+++ /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*/// DynGestServer.cpp: implementation of the CDynGestServer class.
-//
-//////////////////////////////////////////////////////////////////////
-
-#include "stdafx.h"
-#include "DynGestServer.h"
-#include "StereoGR.h"
-
-#include "math.h"
-#include "assert.h"
-#include "float.h"
-
-#include "direct.h"
-
-
-
-CDynGesture::CDynGesture( int num_states, int num_mix )
-{
- m_hmm = NULL;
-#if 0
- m_obsType = OT_VELOCITY;
-#else
- m_obsType = OT_VELOCITY_ORIENTATION;
-#endif
- m_trained = FALSE;
- m_num_states = num_states;
- m_num_mix = num_mix;
- m_vect_size = 6;
-}
-
-CDynGesture::~CDynGesture()
-{
- if ( m_hmm ) icvRelease1DHMM( &m_hmm );
-
- for ( int i = 0; i < m_Sequences.size() ; i++ )
- {
- cvReleaseObsInfo( &(m_Sequences[i]) );
- }
-}
-
-void CDynGesture::AddSequence( float* vectors, int seq_size, int vect_size )
-{
- Cv1DObsInfo* obs_info;
- obs_info = cvCreateObsInfo( cvSize( seq_size,1), vect_size );
-
- memcpy( obs_info->obs, vectors, seq_size * vect_size * sizeof(float) );
- m_Sequences.push_back( obs_info );
-
- m_trained = FALSE;
-
-}
-
-void CDynGesture::Train()
-{
- ExtractObservations();
-
- int num_seq = m_Sequences.size();
-
- if ( !num_seq ) ASSERT(0);
-
- //create HMM
- if (!m_hmm) CreateHMM();
-
- for(int i = 0; i < num_seq; i++ )
- {
- icvUniform1DSegm( m_Sequences[i], m_hmm );
- //printf("uniform segmentation performed\n");
- }
-
- icvInit1DMixSegm( &m_Sequences[0], num_seq, m_hmm );
- //printf("Init 1D mix segmentation performed\n");
-
- int trained = 0;
- float old_likelihood = 0;
-
- //printf("Begin training\n");
- //wait_key(0);
-
- while( !trained )
- {
- icvEstimate1DHMMStateParams( &m_Sequences[0], num_seq, m_hmm );
- //printf("HMMstate performed\n");
- icvEstimate1DTransProb( &m_Sequences[0], num_seq, m_hmm );
- //printf("Transprob performed\n");
- float likelihood = 0;
-
- for( int j = 0; j < num_seq; j++ )
- {
- icvEstimate1DObsProb( m_Sequences[j], m_hmm );
- likelihood += icvViterbi( m_Sequences[j], m_hmm );
- //wait_key(0);
- }
- //printf("likelihood %f\n", likelihood );
-
- icv1DMixSegmL2( &m_Sequences[0], num_seq, m_hmm );
- //printf("1DMixSegm performed\n");
-
- trained = ( fabs(likelihood - old_likelihood) < 0.01 );
- old_likelihood = likelihood;
- }
- //printf("%d hmm trained\n", h );
-
- m_trained = TRUE;
-
-}
-BOOL CDynGesture::SaveHMM(const char* filename)
-{
- FILE* file;
-
- if (!m_hmm) return FALSE;
- file = fopen( filename, "wt" );
- if (!file) { assert(0); return false; }
-
- // write topology
- fprintf(file, "%s %d\n", "<NumStates>", m_hmm->num_states );
- fprintf(file, "%s ", "<NumMixtures>");
- for( int i = 0; i < m_hmm->num_states; i++ )
- {
- fprintf(file, "%d ", m_hmm->u.state[i].num_mix );
- }
- fprintf(file, "\n");
-
- fprintf(file, "%s %d\n", "<VecSize>", m_vect_size );
-
- //consequently write all hmms
- CvEHMM* hmm = m_hmm;
- if (hmm->level == 0 )
- {
- for ( int j = 0; j < hmm->num_states; j++ )
- {
- CvEHMMState* state = &(hmm->u.state[j]);
-
- fprintf(file, "%s %d\n", "<State>", j);
- fprintf(file, "%s %d\n", "<NumMixes>", state->num_mix);
-
- float* mu = state->mu;
- float* inv_var = state->inv_var;
-
- for( int m = 0; m < state->num_mix; m++)
- {
- fprintf(file, "%s %d %s %f\n", "<Mixture>", m, "<Weight>", state->weight[m] );
