--- /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 )
+{
+ 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 ));
+}
+
+/*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 )
+{
+ IPPI_CALL( icvFindHandRegionA( points, count, indexs, line, size, jc,
+ center, storage, numbers ));
+}
+
projects / opencv / blobdiff