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147 lines
7.2 KiB
147 lines
7.2 KiB
/* |
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By downloading, copying, installing or using the software you agree to this |
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license. If you do not agree to this license, do not download, install, |
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copy or use the software. |
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License Agreement |
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For Open Source Computer Vision Library |
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(3-clause BSD License) |
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Copyright (C) 2013, OpenCV Foundation, all rights reserved. |
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Third party copyrights are property of their respective owners. |
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Redistribution and use in source and binary forms, with or without modification, |
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are permitted provided that the following conditions are met: |
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* Redistributions of source code must retain the above copyright notice, |
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this list of conditions and the following disclaimer. |
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* Redistributions in binary form must reproduce the above copyright notice, |
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this list of conditions and the following disclaimer in the documentation |
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and/or other materials provided with the distribution. |
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* Neither the names of the copyright holders nor the names of the contributors |
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may be used to endorse or promote products derived from this software |
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without specific prior written permission. |
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This software is provided by the copyright holders and contributors "as is" and |
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any express or implied warranties, including, but not limited to, the implied |
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warranties of merchantability and fitness for a particular purpose are |
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disclaimed. In no event shall copyright holders or contributors be liable for |
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any direct, indirect, incidental, special, exemplary, or consequential damages |
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(including, but not limited to, procurement of substitute goods or services; |
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loss of use, data, or profits; or business interruption) however caused |
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and on any theory of liability, whether in contract, strict liability, |
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or tort (including negligence or otherwise) arising in any way out of |
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the use of this software, even if advised of the possibility of such damage. |
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*/ |
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#ifndef __OPENCV_OPTFLOW_MOTEMPL_HPP__ |
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#define __OPENCV_OPTFLOW_MOTEMPL_HPP__ |
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#include "opencv2/core.hpp" |
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namespace cv |
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{ |
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namespace motempl |
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{ |
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//! @addtogroup optflow |
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//! @{ |
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/** @brief Updates the motion history image by a moving silhouette. |
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@param silhouette Silhouette mask that has non-zero pixels where the motion occurs. |
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@param mhi Motion history image that is updated by the function (single-channel, 32-bit |
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floating-point). |
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@param timestamp Current time in milliseconds or other units. |
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@param duration Maximal duration of the motion track in the same units as timestamp . |
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The function updates the motion history image as follows: |
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\f[\texttt{mhi} (x,y)= \forkthree{\texttt{timestamp}}{if \(\texttt{silhouette}(x,y) \ne 0\)}{0}{if \(\texttt{silhouette}(x,y) = 0\) and \(\texttt{mhi} < (\texttt{timestamp} - \texttt{duration})\)}{\texttt{mhi}(x,y)}{otherwise}\f] |
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That is, MHI pixels where the motion occurs are set to the current timestamp , while the pixels |
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where the motion happened last time a long time ago are cleared. |
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The function, together with calcMotionGradient and calcGlobalOrientation , implements a motion |
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templates technique described in @cite Davis97 and @cite Bradski00 . |
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*/ |
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CV_EXPORTS_W void updateMotionHistory( InputArray silhouette, InputOutputArray mhi, |
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double timestamp, double duration ); |
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/** @brief Calculates a gradient orientation of a motion history image. |
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@param mhi Motion history single-channel floating-point image. |
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@param mask Output mask image that has the type CV_8UC1 and the same size as mhi . Its non-zero |
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elements mark pixels where the motion gradient data is correct. |
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@param orientation Output motion gradient orientation image that has the same type and the same |
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size as mhi . Each pixel of the image is a motion orientation, from 0 to 360 degrees. |
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@param delta1 Minimal (or maximal) allowed difference between mhi values within a pixel |
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neighborhood. |
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@param delta2 Maximal (or minimal) allowed difference between mhi values within a pixel |
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neighborhood. That is, the function finds the minimum ( \f$m(x,y)\f$ ) and maximum ( \f$M(x,y)\f$ ) mhi |
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values over \f$3 \times 3\f$ neighborhood of each pixel and marks the motion orientation at \f$(x, y)\f$ |
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as valid only if |
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\f[\min ( \texttt{delta1} , \texttt{delta2} ) \le M(x,y)-m(x,y) \le \max ( \texttt{delta1} , \texttt{delta2} ).\f] |
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@param apertureSize Aperture size of the Sobel operator. |
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The function calculates a gradient orientation at each pixel \f$(x, y)\f$ as: |
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\f[\texttt{orientation} (x,y)= \arctan{\frac{d\texttt{mhi}/dy}{d\texttt{mhi}/dx}}\f] |
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In fact, fastAtan2 and phase are used so that the computed angle is measured in degrees and covers |
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the full range 0..360. Also, the mask is filled to indicate pixels where the computed angle is |
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valid. |
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@note |
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- (Python) An example on how to perform a motion template technique can be found at |
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opencv_source_code/samples/python2/motempl.py |
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*/ |
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CV_EXPORTS_W void calcMotionGradient( InputArray mhi, OutputArray mask, OutputArray orientation, |
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double delta1, double delta2, int apertureSize = 3 ); |
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/** @brief Calculates a global motion orientation in a selected region. |
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@param orientation Motion gradient orientation image calculated by the function calcMotionGradient |
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@param mask Mask image. It may be a conjunction of a valid gradient mask, also calculated by |
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calcMotionGradient , and the mask of a region whose direction needs to be calculated. |
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@param mhi Motion history image calculated by updateMotionHistory . |
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@param timestamp Timestamp passed to updateMotionHistory . |
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@param duration Maximum duration of a motion track in milliseconds, passed to updateMotionHistory |
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The function calculates an average motion direction in the selected region and returns the angle |
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between 0 degrees and 360 degrees. The average direction is computed from the weighted orientation |
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histogram, where a recent motion has a larger weight and the motion occurred in the past has a |
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smaller weight, as recorded in mhi . |
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*/ |
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CV_EXPORTS_W double calcGlobalOrientation( InputArray orientation, InputArray mask, InputArray mhi, |
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double timestamp, double duration ); |
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/** @brief Splits a motion history image into a few parts corresponding to separate independent motions (for |
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example, left hand, right hand). |
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@param mhi Motion history image. |
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@param segmask Image where the found mask should be stored, single-channel, 32-bit floating-point. |
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@param boundingRects Vector containing ROIs of motion connected components. |
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@param timestamp Current time in milliseconds or other units. |
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@param segThresh Segmentation threshold that is recommended to be equal to the interval between |
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motion history "steps" or greater. |
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The function finds all of the motion segments and marks them in segmask with individual values |
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(1,2,...). It also computes a vector with ROIs of motion connected components. After that the motion |
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direction for every component can be calculated with calcGlobalOrientation using the extracted mask |
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of the particular component. |
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*/ |
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CV_EXPORTS_W void segmentMotion( InputArray mhi, OutputArray segmask, |
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CV_OUT std::vector<Rect>& boundingRects, |
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double timestamp, double segThresh ); |
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//! @} |
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} |
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} |
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#endif
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