- fprintf(file, "%s\n", "<Mean>");
-
- for (int k = 0; k < m_vect_size; k++)
- {
- fprintf(file, "%f ", mu[0]);
- mu++;
- }
-
- fprintf(file, "\n");
- fprintf(file, "%s\n", "<Inverted_Deviation>");
-
- for (k = 0; k < m_vect_size; k++)
- {
- fprintf(file, "%f ", inv_var[0]);
- inv_var++;
- }
- fprintf(file, "\n");
-
- fprintf(file, "%s %f\n", "<LogVarVal>", state->log_var_val[m] );
- }
- }
- }
-
- //write the transition probability matrix
- fprintf(file, "%s\n", "<TransP>" );
- float* prob = hmm->transP;
-
- for (int j = 0; j < hmm->num_states; j++)
- {
- for (int k = 0; k < hmm->num_states; k++)
- {
- fprintf(file, "%f ", *prob);
- prob++;
- }
- fprintf(file, "\n");
- }
-
- fclose(file);
- return true;
-}
-
-BOOL CDynGesture::LoadHMM(const char* filename)
-{
- FILE* file;
- int num_states;
- int num_mix[128];
- char temp_char[128];
- int vec_size;
-
- if (m_hmm) icvRelease1DHMM( &m_hmm);
-
- file = fopen( filename, "rt" );
-
- if (!file) return false;
-
- // read topology
- fscanf(file, "%s %d\n", temp_char, &num_states);
- fscanf(file, "%s ", temp_char);
-
- //compute total number of internal states
- int total_states = num_states;
-
- //read number of mixtures
- //fscanf(file, "%s ", temp_char);
- for( int i = 0; i < total_states; i++ )
- {
- fscanf(file, "%d ", &num_mix[i] );
- }
- fscanf(file, "\n");
-
- fscanf(file, "%s %d\n", temp_char, &vec_size);
-
-
- icvCreate1DHMM( &m_hmm, num_states, num_mix, vec_size);
-
- //create HMM with known parameters
-//!!! cvCreate2DHMM( &m_hmm, num_states, num_mix, m_vectSize);
- if (!m_hmm ) return FALSE;
-
- //consequently read all hmms
- CvEHMM* hmm = m_hmm;
- int temp_int;
-
- for (int j = 0; j < num_states; j++)
- {
- CvEHMMState* state = &(hmm->u.state[j]);
-
- fscanf(file, "%s %d\n", temp_char, &temp_int); assert(temp_int == j);
-
- fscanf(file, "%s %d\n", temp_char, &temp_int); assert(temp_int == state->num_mix);
-
- float* mu = state->mu;
- float* inv_var = state->inv_var;
-
- for( int m = 0; m < state->num_mix; m++)
- {
- int temp_int;
- fscanf(file, "%s %d %s %f\n", temp_char, &temp_int, temp_char, &(state->weight[m]) );
- assert( temp_int == m );
- fscanf(file, "%s\n", temp_char );
-
- for (int k = 0; k < vec_size; k++)
- {
- fscanf(file, "%f ", mu);
- mu++;
- }
-
- fscanf(file, "\n");
- fscanf(file, "%s\n", temp_char); // <Inverted_Deviation>
-
- for (k = 0; k < vec_size; k++)
- {
- fscanf(file, "%f ", inv_var);
- inv_var++;
- }
- fscanf(file, "\n");
-
- fscanf(file, "%s %f\n", temp_char, &(state->log_var_val[m]) ); // <LogVarVal>
- }
- }
-
- //read the transition probability matrix
- fscanf(file, "%s\n", temp_char ); // <TransP>
- float* prob = hmm->transP;
-
- for ( j = 0; j < hmm->num_states; j++)
- {
- for (int k = 0; k < hmm->num_states; k++)
- {
- fscanf(file, "%f ", prob);
- prob++;
- }
- fscanf(file, "\n");
- }
-
-
- fclose(file);
- return TRUE;
-}
-
-int CDynGesture::GetSeqNumber()
-{
- return m_Params.size();
-}
-
-//////////////////////////////////////////////////////////////////////
-// Construction/Destruction
-//////////////////////////////////////////////////////////////////////
-
-CDynGestServer::CDynGestServer()
-{
- m_fullTrained = FALSE;
-}
-
-CDynGestServer::~CDynGestServer()
-{
-
-}
-
-CDynGesture* CDynGestServer::FindGesture( const char* name )
-{
- for( int i = 0; i < m_gestures.size() ; i++ )
