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# /usr/ports/pobj/OpenCV-2.2.0/OpenCV-2.2.0/modules/contrib/include/opencv2/contrib/contrib.hpp

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    00042
    00043 #ifndef __OPENCV_CONTRIB_HPP__
    00044 #define __OPENCV_CONTRIB_HPP__
    00045
    00046 #include "opencv2/core/core.hpp"
    00047 #include "opencv2/features2d/features2d.hpp"
    00048 #include "opencv2/objdetect/objdetect.hpp"
    00049
    00050 #ifdef __cplusplus
    00051
    00052 /****************************************************************************************\
    00053 *                                   Adaptive Skin Detector                               *
    00054 \****************************************************************************************/
    00055
    00056 class CV_EXPORTS CvAdaptiveSkinDetector
    00057 {
    00058 private:
    00059     enum {
    00060         GSD_HUE_LT = 3,
    00061         GSD_HUE_UT = 33,
    00062         GSD_INTENSITY_LT = 15,
    00063         GSD_INTENSITY_UT = 250
    00064     };
    00065
    00066     class CV_EXPORTS Histogram
    00067     {
    00068     private:
    00069         enum {
    00070             HistogramSize = (GSD_HUE_UT - GSD_HUE_LT + 1)
    00071         };
    00072
    00073     protected:
    00074         int findCoverageIndex(double surfaceToCover, int defaultValue = 0);
    00075
    00076     public:
    00077         CvHistogram *fHistogram;
    00078         Histogram();
    00079         virtual ~Histogram();
    00080
    00081         void findCurveThresholds(int &x1, int &x2, double percent = 0.05);
    00082         void mergeWith(Histogram *source, double weight);
    00083     };
    00084
    00085     int nStartCounter, nFrameCount, nSkinHueLowerBound, nSkinHueUpperBound, nMorphingMethod, nSamplingDivider;
    00086     double fHistogramMergeFactor, fHuePercentCovered;
    00087     Histogram histogramHueMotion, skinHueHistogram;
    00088     IplImage *imgHueFrame, *imgSaturationFrame, *imgLastGrayFrame, *imgMotionFrame, *imgFilteredFrame;
    00089     IplImage *imgShrinked, *imgTemp, *imgGrayFrame, *imgHSVFrame;
    00090
    00091 protected:
    00092     void initData(IplImage *src, int widthDivider, int heightDivider);
    00093     void adaptiveFilter();
    00094
    00095 public:
    00096
    00097     enum {
    00098         MORPHING_METHOD_NONE = 0,
    00099         MORPHING_METHOD_ERODE = 1,
    00100         MORPHING_METHOD_ERODE_ERODE = 2,
    00101         MORPHING_METHOD_ERODE_DILATE = 3
    00102     };
    00103
    00104     CvAdaptiveSkinDetector(int samplingDivider = 1, int morphingMethod = MORPHING_METHOD_NONE);
    00105     virtual ~CvAdaptiveSkinDetector();
    00106
    00107     virtual void process(IplImage *inputBGRImage, IplImage *outputHueMask);
    00108 };
    00109
    00110
    00111 /****************************************************************************************\
    00112  *                                  Fuzzy MeanShift Tracker                               *
    00113  \****************************************************************************************/
    00114
    00115 class CV_EXPORTS CvFuzzyPoint {
    00116 public:
    00117     double x, y, value;
    00118
    00119     CvFuzzyPoint(double _x, double _y);
    00120 };
    00121
    00122 class CV_EXPORTS CvFuzzyCurve {
    00123 private:
    00124     std::vector<CvFuzzyPoint> points;
    00125     double value, centre;
    00126
    00127     bool between(double x, double x1, double x2);
    00128
    00129 public:
    00130     CvFuzzyCurve();
    00131     ~CvFuzzyCurve();
    00132
    00133     void setCentre(double _centre);
    00134     double getCentre();
    00135     void clear();
    00136     void addPoint(double x, double y);
    00137     double calcValue(double param);
    00138     double getValue();
    00139     void setValue(double _value);
    00140 };
    00141
    00142 class CV_EXPORTS CvFuzzyFunction {
    00143 public:
    00144     std::vector<CvFuzzyCurve> curves;
    00145
    00146     CvFuzzyFunction();
    00147     ~CvFuzzyFunction();
    00148     void addCurve(CvFuzzyCurve *curve, double value = 0);
    00149     void resetValues();
    00150     double calcValue();
    00151     CvFuzzyCurve *newCurve();
    00152 };
    00153
    00154 class CV_EXPORTS CvFuzzyRule {
    00155 private:
    00156     CvFuzzyCurve *fuzzyInput1, *fuzzyInput2;
    00157     CvFuzzyCurve *fuzzyOutput;
    00158 public:
    00159     CvFuzzyRule();
    00160     ~CvFuzzyRule();
    00161     void setRule(CvFuzzyCurve *c1, CvFuzzyCurve *c2, CvFuzzyCurve *o1);
    00162     double calcValue(double param1, double param2);
    00163     CvFuzzyCurve *getOutputCurve();
    00164 };
    00165
    00166 class CV_EXPORTS CvFuzzyController {
    00167 private:
    00168     std::vector<CvFuzzyRule*> rules;
    00169 public:
    00170     CvFuzzyController();
    00171     ~CvFuzzyController();
    00172     void addRule(CvFuzzyCurve *c1, CvFuzzyCurve *c2, CvFuzzyCurve *o1);
    00173     double calcOutput(double param1, double param2);
    00174 };
    00175
    00176 class CV_EXPORTS CvFuzzyMeanShiftTracker
    00177 {
    00178 private:
    00179     class FuzzyResizer
    00180     {
    00181     private:
    00182         CvFuzzyFunction iInput, iOutput;
    00183         CvFuzzyController fuzzyController;
    00184     public:
    00185         FuzzyResizer();
    00186         int calcOutput(double edgeDensity, double density);
    00187     };
    00188
    00189     class SearchWindow
    00190     {
    00191     public:
    00192         FuzzyResizer *fuzzyResizer;
    00193         int x, y;
    00194         int width, height, maxWidth, maxHeight, ellipseHeight, ellipseWidth;
    00195         int ldx, ldy, ldw, ldh, numShifts, numIters;
    00196         int xGc, yGc;
    00197         long m00, m01, m10, m11, m02, m20;
    00198         double ellipseAngle;
    00199         double density;
    00200         unsigned int depthLow, depthHigh;
    00201         int verticalEdgeLeft, verticalEdgeRight, horizontalEdgeTop, horizontalEdgeBottom;
    00202
    00203         SearchWindow();
    00204         ~SearchWindow();
    00205         void setSize(int _x, int _y, int _width, int _height);
    00206         void initDepthValues(IplImage *maskImage, IplImage *depthMap);
    00207         bool shift();
    00208         void extractInfo(IplImage *maskImage, IplImage *depthMap, bool initDepth);
    00209         void getResizeAttribsEdgeDensityLinear(int &resizeDx, int &resizeDy, int &resizeDw, int &resizeDh);
    00210         void getResizeAttribsInnerDensity(int &resizeDx, int &resizeDy, int &resizeDw, int &resizeDh);
    00211         void getResizeAttribsEdgeDensityFuzzy(int &resizeDx, int &resizeDy, int &resizeDw, int &resizeDh);
    00212         bool meanShift(IplImage *maskImage, IplImage *depthMap, int maxIteration, bool initDepth);
    00213     };
    00214
    00215 public:
    00216     enum TrackingState
    00217     {
    00218         tsNone          = 0,
    00219         tsSearching     = 1,
    00220         tsTracking      = 2,
    00221         tsSetWindow     = 3,
    00222         tsDisabled      = 10
    00223     };
    00224
    00225     enum ResizeMethod {
    00226         rmEdgeDensityLinear     = 0,
    00227         rmEdgeDensityFuzzy      = 1,
    00228         rmInnerDensity          = 2
    00229     };
    00230
    00231     enum {
    00232         MinKernelMass           = 1000
    00233     };
    00234
    00235     SearchWindow kernel;
    00236     int searchMode;
    00237
    00238 private:
    00239     enum
    00240     {
    00241         MaxMeanShiftIteration   = 5,
    00242         MaxSetSizeIteration     = 5
    00243     };
    00244
    00245     void findOptimumSearchWindow(SearchWindow &searchWindow, IplImage *maskImage, IplImage *depthMap, int maxIteration, int resizeMethod, bool initDepth);
    00246
    00247 public:
    00248     CvFuzzyMeanShiftTracker();
    00249     ~CvFuzzyMeanShiftTracker();
    00250
    00251     void track(IplImage *maskImage, IplImage *depthMap, int resizeMethod, bool resetSearch, int minKernelMass = MinKernelMass);
    00252 };
    00253
    00254
    00255 namespace cv
    00256 {
    00257
    00258     class CV_EXPORTS Octree
    00259     {
    00260     public:
    00261         struct Node
    00262         {
    00263             Node() {}
    00264             int begin, end;
    00265             float x_min, x_max, y_min, y_max, z_min, z_max;
    00266             int maxLevels;
    00267             bool isLeaf;
    00268             int children[8];
    00269         };
    00270
    00271         Octree();
    00272         Octree( const vector<Point3f>& points, int maxLevels = 10, int minPoints = 20 );
    00273         virtual ~Octree();
    00274
    00275         virtual void buildTree( const vector<Point3f>& points, int maxLevels = 10, int minPoints = 20 );
    00276         virtual void getPointsWithinSphere( const Point3f& center, float radius,
    00277                                            vector<Point3f>& points ) const;
    00278         const vector<Node>& getNodes() const { return nodes; }
    00279     private:
    00280         int minPoints;
    00281         vector<Point3f> points;
    00282         vector<Node> nodes;
    00283
    00284         virtual void buildNext(size_t node_ind);
    00285     };
    00286
    00287
    00288     class CV_EXPORTS Mesh3D
    00289     {
    00290     public:
    00291         struct EmptyMeshException {};
    00292
    00293         Mesh3D();
    00294         Mesh3D(const vector<Point3f>& vtx);
    00295         ~Mesh3D();
