/*! \file tracking.hpp
\brief The Object and Feature Tracking
*/
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#ifndef __OPENCV_TRACKING_HPP__
#define __OPENCV_TRACKING_HPP__
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#ifdef __cplusplus
extern "C" {
#endif
/****************************************************************************************\
* 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
#ifdef __cplusplus
}
namespace cv
{
//! updates motion history image using the current silhouette
CV_EXPORTS_W void updateMotionHistory( InputArray silhouette, InputOutputArray mhi,
double timestamp, double duration );
//! computes the motion gradient orientation image from the motion history image
CV_EXPORTS_W void calcMotionGradient( InputArray mhi, OutputArray mask,
OutputArray orientation,
double delta1, double delta2,
int apertureSize=3 );
//! computes the global orientation of the selected motion history image part
CV_EXPORTS_W double calcGlobalOrientation( InputArray orientation, InputArray mask,
InputArray mhi, double timestamp,
double duration );
CV_EXPORTS_W void segmentMotion(InputArray mhi, OutputArray segmask,
CV_OUT vector<Rect>& boundingRects,
double timestamp, double segThresh);
//! updates the object tracking window using CAMSHIFT algorithm
CV_EXPORTS_W RotatedRect CamShift( InputArray probImage, CV_OUT CV_IN_OUT Rect& window,
TermCriteria criteria );
//! updates the object tracking window using meanshift algorithm
CV_EXPORTS_W int meanShift( InputArray probImage, CV_OUT CV_IN_OUT Rect& window,
TermCriteria criteria );
/*!
Kalman filter.
The class implements standard Kalman filter \url{http://en.wikipedia.org/wiki/Kalman_filter}.
However, you can modify KalmanFilter::transitionMatrix, KalmanFilter::controlMatrix and
KalmanFilter::measurementMatrix to get the extended Kalman filter functionality.
*/
class CV_EXPORTS_W KalmanFilter
{
public:
//! the default constructor
CV_WRAP KalmanFilter();
//! the full constructor taking the dimensionality of the state, of the measurement and of the control vector
CV_WRAP KalmanFilter(int dynamParams, int measureParams, int controlParams=0, int type=CV_32F);
//! re-initializes Kalman filter. The previous content is destroyed.
void init(int dynamParams, int measureParams, int controlParams=0, int type=CV_32F);
//! computes predicted state
CV_WRAP const Mat& predict(const Mat& control=Mat());
//! updates the predicted state from the measurement
CV_WRAP const Mat& correct(const Mat& measurement);
Mat statePre; //!< predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
Mat statePost; //!< corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
Mat transitionMatrix; //!< state transition matrix (A)
Mat controlMatrix; //!< control matrix (B) (not used if there is no control)
Mat measurementMatrix; //!< measurement matrix (H)
Mat processNoiseCov; //!< process noise covariance matrix (Q)
Mat measurementNoiseCov;//!< measurement noise covariance matrix (R)
Mat errorCovPre; //!< priori error estimate covariance matrix (P'(k)): P'(k)=A*P(k-1)*At + Q)*/
Mat gain; //!< Kalman gain matrix (K(k)): K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)
Mat errorCovPost; //!< posteriori error estimate covariance matrix (P(k)): P(k)=(I-K(k)*H)*P'(k)
// temporary matrices
Mat temp1;
Mat temp2;
Mat temp3;
Mat temp4;
Mat temp5;
};
enum
{
OPTFLOW_USE_INITIAL_FLOW = CV_LKFLOW_INITIAL_GUESSES,
OPTFLOW_LK_GET_MIN_EIGENVALS = CV_LKFLOW_GET_MIN_EIGENVALS,
OPTFLOW_FARNEBACK_GAUSSIAN = 256
};
//! constructs a pyramid which can be used as input for calcOpticalFlowPyrLK
CV_EXPORTS_W int buildOpticalFlowPyramid(InputArray img, OutputArrayOfArrays pyramid,
Size winSize, int maxLevel, bool withDerivatives = true,
int pyrBorder = BORDER_REFLECT_101, int derivBorder = BORDER_CONSTANT,
bool tryReuseInputImage = true);
//! computes sparse optical flow using multi-scale Lucas-Kanade algorithm
CV_EXPORTS_W void calcOpticalFlowPyrLK( InputArray prevImg, InputArray nextImg,
InputArray prevPts, CV_OUT InputOutputArray nextPts,
OutputArray status, OutputArray err,
Size winSize=Size(21,21), int maxLevel=3,
TermCriteria criteria=TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 0.01),
int flags=0, double minEigThreshold=1e-4);
//! computes dense optical flow using Farneback algorithm
CV_EXPORTS_W void calcOpticalFlowFarneback( InputArray prev, InputArray next,
CV_OUT InputOutputArray flow, double pyr_scale, int levels, int winsize,
int iterations, int poly_n, double poly_sigma, int flags );
//! estimates the best-fit Euqcidean, similarity, affine or perspective transformation
// that maps one 2D point set to another or one image to another.
CV_EXPORTS_W Mat estimateRigidTransform( InputArray src, InputArray dst,
bool fullAffine);
//! computes dense optical flow using Simple Flow algorithm
CV_EXPORTS_W void calcOpticalFlowSF(Mat& from,
Mat& to,
Mat& flow,
int layers,
int averaging_block_size,
int max_flow);
CV_EXPORTS_W void calcOpticalFlowSF(Mat& from,
Mat& to,
Mat& flow,
int layers,
int averaging_block_size,
int max_flow,
double sigma_dist,
double sigma_color,
int postprocess_window,
double sigma_dist_fix,
double sigma_color_fix,
double occ_thr,
int upscale_averaging_radius,
double upscale_sigma_dist,
double upscale_sigma_color,
double speed_up_thr);
class CV_EXPORTS DenseOpticalFlow : public Algorithm
{
public:
virtual void calc(InputArray I0, InputArray I1, InputOutputArray flow) = 0;
virtual void collectGarbage() = 0;
};
// Implementation of the Zach, Pock and Bischof Dual TV-L1 Optical Flow method
//
// see reference:
// [1] C. Zach, T. Pock and H. Bischof, "A Duality Based Approach for Realtime TV-L1 Optical Flow".
// [2] Javier Sanchez, Enric Meinhardt-Llopis and Gabriele Facciolo. "TV-L1 Optical Flow Estimation".
CV_EXPORTS Ptr<DenseOpticalFlow> createOptFlow_DualTVL1();
}
#endif
#endif
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