- {
- CString exist_name = m_gestures[i]->GetName();
- if ( name == exist_name ) return m_gestures[i];
- }
- return 0;
-}
-
-CDynGesture* CDynGestServer::AddGesture( const char* name )
-{
- CDynGesture* new_gest = new CDynGesture( m_num_states, m_num_mix);
- new_gest->SetName( name );
- m_gestures.push_back( new_gest );
-
- m_fullTrained = FALSE;
-
- return m_gestures.back();
-}
-
-BOOL CDynGestServer::AddGesture( CDynGesture* new_gest )
-{
- if ( FindGesture( new_gest->GetName() ) ) return FALSE;
-
- m_gestures.push_back( new_gest );
-
- m_fullTrained = FALSE;
-
- return TRUE;
-}
-
-
-
-void CDynGestServer::TrainAllGestures()
-{
- int size = m_gestures.size();
- for( int i = 0; i < size; i++ )
- {
- m_gestures[i]->Train();
- }
- m_fullTrained = TRUE;
-
-}
-
-void CDynGesture::CreateHMM()
-{
- int* numix = new int[m_num_states];
- for( int i = 0; i < m_num_states; i++ )
- {
- numix[i] = m_num_mix;
- }
-
- icvCreate1DHMM( &m_hmm, m_num_states, numix, 6 );
-
-}
-
-BOOL CDynGesture::LoadFromFile(const char *obsFilename)
-{
- ASSERT(0);
-
- return TRUE;
-}
-
-BOOL CDynGesture::AddParams( vector<_gr_pose>& input_vect )
-{
- m_Params.push_back( input_vect );
- m_trained = FALSE;
-
- return TRUE;
-}
-
-BOOL CDynGesture::SaveParams(const char* path)
-{
- FILE* file;
- CString filename;
-
- _mkdir( path );
-
- for ( int i = 0; i < m_Params.size(); i++ )
- {
- vector<_gr_pose> seq = m_Params[i];
-
- // construct name
- filename.Format( "%s\\%s_%03d%s", path, m_name, i,".obs" );
- file = fopen( filename, "wt");
-
-
- for(int i = 0; i < seq.size(); i++)
- {
- const fvector& ref = seq[i];
- CvHuMoments& hu = seq[i].pose;
- __int64 time = seq[i].time;
- __int64 time0 = seq[0].time;
-
- fprintf(file, "%d %s %f %f %f %f %f %f %f %f %f %f %f %f %f\n",
- long(time - time0), "*.bmp"/*LPCTSTR(mask_name)*/, ref[0], ref[1], ref[2],
- ref[3], ref[4], ref[5],
- (float)hu.hu1, (float)hu.hu2,
- (float)hu.hu3, (float)hu.hu4,
- (float)hu.hu5, (float)hu.hu6,
- (float)hu.hu7);
- }
- fclose(file);
- file = 0;
- }
-
- return TRUE;
-}
-
-BOOL CDynGesture::LoadParams(const char* path)
-{
- //check if path exist
- if ( _chdir( path ) < 0 )
- return FALSE;
-
- BOOL end = FALSE;
- int i = 0;
- m_Params.clear();
-
- while (!end)
- {
- CString filename;
- FILE* file;
- //construct file name and load
- filename.Format( "%s_%03d%s", path, i,".obs" );
- file = fopen( filename, "r");
-
- if ( !file ) { end = TRUE; continue; }
-
- //Read file
- vector<_gr_pose> positions;
- positions.clear();
-
- char bmpname[256];
-
- _gr_pose pose;
- pose.resize(6);//construct vector of 6 elements
-
- int int_time;
- float hu[7];
- //compute number of observations
- while(fscanf(file, "%d %s %f %f %f %f %f %f %f %f %f %f %f %f %f\n",
- &int_time, bmpname,
- &pose[0], &pose[1], &pose[2],
- &pose[3], &pose[4], &pose[5],
- &hu[0], &hu[1], &hu[2], &hu[3],
- &hu[4], &hu[5], &hu[6] )!= EOF)
- {
- pose.time = int_time;
- pose.pose.hu1 = hu[0];
- pose.pose.hu2 = hu[1];
- pose.pose.hu3 = hu[2];
- pose.pose.hu4 = hu[3];
- pose.pose.hu5 = hu[4];
- pose.pose.hu6 = hu[5];
- pose.pose.hu7 = hu[6];
-
- positions.push_back( pose );
- }
-
- fclose(file);
- m_Params.push_back( positions );
- i++;
- }
- if ( i == 0 ) return FALSE;
-
- //goto parent directory
- _chdir("..\\" );
-
- return TRUE;
-}
-