    00296
    00297         void buildOctree();
    00298         void clearOctree();
    00299         float estimateResolution(float tryRatio = 0.1f);
    00300         void computeNormals(float normalRadius, int minNeighbors = 20);
    00301         void computeNormals(const vector<int>& subset, float normalRadius, int minNeighbors = 20);
    00302
    00303         void writeAsVrml(const String& file, const vector<Scalar>& colors = vector<Scalar>()) const;
    00304
    00305         vector<Point3f> vtx;
    00306         vector<Point3f> normals;
    00307         float resolution;
    00308         Octree octree;
    00309
    00310         const static Point3f allzero;
    00311     };
    00312
    00313     class CV_EXPORTS SpinImageModel
    00314     {
    00315     public:
    00316
    00317         /* model parameters, leave unset for default or auto estimate */
    00318         float normalRadius;
    00319         int minNeighbors;
    00320
    00321         float binSize;
    00322         int imageWidth;
    00323
    00324         float lambda;
    00325         float gamma;
    00326
    00327         float T_GeometriccConsistency;
    00328         float T_GroupingCorespondances;
    00329
    00330         /* public interface */
    00331         SpinImageModel();
    00332         explicit SpinImageModel(const Mesh3D& mesh);
    00333         ~SpinImageModel();
    00334
    00335         void setLogger(std::ostream* log);
    00336         void selectRandomSubset(float ratio);
    00337         void setSubset(const vector<int>& subset);
    00338         void compute();
    00339
    00340         void match(const SpinImageModel& scene, vector< vector<Vec2i> >& result);
    00341
    00342         Mat packRandomScaledSpins(bool separateScale = false, size_t xCount = 10, size_t yCount = 10) const;
    00343
    00344         size_t getSpinCount() const { return spinImages.rows; }
    00345         Mat getSpinImage(size_t index) const { return spinImages.row((int)index); }
    00346         const Point3f& getSpinVertex(size_t index) const { return mesh.vtx[subset[index]]; }
    00347         const Point3f& getSpinNormal(size_t index) const { return mesh.normals[subset[index]]; }
    00348
    00349         const Mesh3D& getMesh() const { return mesh; }
    00350         Mesh3D& getMesh() { return mesh; }
    00351
    00352         /* static utility functions */
    00353         static bool spinCorrelation(const Mat& spin1, const Mat& spin2, float lambda, float& result);
    00354
    00355         static Point2f calcSpinMapCoo(const Point3f& point, const Point3f& vertex, const Point3f& normal);
    00356
    00357         static float geometricConsistency(const Point3f& pointScene1, const Point3f& normalScene1,
    00358                                           const Point3f& pointModel1, const Point3f& normalModel1,
    00359                                           const Point3f& pointScene2, const Point3f& normalScene2,
    00360                                           const Point3f& pointModel2, const Point3f& normalModel2);
    00361
    00362         static float groupingCreteria(const Point3f& pointScene1, const Point3f& normalScene1,
    00363                                       const Point3f& pointModel1, const Point3f& normalModel1,
    00364                                       const Point3f& pointScene2, const Point3f& normalScene2,
    00365                                       const Point3f& pointModel2, const Point3f& normalModel2,
    00366                                       float gamma);
    00367     protected:
    00368         void defaultParams();
    00369
    00370         void matchSpinToModel(const Mat& spin, vector<int>& indeces,
    00371                               vector<float>& corrCoeffs, bool useExtremeOutliers = true) const;
    00372
    00373         void repackSpinImages(const vector<uchar>& mask, Mat& spinImages, bool reAlloc = true) const;
    00374
    00375         vector<int> subset;
    00376         Mesh3D mesh;
    00377         Mat spinImages;
    00378         std::ostream* out;
    00379     };
    00380
    00381     class CV_EXPORTS TickMeter
    00382     {
    00383     public:
    00384         TickMeter();
    00385         void start();
    00386         void stop();
    00387
    00388         int64 getTimeTicks() const;
    00389         double getTimeMicro() const;
    00390         double getTimeMilli() const;
    00391         double getTimeSec()   const;
    00392         int64 getCounter() const;
    00393
    00394         void reset();
    00395     private:
    00396         int64 counter;
    00397         int64 sumTime;
    00398         int64 startTime;
    00399     };
    00400
    00401     CV_EXPORTS std::ostream& operator<<(std::ostream& out, const TickMeter& tm);
    00402
    00403     class CV_EXPORTS SelfSimDescriptor
