+++ /dev/null
-/*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.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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*/
-#include "_cvaux.h"
-
-#define _CV_NORM_L2(a) (float)(icvSqrt32f(a[0]*a[0] + a[1]*a[1] + a[2]*a[2]))
-#define _CV_NORM_L22(a) (float)(a[0]*a[0] + a[1]*a[1] + a[2]*a[2])
-
-/****************************************************************************************\
-
- find region where hand is (for gesture recognition)
- flag = 0 (use left bucket) flag = 1 (use right bucket)
-
-\****************************************************************************************/
-
-static CvStatus CV_STDCALL
-icvFindHandRegion( CvPoint3D32f * points, int count,
- CvSeq * indexs,
- float *line, CvSize2D32f size, int flag,
- CvPoint3D32f * center,
- CvMemStorage * storage, CvSeq ** numbers )
-{
-
-/* IppmVect32f sub, cros; */
- float *sub, *cros;
- CvSeqWriter writer;
- CvSeqReader reader;
-
- CvStatus status;
- int nbins = 20, i, l, i_point, left, right;
- int *bin_counts = 0; // pointer to the point's counter in the bickets
- int low_count; // low threshold
-
- CvPoint *tmp_number = 0, *pt;
- float value, vmin, vmax, vl, bsize, vc;
- float hand_length, hand_length2, hand_left, hand_right;
- float threshold, threshold2;
- float *vv = 0;
- float a[3];
-
- status = CV_OK;
-
- hand_length = size.width;
- hand_length2 = hand_length / 2;
-
- threshold = (float) (size.height * 3 / 5.);
- threshold2 = threshold * threshold;
-
-/* low_count = count/nbins; */
- low_count = (int) (count / 60.);
-
- assert( points != NULL && line != NULL );
- if( points == NULL || line == NULL )
- return CV_NULLPTR_ERR;
-
- assert( count > 5 );
- if( count < 5 )
- return CV_BADFLAG_ERR;
-
- assert( flag == 0 || flag == 1 );
- if( flag != 0 && flag != 1 )
- return CV_BADFLAG_ERR;
-
-/* create vectors */
- sub = icvCreateVector_32f( 3 );
- cros = icvCreateVector_32f( 3 );
- if( sub == NULL || cros == NULL )
- return CV_OUTOFMEM_ERR;
-
-/* alloc memory for the point's projections on the line */
- vv = (float *) cvAlloc( count * sizeof( float ));
-
- if( vv == NULL )
- return CV_OUTOFMEM_ERR;
-
-/* alloc memory for the point's counter in the bickets */
- bin_counts = (int *) cvAlloc( nbins * sizeof( int ));
-
- if( bin_counts == NULL )
- {
- status = CV_OUTOFMEM_ERR;
- goto M_END;
- }
- memset( bin_counts, 0, nbins * sizeof( int ));
-
- cvStartReadSeq( indexs, &reader, 0 );
-
-/* alloc memory for the temporale point's numbers */
- tmp_number = (CvPoint *) cvAlloc( count * sizeof( CvPoint ));
- if( tmp_number == NULL )
- {
- status = CV_OUTOFMEM_ERR;
- goto M_END;
- }
-
-/* find min and max point's projection on the line */
- vmin = 1000;
- vmax = -1000;
- i_point = 0;
- for( i = 0; i < count; i++ )
- {
-/*
- icvSubVector_32f ((IppmVect32f )&points[i], (IppmVect32f )&line[3], sub, 3);
-
- icvCrossProduct2L_32f ((IppmVect32f )&line[0], sub, cros);
-*/
-
- sub[0] = points[i].x - line[3];
- sub[1] = points[i].y - line[4];
- sub[2] = points[i].z - line[5];
- a[0] = sub[0] * line[1] - sub[1] * line[0];
- a[1] = sub[1] * line[2] - sub[2] * line[1];
- a[2] = sub[2] * line[0] - sub[0] * line[2];
-
-/* if(IPPI_NORM_L22 ( cros ) < threshold2) */
- if( _CV_NORM_L22( a ) < threshold2 )
- {
- value = (float)icvDotProduct_32f( sub, &line[0], 3 );
- if( value > vmax )
- vmax = value;
- if( value < vmin )
- vmin = value;
-
- vv[i_point] = value;
-
- pt = (CvPoint*)cvGetSeqElem( indexs, i );
- tmp_number[i_point] = *pt;
- i_point++;
- }
- }
-
-/* compute the length of one bucket */
- vl = vmax - vmin;
- bsize = vl / nbins;
-
-/* compute the number of points in each bucket */
- for( i = 0; i < i_point; i++ )
- {
- l = cvRound( (vv[i] - vmin) / bsize );
