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/*************************************************************************** 
                          classflow.h   
 
    optical flow 
 
    begin                : Sun Nov 24 2002 
    copyright            : (C) 2002 by Bob Mottram 
    email                : fuzzgun@btinternet.com 
 ***************************************************************************/ 
 
/*************************************************************************** 
 *                                                                         * 
 *   This program is free software; you can redistribute it and/or modify  * 
 *   it under the terms of the GNU General Public License as published by  * 
 *   the Free Software Foundation; either version 2 of the License, or     * 
 *   (at your option) any later version.                                   * 
 *                                                                         * 
 ***************************************************************************/ 
 
#ifndef CLASSFLOW_H 
#define CLASSFLOW_H 
 
#include "classimage.h" 
#include "classmotion.h" 
 
/** 
  *@author Bob Mottram 
  */ 
 
const int IMAGE_FLOW_X = 0; 
const int IMAGE_FLOW_Y = 1; 
   
/// 
 
/// This class performs optical flow calculations 
/// 
 
class classflow : public classimage 
{ 
   
private: 
 
  void init(); 
  bool initialised; 
  int flowHistoryCtr,noflow; 
 
public: 
 
  classmotion *motion; 
 
  int motion_threshold; 
  int optical_flow_search_region; 
  int optical_flow_patch; 
  int boundingbox_tx,boundingbox_ty,boundingbox_bx,boundingbox_by; 
  int averageDisparity,centre_x,centre_y; 
  float aspectRatio; 
 
  unsigned char ***flow; 
  unsigned char ***segmented; 
 
  //histogram storing flow directions 
  int flowHistogram[14][14]; 
  long flowHistogramMax; 
  int flowHistory[100][7]; 
 
  //average optical flow over the enture image 
  float average_flow_x,average_flow_y; 
 
  void update(unsigned char ***img, int wdth, int hght); 
  void update(classimage *img); 
  void segment(classimage *img, int distance); 
  void updateDisparity(classflow *f); 
  void matchFlow(classimage *img, classimage *rawimgLeft, classimage *rawimgRight); 
  int getFlowHistory(int t, int index); 
 
  classflow(); 
  ~classflow(); 
}; 
 
#endif