    00404     {
    00405     public:
    00406         SelfSimDescriptor();
    00407         SelfSimDescriptor(int _ssize, int _lsize,
    00408                           int _startDistanceBucket=DEFAULT_START_DISTANCE_BUCKET,
    00409                           int _numberOfDistanceBuckets=DEFAULT_NUM_DISTANCE_BUCKETS,
    00410                           int _nangles=DEFAULT_NUM_ANGLES);
    00411         SelfSimDescriptor(const SelfSimDescriptor& ss);
    00412         virtual ~SelfSimDescriptor();
    00413         SelfSimDescriptor& operator = (const SelfSimDescriptor& ss);
    00414
    00415         size_t getDescriptorSize() const;
    00416         Size getGridSize( Size imgsize, Size winStride ) const;
    00417
    00418         virtual void compute(const Mat& img, vector<float>& descriptors, Size winStride=Size(),
    00419                              const vector<Point>& locations=vector<Point>()) const;
    00420         virtual void computeLogPolarMapping(Mat& mappingMask) const;
    00421         virtual void SSD(const Mat& img, Point pt, Mat& ssd) const;
    00422
    00423         int smallSize;
    00424         int largeSize;
    00425         int startDistanceBucket;
    00426         int numberOfDistanceBuckets;
    00427         int numberOfAngles;
    00428
    00429         enum { DEFAULT_SMALL_SIZE = 5, DEFAULT_LARGE_SIZE = 41,
    00430             DEFAULT_NUM_ANGLES = 20, DEFAULT_START_DISTANCE_BUCKET = 3,
    00431             DEFAULT_NUM_DISTANCE_BUCKETS = 7 };
    00432     };
    00433
    00434     class CV_EXPORTS LevMarqSparse
    00435     {
    00436     public:
    00437         LevMarqSparse();
    00438         LevMarqSparse(int npoints, // number of points
    00439                       int ncameras, // number of cameras
    00440                       int nPointParams, // number of params per one point  (3 in case of 3D points)
    00441                       int nCameraParams, // number of parameters per one camera
    00442                       int nErrParams, // number of parameters in measurement vector
    00443                       // for 1 point at one camera (2 in case of 2D projections)
    00444                       Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
    00445                       // 1 - point is visible for the camera, 0 - invisible
    00446                       Mat& P0, // starting vector of parameters, first cameras then points
    00447                       Mat& X, // measurements, in order of visibility. non visible cases are skipped
    00448                       TermCriteria criteria, // termination criteria
    00449
    00450                       // callback for estimation of Jacobian matrices
    00451                       void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
    00452                                              Mat& cam_params, Mat& A, Mat& B, void* data),
    00453                       // callback for estimation of backprojection errors
    00454                       void (CV_CDECL * func)(int i, int j, Mat& point_params,
    00455                                              Mat& cam_params, Mat& estim, void* data),
    00456                       void* data // user-specific data passed to the callbacks
    00457                       );
    00458         virtual ~LevMarqSparse();
    00459
    00460         virtual void run( int npoints, // number of points
    00461                          int ncameras, // number of cameras
    00462                          int nPointParams, // number of params per one point  (3 in case of 3D points)
    00463                          int nCameraParams, // number of parameters per one camera
    00464                          int nErrParams, // number of parameters in measurement vector
    00465                          // for 1 point at one camera (2 in case of 2D projections)
    00466                          Mat& visibility, // visibility matrix. rows correspond to points, columns correspond to cameras
    00467                          // 1 - point is visible for the camera, 0 - invisible
    00468                          Mat& P0, // starting vector of parameters, first cameras then points
    00469                          Mat& X, // measurements, in order of visibility. non visible cases are skipped
    00470                          TermCriteria criteria, // termination criteria
    00471
    00472                          // callback for estimation of Jacobian matrices
    00473                          void (CV_CDECL * fjac)(int i, int j, Mat& point_params,
    00474                                                 Mat& cam_params, Mat& A, Mat& B, void* data),
    00475                          // callback for estimation of backprojection errors
    00476                          void (CV_CDECL * func)(int i, int j, Mat& point_params,