- bin_counts[l]++;
- }
-
- *numbers = cvCreateSeq( CV_SEQ_POINT_SET, sizeof( CvSeq ), sizeof( CvPoint ), storage );
- assert( numbers != 0 );
- if( numbers == NULL )
- {
- status = CV_OUTOFMEM_ERR;
- goto M_END;
- }
-
- cvStartAppendToSeq( *numbers, &writer );
-
- if( flag == 0 )
- {
-/* find the leftmost bucket */
- for( l = 0; l < nbins; l++ )
- {
- if( bin_counts[l] > low_count )
- break;
- }
- left = l;
-
-/* compute center point of the left hand */
- hand_left = vmin + left * bsize;
- vc = hand_left + hand_length2;
- hand_right = hand_left + hand_length;
- }
- else
- {
-/* find the rightmost bucket */
- for( l = nbins - 1; l >= 0; l-- )
- {
- if( bin_counts[l] > low_count )
- break;
- }
- right = l;
-
-/* compute center point of the right hand */
- hand_right = vmax - (nbins - right - 1) * bsize;
- vc = hand_right - hand_length2;
- hand_left = hand_right - hand_length;
- }
-
- icvScaleVector_32f( &line[0], sub, 3, vc );
- icvAddVector_32f( &line[3], sub, (float *) center, 3 );
-
-/* select hand's points and calculate mean value */
-
- //ss.x = ss.y = ss.z = 0;
- for( l = 0; l < i_point; l++ )
- {
- if( vv[l] >= hand_left && vv[l] <= hand_right )
- {
- CV_WRITE_SEQ_ELEM( tmp_number[l], writer );
-
- }
- }
-
- cvEndWriteSeq( &writer );
-
- M_END:
- if( tmp_number != NULL )
- cvFree( &tmp_number );
- if( bin_counts != NULL )
- cvFree( &bin_counts );
- if( vv != NULL )
- cvFree( &vv );
- if( sub != NULL ) icvDeleteVector (sub);
- if( cros != NULL ) icvDeleteVector (cros);
-
- return status;
-
-}
-
-
-//////////////////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////////////
-//////////////////////////////////////////////////////////////////////////////////////////
-
-
-#define _CV_NORM_L31(a) (float)(icvSqrt32f(a[0]*a[0] + a[1]*a[1] + a[2]*a[2]))
-#define _CV_NORM_L32(a) (float)(a[0]*a[0] + a[1]*a[1] + a[2]*a[2])
-
-/****************************************************************************************\
-
- find region where hand is (for gesture recognition)
- flag = 0 (use left bucket) flag = 1 (use right bucket)
-
-\****************************************************************************************/
-
-static CvStatus CV_STDCALL
-icvFindHandRegionA( CvPoint3D32f * points, int count,
- CvSeq * indexs,
- float *line, CvSize2D32f size, int jc,
- CvPoint3D32f * center,
- CvMemStorage * storage, CvSeq ** numbers )
-{
-
-/* IppmVect32f sub, cros; */
- float *sub, *cros;
- float eps = (float) 0.01;
- CvSeqWriter writer;
- CvSeqReader reader;
-
- CvStatus status;
- float gor[3] = { 1, 0, 0 };
- float ver[3] = { 0, 1, 0 };
-
- int nbins = 20, i, l, i_point, left, right, jmin, jmax, jl;
- int j_left, j_right;
- int *bin_counts = 0; // pointer to the point's counter in the bickets
-
-// int *bin_countsj = 0; // pointer to the index's counter in the bickets
- int low_count; // low threshold
-
- CvPoint *tmp_number = 0, *pt;
- float value, vmin, vmax, vl, bsize, bsizej, vc, vcl, vcr;
- double v_ver, v_gor;
- float hand_length, hand_length2, hand_left, hand_right;
- float threshold, threshold2;
- float *vv = 0;
- float a[3];
- char log;
-
- status = CV_OK;
-
- hand_length = size.width;
- hand_length2 = hand_length / 2;
-
- threshold = (float) (size.height * 3 / 5.);
- threshold2 = threshold * threshold;
-
-/* low_count = count/nbins; */
- low_count = (int) (count / 60.);
-
- assert( points != NULL && line != NULL );
- if( points == NULL || line == NULL )
- return CV_NULLPTR_ERR;
-
- assert( count > 5 );
- if( count < 5 )
- return CV_BADFLAG_ERR;
-
-/* create vectors */
- sub = icvCreateVector_32f( 3 );
- cros = icvCreateVector_32f( 3 );
- if( sub == NULL || cros == NULL )
- return CV_OUTOFMEM_ERR;
-
-/* alloc memory for the point's projections on the line */