-BOOL CDynGesture::LoadSequence( const char* filename )
-{
- FILE* file;
- //construct file name and load
- file = fopen( filename, "r");
-
- if ( !file ) return FALSE;
-
- //Read file
- vector<_gr_pose> positions;
- positions.clear();
-
- char bmpname[256];
-
- _gr_pose pose;
- pose.resize(6);//construct vector of 6 elements
-
- int int_time;
- float hu[7];
- //compute number of observations
- while(fscanf(file, "%d %s %f %f %f %f %f %f %f %f %f %f %f %f %f\n",
- &int_time, bmpname,
- &pose[0], &pose[1], &pose[2],
- &pose[3], &pose[4], &pose[5],
- &hu[0], &hu[1], &hu[2], &hu[3],
- &hu[4], &hu[5], &hu[6] )!= EOF)
- {
- pose.time = int_time;
- pose.pose.hu1 = hu[0];
- pose.pose.hu2 = hu[1];
- pose.pose.hu3 = hu[2];
- pose.pose.hu4 = hu[3];
- pose.pose.hu5 = hu[4];
- pose.pose.hu6 = hu[5];
- pose.pose.hu7 = hu[6];
-
- positions.push_back( pose );
- }
-
- fclose(file);
- m_Params.push_back( positions );
-
- m_trained = FALSE;
-
- return TRUE;
-}
-
-void CDynGesture::CleanSequences()
-{
- for( int i = 0; i < m_Sequences.size(); i++ )
- {
- cvReleaseObsInfo( &m_Sequences[i] );
- }
- m_Sequences.clear();
- m_trained = FALSE;
-}
-
-void CDynGesture::ExtractObservations()
-{
- //clean all observations
- CleanSequences();
-
- //extract observations from parameters
- for( int i = 0; i < m_Params.size(); i++ )
- {
- vector<_gr_pose>& seq = m_Params[i];
- int seq_size = seq.size();
- Cv1DObsInfo* obs_info = NULL;
-
- switch ( m_obsType )
- {
- case OT_VELOCITY:
- {
- seq_size--; //velocities has 1 less observation than positions
- m_vect_size = 3;
- obs_info = cvCreateObsInfo( cvSize( seq_size, 1 ), m_vect_size );
- int counter = 0;
- //construct velocities
- for( int j = 0; j < seq_size; j++ )
- {
- fvector& cur_obs = seq[j];
- fvector& next_obs = seq[j+1];
-
- for( int k = 0; k < 3; k++ )
- {
- obs_info->obs[counter] = 100.f * (next_obs[k] - cur_obs[k]);
- counter++;
- }
- }
- }
- break;
-
- case OT_VELOCITY_ORIENTATION:
- {
- seq_size--; //velocities has 1 less observation than positions
- m_vect_size = 6;
- obs_info = cvCreateObsInfo( cvSize( seq_size, 1 ), m_vect_size );
- int counter = 0;
- //construct velocities
- for( int j = 0; j < seq_size; j++ )
- {
- fvector& cur_obs = seq[j];
- fvector& next_obs = seq[j+1];
-
- for( int k = 0; k < 3; k++ )
- {
- obs_info->obs[counter] = 100.f * (next_obs[k] - cur_obs[k]);
- counter++;
- }
- for(; k < 6; k++ )
- {
- obs_info->obs[counter] = 10.0f * (next_obs[k] - cur_obs[k]);
- counter++;
- }
-
- }
- }
- break;
-
- default: ASSERT(0);
- }//switch
-
- // push observations
- m_Sequences.push_back( obs_info );
-
- }//for
-}
-
-int CDynGestServer::RecognizeDynGesture(CDynGesture *gesture, float* likelihood)
-{
- float likelihoodproxy[256]; //256 gestures - maximum
- if (!likelihood) likelihood = likelihoodproxy;
- /* recognition stage */
-
- int num_gestures = m_gestures.size();
-
- for( int i = 0; i < m_gestures.size(); i++ )
- {
- if ( !m_gestures[i]->m_trained )
- {
- //AfxMessageBox( "Not all Dynamic Gestures are trained! ", MB_ICONSTOP|MB_OK, 0 );
- return -1;
- }
- }
-
- //ASSERT( m_fullTrained );//all stored gestures must be trained
-
- float max_like = - FLT_MAX;
- int recognized = INT_MAX;
-
- ASSERT( gesture->GetSeqNumber() == 1 );
-
- Cv1DObsInfo** obs_arr = gesture->GetSequences();
- Cv1DObsInfo* obs = obs_arr[0];