    00477                                                 Mat& cam_params, Mat& estim, void* data),
    00478                          void* data // user-specific data passed to the callbacks
    00479                          );
    00480
    00481         virtual void clear();
    00482
    00483         // useful function to do simple bundle adjastment tasks
    00484         static void bundleAdjust(vector<Point3d>& points, //positions of points in global coordinate system (input and output)
    00485                                  const vector<vector<Point2d> >& imagePoints, //projections of 3d points for every camera
    00486                                  const vector<vector<int> >& visibility, //visibility of 3d points for every camera
    00487                                  vector<Mat>& cameraMatrix, //intrinsic matrices of all cameras (input and output)
    00488                                  vector<Mat>& R, //rotation matrices of all cameras (input and output)
    00489                                  vector<Mat>& T, //translation vector of all cameras (input and output)
    00490                                  vector<Mat>& distCoeffs, //distortion coefficients of all cameras (input and output)
    00491                                  const TermCriteria& criteria=
    00492                                  TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON));
    00493
    00494     protected:
    00495         virtual void optimize(); //main function that runs minimization
    00496
    00497         //iteratively asks for measurement for visible camera-point pairs
    00498         void ask_for_proj();
    00499         //iteratively asks for Jacobians for every camera_point pair
    00500         void ask_for_projac();
    00501
    00502         CvMat* err; //error X-hX
    00503         double prevErrNorm, errNorm;
    00504         double lambda;
    00505         CvTermCriteria criteria;
    00506         int iters;
    00507
    00508         CvMat** U; //size of array is equal to number of cameras
    00509         CvMat** V; //size of array is equal to number of points
    00510         CvMat** inv_V_star; //inverse of V*
    00511
    00512         CvMat* A;
    00513         CvMat* B;
    00514         CvMat* W;
    00515
    00516         CvMat* X; //measurement
    00517         CvMat* hX; //current measurement extimation given new parameter vector
    00518
    00519         CvMat* prevP; //current already accepted parameter.
    00520         CvMat* P; // parameters used to evaluate function with new params
    00521         // this parameters may be rejected
    00522
    00523         CvMat* deltaP; //computed increase of parameters (result of normal system solution )
    00524
    00525         CvMat** ea; // sum_i  AijT * e_ij , used as right part of normal equation
    00526         // length of array is j = number of cameras
    00527         CvMat** eb; // sum_j  BijT * e_ij , used as right part of normal equation
    00528         // length of array is i = number of points
    00529
    00530         CvMat** Yj; //length of array is i = num_points
    00531
    00532         CvMat* S; //big matrix of block Sjk  , each block has size num_cam_params x num_cam_params
    00533
    00534         CvMat* JtJ_diag; //diagonal of JtJ,  used to backup diagonal elements before augmentation
    00535
    00536         CvMat* Vis_index; // matrix which element is index of measurement for point i and camera j
    00537
    00538         int num_cams;
    00539         int num_points;
    00540         int num_err_param;
    00541         int num_cam_param;
    00542         int num_point_param;
    00543
    00544         //target function and jacobian pointers, which needs to be initialized
    00545         void (*fjac)(int i, int j, Mat& point_params, Mat& cam_params, Mat& A, Mat& B, void* data);
    00546         void (*func)(int i, int j, Mat& point_params, Mat& cam_params, Mat& estim, void* data );
    00547
    00548         void* data;
    00549     };
    00550
    00551
    00552     CV_EXPORTS bool find4QuadCornerSubpix(const Mat& img, std::vector<Point2f>& corners, Size region_size);
    00553
    00554     CV_EXPORTS int chamerMatching( Mat& img, Mat& templ,
    00555                                    vector<vector<Point> >& results, vector<float>& cost,
    00556                                    double templScale=1, int maxMatches = 20,
    00557                                    double minMatchDistance = 1.0, int padX = 3,
    00558                                    int padY = 3, int scales = 5, double minScale = 0.6, double maxScale = 1.6,
    00559                                    double orientationWeight = 0.5, double truncate = 20);
    00560 }
    00561
    00562
    00563 #endif
    00564
    00565 #endif
    00566

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