- vv = (float *) cvAlloc( count * sizeof( float ));
-
- if( vv == NULL )
- return CV_OUTOFMEM_ERR;
-
-/* alloc memory for the point's counter in the bickets */
- bin_counts = (int *) cvAlloc( nbins * sizeof( int ));
-
- if( bin_counts == NULL )
- {
- status = CV_OUTOFMEM_ERR;
- goto M_END;
- }
- memset( bin_counts, 0, nbins * sizeof( int ));
-
-/* alloc memory for the point's counter in the bickets */
-// bin_countsj = (int*) icvAlloc(nbins*sizeof(int));
-// if(bin_countsj == NULL) {status = CV_OUTOFMEM_ERR; goto M_END;}
-// memset(bin_countsj,0,nbins*sizeof(int));
-
- cvStartReadSeq( indexs, &reader, 0 );
-
-/* alloc memory for the temporale point's numbers */
- tmp_number = (CvPoint *) cvAlloc( count * sizeof( CvPoint ));
- if( tmp_number == NULL )
- {
- status = CV_OUTOFMEM_ERR;
- goto M_END;
- }
-
-/* find min and max point's projection on the line */
- vmin = 1000;
- vmax = -1000;
- jmin = 1000;
- jmax = -1000;
- i_point = 0;
- for( i = 0; i < count; i++ )
- {
-/*
- icvSubVector_32f ((IppmVect32f )&points[i], (IppmVect32f )&line[3], sub, 3);
-
- icvCrossProduct2L_32f ((IppmVect32f )&line[0], sub, cros);
-*/
-
- sub[0] = points[i].x - line[3];
- sub[1] = points[i].y - line[4];
- sub[2] = points[i].z - line[5];
-
-// if(fabs(sub[0])<eps||fabs(sub[1])<eps||fabs(sub[2])<eps) continue;
-
- a[0] = sub[0] * line[1] - sub[1] * line[0];
- a[1] = sub[1] * line[2] - sub[2] * line[1];
- a[2] = sub[2] * line[0] - sub[0] * line[2];
-
- v_gor = icvDotProduct_32f( gor, &line[0], 3 );
- v_ver = icvDotProduct_32f( ver, &line[0], 3 );
-
- if( v_ver > v_gor )
- log = true;
- else
- log = false;
-
-
-/* if(IPPI_NORM_L22 ( cros ) < threshold2) */
-/*
- if(fabs(a[0])<eps && fabs(a[1])<eps && fabs(a[2])<eps)
- {
- icvDotProduct_32f( sub, &line[0], 3, &value);
- if(value > vmax) vmax = value;
- if(value < vmin) vmin = value;
-
- vv[i_point] = value;
-
- pt = (CvPoint* )icvGetSeqElem ( indexs, i, 0);
-
- if(pt->x > jmax) jmax = pt->x;
- if(pt->x < jmin) jmin = pt->x;
-
- tmp_number[i_point] = *pt;
- i_point++;
- }
- else
-*/
- {
- if( _CV_NORM_L32( a ) < threshold2 )
- {
- value = (float)icvDotProduct_32f( sub, &line[0], 3 );
- if( value > vmax )
- vmax = value;
- if( value < vmin )
- vmin = value;
-
- vv[i_point] = value;
-
- pt = (CvPoint*)cvGetSeqElem( indexs, i );
-
- if( !log )
- {
- if( pt->x > jmax )
- jmax = pt->x;
- if( pt->x < jmin )
- jmin = pt->x;
- }
- else
- {
- if( pt->y > jmax )
- jmax = pt->y;
- if( pt->y < jmin )
- jmin = pt->y;
- }
-
-
- tmp_number[i_point] = *pt;
- i_point++;
- }
- }
- }
-
-/* compute the length of one bucket along the line */
- vl = vmax - vmin;
-
-/* examining on the arm's existence */
- if( vl < eps )
- {
- *numbers = NULL;
- status = CV_OK;
- goto M_END;
- }
-
- bsize = vl / nbins;
-
-/* compute the number of points in each bucket along the line */
- for( i = 0; i < i_point; i++ )
- {
- l = cvRound( (vv[i] - vmin) / bsize );
- bin_counts[l]++;
- }
-
- /* compute the length of one bucket along the X axe */
- jl = jmax - jmin;
- if( jl <= 1 )
- {
- *numbers = NULL;
- status = CV_OK;
- goto M_END;
- }
-
- bsizej = (float) (jl / (nbins + 0.));
-
-/* compute the number of points in each bucket along the X axe */
-// for(i=0;i<i_point;i++)
-// {
-// l = cvRound((tmp_number[i].x - jmin)/bsizej);
-// bin_countsj[l]++;
-// }
-
-
- left = right = -1;
-
-/* find the leftmost and the rightmost buckets */
- for( l = 0; l < nbins; l++ )
- {
- if( bin_counts[l] > low_count && left == -1 )
- left = l;
- else if( bin_counts[l] > low_count && left >= 0 )
- right = l;
-
- }
-
-/* compute center point of the left hand */
- if( left == -1 && right == -1 )
- {
- *numbers = NULL;
- status = CV_OK;
- goto M_END;
- }
-
- hand_left = vmin + left * bsize;
- j_left = (int) (jmin + left * bsizej);