-
- for( int h = 0; h < num_gestures; h++ )
- {
- CvEHMM* hmm = m_gestures[h]->GetHMM();
-
- icvEstimate1DObsProb( obs, hmm );
-
- likelihood[h] = icvViterbi( obs, hmm );
-
- if (likelihood[h] > max_like )
- {
- max_like = likelihood[h];
- recognized = h;
- }
- }
-
- //printf("%d-th gesture recognized as %d\n", j, image );
- return recognized;
-}
-
-CvImgObsInfo** CDynGesture::GetSequences()
-{
- return &(m_Sequences[0]);
-}
-
-BOOL CDynGestServer::LoadGestureBase(const char *filename)
-{
- CleanAll();
-
- FILE* file;
- file = fopen( filename, "r" );
-
- if (!file ) return FALSE;
-
- char gesture_name[256];
-
- //read main file
- while ( fscanf( file, "%s\n", gesture_name )!=EOF )
- {
- CDynGesture* gesture = new CDynGesture( m_num_states, m_num_mix );
- gesture->SetName( gesture_name );
- gesture->LoadParams( gesture_name );
-
- //try to load hmm
- if ( ! _chdir( gesture->GetName() ) )
- {
- if ( gesture->LoadHMM(gesture->GetName() + ".hmm") )
- {
- gesture->m_trained = TRUE;
- //change value of m_hmmParams control
- CStereoGRApp* app = (CStereoGRApp*)AfxGetApp();
- app->m_hmmParams->m_num_states = gesture->GetHMM()->num_states;
- app->m_hmmParams->m_num_mix = gesture->GetHMM()->u.state->num_mix;
- SetHMMParams( app->m_hmmParams->m_num_states,
- app->m_hmmParams->m_num_mix );
-
- }
-
- _chdir( "..\\" );
- }
-
- AddGesture( gesture );
- }
- fclose( file );
- m_loaded_base = filename;
- return TRUE;
-}
-
-BOOL CDynGestServer::SaveGestureBase(const char *name)
-{
- FILE* file;
- file = fopen( name, "wt" );
-
- for( int i = 0; i < m_gestures.size(); i++ )
- {
- CDynGesture* gesture = m_gestures[i];
- fprintf( file, "%s\n", gesture->GetName() );
- gesture->SaveParams( gesture->GetName() );
- if ( gesture->m_trained )
- {
- _chdir( gesture->GetName() );
- gesture->SaveHMM(gesture->GetName() + ".hmm");
- _chdir( "..\\" );
- }
- }
-
- fclose( file );
-
- m_loaded_base = name;
-
- return TRUE;
-}
-
-void CDynGestServer::CleanAll()
-{
- for( int i = 0; i < m_gestures.size(); i++ )
- delete m_gestures[i];
- m_gestures.clear();
-
- m_fullTrained = false;
-
-}
-
-void CDynGestServer::SetHMMParams( int num_state, int num_mix )
-{
- if ( m_num_states != num_state || m_num_mix != num_mix )
- {
- m_num_states = num_state;
- m_num_mix = num_mix;
- //change every gesture params
- for( int i = 0; i < m_gestures.size(); i++ )
- {
- m_gestures[i]->m_num_mix = num_mix;
- m_gestures[i]->m_num_states = num_state;
- m_gestures[i]->m_trained = FALSE;
- m_gestures[i]->DestroyHMM();
- }
- m_fullTrained = FALSE;
- }
-}
-
-BOOL CDynGestServer::RemoveGesture( const char* name )
-{
- for( vector<CDynGesture*>::iterator it = m_gestures.begin(); it < m_gestures.end(); it++ )
- {
- if ( (*it)->GetName() == name )
- {
- m_gestures.erase( it );
- return TRUE;
- }
- }
- return FALSE;
-}
-
-
-void CDynGesture::DestroyHMM()
-{
- if (m_hmm) icvRelease1DHMM( &m_hmm );
- m_trained = FALSE;
-}
-
-
-void CDynGestServer::DeleteHMMInfo()
-{
- for( int i = 0; i < m_gestures.size(); i++ )
- {
- m_gestures[i]->DeleteHMM();
- if( !_chdir( m_gestures[i]->GetName() ) )
- {
- remove( m_gestures[i]->GetName() + ".hmm" );
- _chdir( "..\\" );
- }
- }
- m_fullTrained = FALSE;
-}
-
-void CDynGesture::DeleteHMM()
-{
- icvRelease1DHMM( &m_hmm );
- m_trained = FALSE;
-}
projects / opencv / blobdiff