* Silhouette image must have depth IPL_DEPTH_8U or IPL_DEPTH_8S * |
|
* Motion history image must have depth IPL_DEPTH_32F, * |
|
* Gradient mask - IPL_DEPTH_8U or IPL_DEPTH_8S, * |
|
* Motion orientation image - IPL_DEPTH_32F * |
|
* Segmentation mask - IPL_DEPTH_32F * |
|
* All the angles are in degrees, all the times are in milliseconds * |
|
\****************************************************************************************/ |
|
|
|
/* Updates motion history image given motion silhouette */ |
|
CVAPI(void) cvUpdateMotionHistory( const CvArr* silhouette, CvArr* mhi, |
|
double timestamp, double duration ); |
|
|
|
/* Calculates gradient of the motion history image and fills |
|
a mask indicating where the gradient is valid */ |
|
CVAPI(void) cvCalcMotionGradient( const CvArr* mhi, CvArr* mask, CvArr* orientation, |
|
double delta1, double delta2, |
|
int aperture_size CV_DEFAULT(3)); |
|
|
|
/* Calculates average motion direction within a selected motion region |
|
(region can be selected by setting ROIs and/or by composing a valid gradient mask |
|
with the region mask) */ |
|
CVAPI(double) cvCalcGlobalOrientation( const CvArr* orientation, const CvArr* mask, |
|
const CvArr* mhi, double timestamp, |
|
double duration ); |
|
|
|
/* Splits a motion history image into a few parts corresponding to separate independent motions |
|
(e.g. left hand, right hand) */ |
|
CVAPI(CvSeq*) cvSegmentMotion( const CvArr* mhi, CvArr* seg_mask, |
|
CvMemStorage* storage, |
|
double timestamp, double seg_thresh ); |
|
|
|
/****************************************************************************************\ |
|
* Tracking * |
|
\****************************************************************************************/ |
|
|
|
/* Implements CAMSHIFT algorithm - determines object position, size and orientation |
|
from the object histogram back project (extension of meanshift) */ |
|
CVAPI(int) cvCamShift( const CvArr* prob_image, CvRect window, |
|
CvTermCriteria criteria, CvConnectedComp* comp, |
|
CvBox2D* box CV_DEFAULT(NULL) ); |
|
|
|
/* Implements MeanShift algorithm - determines object position |
|
from the object histogram back project */ |
|
CVAPI(int) cvMeanShift( const CvArr* prob_image, CvRect window, |
|
CvTermCriteria criteria, CvConnectedComp* comp ); |
|
|
|
/* |
|
standard Kalman filter (in G. Welch' and G. Bishop's notation): |
|
|
|
x(k)=A*x(k-1)+B*u(k)+w(k) p(w)~N(0,Q) |
|
z(k)=H*x(k)+v(k), p(v)~N(0,R) |
|
*/ |
|
typedef struct CvKalman |
|
{ |
|
int MP; /* number of measurement vector dimensions */ |
|
int DP; /* number of state vector dimensions */ |
|
int CP; /* number of control vector dimensions */ |
|
|
|
/* backward compatibility fields */ |
|
#if 1 |
|
float* PosterState; /* =state_pre->data.fl */ |
|
float* PriorState; /* =state_post->data.fl */ |
|
float* DynamMatr; /* =transition_matrix->data.fl */ |
|
float* MeasurementMatr; /* =measurement_matrix->data.fl */ |
|
float* MNCovariance; /* =measurement_noise_cov->data.fl */ |
|
float* PNCovariance; /* =process_noise_cov->data.fl */ |
|
float* KalmGainMatr; /* =gain->data.fl */ |
|
float* PriorErrorCovariance;/* =error_cov_pre->data.fl */ |
|
float* PosterErrorCovariance;/* =error_cov_post->data.fl */ |
|
float* Temp1; /* temp1->data.fl */ |
|
float* Temp2; /* temp2->data.fl */ |
|
#endif |
|
|
|
CvMat* state_pre; /* predicted state (x'(k)): |
|
x(k)=A*x(k-1)+B*u(k) */ |
|
CvMat* state_post; /* corrected state (x(k)): |
|
x(k)=x'(k)+K(k)*(z(k)-H*x'(k)) */ |
|
CvMat* transition_matrix; /* state transition matrix (A) */ |
|
CvMat* control_matrix; /* control matrix (B) |
|
(it is not used if there is no control)*/ |
|
CvMat* measurement_matrix; /* measurement matrix (H) */ |
|
CvMat* process_noise_cov; /* process noise covariance matrix (Q) */ |
|
CvMat* measurement_noise_cov; /* measurement noise covariance matrix (R) */ |
|
CvMat* error_cov_pre; /* priori error estimate covariance matrix (P'(k)): |
|
P'(k)=A*P(k-1)*At + Q)*/ |
|
CvMat* gain; /* Kalman gain matrix (K(k)): |
|
K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)*/ |
|
CvMat* error_cov_post; /* posteriori error estimate covariance matrix (P(k)): |
|
P(k)=(I-K(k)*H)*P'(k) */ |
|
CvMat* temp1; /* temporary matrices */ |
|
CvMat* temp2; |
|
CvMat* temp3; |
|
CvMat* temp4; |
|
CvMat* temp5; |
|
} CvKalman; |
|
|
|
/* Creates Kalman filter and sets A, B, Q, R and state to some initial values */ |
|
CVAPI(CvKalman*) cvCreateKalman( int dynam_params, int measure_params, |
|
int control_params CV_DEFAULT(0)); |
|
|
|
/* Releases Kalman filter state */ |
|
CVAPI(void) cvReleaseKalman( CvKalman** kalman); |
|
|
|
/* Updates Kalman filter by time (predicts future state of the system) */ |
|
CVAPI(const CvMat*) cvKalmanPredict( CvKalman* kalman, |
|
const CvMat* control CV_DEFAULT(NULL)); |
|
|
|
/* Updates Kalman filter by measurement |
|
(corrects state of the system and internal matrices) */ |
|
CVAPI(const CvMat*) cvKalmanCorrect( CvKalman* kalman, const CvMat* measurement ); |
|
|
|
#define cvKalmanUpdateByTime cvKalmanPredict |
|
#define cvKalmanUpdateByMeasurement cvKalmanCorrect |
|
|
|
/** @} video_c */ |
|
|
|
#ifdef __cplusplus |
|
} // extern "C" |
|
#endif |
|
|
|
|
|
#endif // OPENCV_TRACKING_C_H
|
|
|