-
- vcl = hand_left + hand_length2;
-
-/* compute center point of the right hand */
- hand_right = vmax - (nbins - right - 1) * bsize;
- vcr = hand_right - hand_length2;
-
- j_right = (int) (jmax - (nbins - right - 1) * bsizej);
-
- j_left = abs( j_left - jc );
- j_right = abs( j_right - jc );
-
- if( j_left <= j_right )
- {
- hand_right = hand_left + hand_length;
- vc = vcl;
- }
- else
- {
- hand_left = hand_right - hand_length;
- vc = vcr;
- }
-
- icvScaleVector_32f( &line[0], sub, 3, vc );
- icvAddVector_32f( &line[3], sub, (float *) center, 3 );
-
-/* select hand's points and calculate mean value */
- *numbers = cvCreateSeq( CV_SEQ_POINT_SET, sizeof( CvSeq ), sizeof( CvPoint ), storage );
- assert( *numbers != 0 );
- if( *numbers == NULL )
- {
- status = CV_OUTOFMEM_ERR;
- goto M_END;
- }
-
- cvStartAppendToSeq( *numbers, &writer );
-
- for( l = 0; l < i_point; l++ )
- {
- if( vv[l] >= hand_left && vv[l] <= hand_right )
- {
- CV_WRITE_SEQ_ELEM( tmp_number[l], writer );
-
- }
- }
-
- cvEndWriteSeq( &writer );
-
- M_END:
- if( tmp_number != NULL )
- cvFree( &tmp_number );
-// if(bin_countsj != NULL) cvFree( &bin_countsj );
- if( bin_counts != NULL )
- cvFree( &bin_counts );
-
- if( vv != NULL )
- cvFree( &vv );
-
- if( sub != NULL ) icvDeleteVector (sub);
- if( cros != NULL ) icvDeleteVector (cros);
-
- return status;
-}
-
-
-/*F///////////////////////////////////////////////////////////////////////////////////////
-// Name: cvFindHandRegion
-// Purpose: finds hand region in range image data
-// Context:
-// Parameters:
-// points - pointer to the input point's set.
-// count - the number of the input points.
-// indexs - pointer to the input sequence of the point's indexes
-// line - pointer to the 3D-line
-// size - size of the hand in meters
-// flag - hand direction's flag (0 - left, -1 - right,
-// otherwise j-index of the initial image center)
-// center - pointer to the output hand center
-// storage - pointer to the memory storage
-// numbers - pointer to the output sequence of the point's indexes inside
-// hand region
-//
-// Notes:
-//F*/
-CV_IMPL void
-cvFindHandRegion( CvPoint3D32f * points, int count,
- CvSeq * indexs,
- float *line, CvSize2D32f size, int flag,
- CvPoint3D32f * center, CvMemStorage * storage, CvSeq ** numbers )
-{
- CV_FUNCNAME( "cvFindHandRegion" );
- __BEGIN__;
-
- if(flag == 0 || flag == -1)
- {
- IPPI_CALL( icvFindHandRegion( points, count, indexs, line, size, -flag,
- center, storage, numbers ));
- }
- else
- IPPI_CALL( icvFindHandRegionA( points, count, indexs, line, size, flag,
- center, storage, numbers ));
-
- __CLEANUP__;
- __END__;
-}
-
-/*F///////////////////////////////////////////////////////////////////////////////////////
-// Name: cvFindHandRegionA
-// Purpose: finds hand region in range image data
-// Context:
-// Parameters:
-// points - pointer to the input point's set.
-// count - the number of the input points.
-// indexs - pointer to the input sequence of the point's indexes
-// line - pointer to the 3D-line
-// size - size of the hand in meters
-// jc - j-index of the initial image center
-// center - pointer to the output hand center
-// storage - pointer to the memory storage
-// numbers - pointer to the output sequence of the point's indexes inside
-// hand region
-//
-// Notes:
-//F*/
-CV_IMPL void
-cvFindHandRegionA( CvPoint3D32f * points, int count,
- CvSeq * indexs,
- float *line, CvSize2D32f size, int jc,
- CvPoint3D32f * center, CvMemStorage * storage, CvSeq ** numbers )
-{
- CV_FUNCNAME( "cvFindHandRegionA" );
- __BEGIN__;
-
- IPPI_CALL( icvFindHandRegionA( points, count, indexs, line, size, jc,
- center, storage, numbers ));
- __CLEANUP__;
- __END__;
-}
-
projects / opencv / blobdiff