// collection of defines, types and helpers (you guessed?) for The Tracker//  created by nts on Tue Feb  5 14:05:55 GMT 2002//  from `#define's, `typedef's etc collected from all around The Code #ifndef __TRACKER_DEFINES_TYPES_AND_HELPERS_H__#define __TRACKER_DEFINES_TYPES_AND_HELPERS_H__#include <sys/types.h>   // for types like u_int32_t and u_int64_t#include <limits.h>      // for UINT_MAX#include "os_specific_things.h"  // for Linux, Solaris, Windows etc things...#include "realno.h"#include "Point2.h"namespace ReadingPeopleTracker{// type to use for object idstypedef u_int32_t object_id_t;// type to use for camera idstypedef u_int32_t camera_id_t;// type to use for frame ids and maximum value of that typetypedef u_int32_t frame_id_t;   // wraparound in 27.2385 years at 5 fps --- OK.#define FRAME_ID_T_MAX UINT_MAX// type to use for frame time (milliseconds since the Epoch (01/01/1970) UTC so use 64 bits!)typedef u_int64_t frame_time_t;// maximum frame_id before wraparound should occur (NB match frame_id_t type defined above)#define MAX_FRAME_ID UINT_MAX// maximum number of frames (ie, consecutive frame id differences) assumed#define MAX_EXPECTED_FRAME_SKIP 25// the default frame time in milliseconds per frameconst frame_time_t default_frame_time_in_ms = 200;    // that's 5 fps// maxium expected size of XML (Region) data block in memory (for memory allocation)#define MAX_XML_BUFFER_SIZE 16384// for ActiveModel#define MAX_BUNCH_SIZE 128// (was once 500, changed to 128) --- nts.// type of TrackedObjecttypedef enum { PERSON , GROUP , CAR , UNKNOWN } ObjectType;// type of "blob" (region) as provided by external (INRIA) motion detector via XMLtypedef enum{    BT_UNKNOWN = 0,            /**< blob type unknown */    BT_OCCL_OBJECT = 1,        /**< occluded type, ex: person occluded by a scene object */    BT_CROWD = 2,              /**< blob contains many many persons */    BT_PERSON_GROUP = 3,       /**< may be a person, maybe a group */    BT_GROUP = 4,              /**< blob is a group */    BT_PERSON = 5,             /**< blob is a person */       BT_CONTX_OBJECT = 6,       /**< blob is a context object, ex: the door */    BT_VEHICLE = 7,            /**< blob is a vehicle, ex: metro, car */    BT_NOISE = 8,              /**< noise */    BT_VALIDATION = 9          /**< blob unknown found in zone of TBL, for RATP */} blob_type_t;// data from XML file used in XMLRegionHandler (stored in Region class)typedef struct {    // attributes to "blob" element    object_id_t id;    blob_type_t type;        // info2d    unsigned int xmin;    unsigned int xmax;    unsigned int ymin;    unsigned int ymax;    unsigned int xcog;    unsigned int ycog;    unsigned int num_pix;    // info3d    realno world_xpos;    realno world_ypos;    realno world_zpos;    double world_width;    double world_height;    // occlusion    bool occluded_left;    bool occluded_right;    bool occluded_top;    bool occluded_bottom;   } xml_blob_data_t;// constants for imagesconst unsigned char MARK       = 0xff;const unsigned char CLEAR_MARK = 0x00;const long NULLWIN = 0;// for Stack class: number of pointers to allocate in the Stack#define DEFAULT_STACKSIZE 65536// valid image typestypedef enum { BASE, GREY8, RGB32, HSV32} ImageType;// valid image addressing modes, for storage im memory and for addressing by our modules//   IA_TOP_TO_BOTTOM: line 0 is the top line,  IA_BOTTOM_TO_TOP: line 0 is the bottom linetypedef enum { IA_TOP_TO_BOTTOM, IA_BOTTOM_TO_TOP } ImageAddressing;// valid storage types for MovieStore classtypedef enum { MOVIESTORE_JPEG, MOVIESTORE_PNM } MovieStoreFormat;// PNM image file types: (invalid), 8-bit grey, 24-bit RGBtypedef enum{    PNM_INVALID = 0,    PNM_GREY_COMPRESSED = 5,    PNM_COLOUR_COMPRESSED = 6} PnmFileType;// a colour pixel: RGB32 colour spacestruct RGB32pixel{public:    // nts: fix for byte ordering on x86:#ifdef LSB_FIRST    unsigned char red;    unsigned char green;    unsigned char blue;    unsigned char alpha;#else#ifdef MSB_FIRST    unsigned char alpha;    unsigned char blue;    unsigned char green;    unsigned char red;#else#error "Please define LSB_FIRST or MSB_FIRST in generik.mk"#endif  // ifdef MSB_FIRST#endif  // ifdef LSB_FIRST};// a colour pixel: HSV32 colour spacestruct HSV32pixel{   #ifdef LSB_FIRST    unsigned char H;    unsigned char S;    unsigned char V;    unsigned char alpha;#else#ifdef MSB_FIRST    unsigned char alpha;    unsigned char V;    unsigned char S;    unsigned char H;#else#error "Please define LSB_FIRST or MSB_FIRST in generik.mk"#endif  // ifdef LSB_FIRST#endif  // ifdef MSB_FIRST};// ImageSourceType: where does an ImageSource get the images from?typedef enum{    IST_UNKNOWN,              // unknown    IST_SINGLE_FILE,          // one single source file for all (multiple) frames, eg MPEG    IST_NUMBERED_FILES,       // numbered set of files, one per frame, eg numbered JPEG/JFIF files    IST_SLAVE,                // waiting (with pthread_cond_wait) for images provided elsewhere,                              // eg by Thales Wrapper    IST_STREAM                // input from a stream, eg a pipe (eg PnmStream class)} ImageSourceType;// Analogue: XMLRegionSourceType: where does an XMLRegionSource get the XML data from?typedef enum{    XRST_UNKNOWN,              // unknown    XRST_SINGLE_FILE,          // one single source file for all (multiple) frames --- ADVISOR.Testbed1    XRST_NUMBERED_FILES,       // numbered set of files, one per frame, eg numbered XML files    XRST_SLAVE,                // waiting (with pthread_cond_wait) for data provided elsewhere,                               // eg by Thales Wrapper / from a NumberedFileSource --- ADVISOR.Testbed2    XRST_STREAM                // input from a stream, eg a pipe --- not implemented yet} XMLRegionSourceType;// Thales use hard-coded image dimensions: quarter area PAL#define DEFAULT_IMAGE_WIDTH 768#define DEFAULT_IMAGE_HEIGHT 576// these drawing colours, defined as {R,G,B} are from /usr/X11/lib/X11/rgb.txt#define NUM_DRAW_COLOURS 13static const unsigned char draw_colour_table[NUM_DRAW_COLOURS][3] ={    {255, 0, 255},    //   0: magenta    {255, 255, 0},    //   1: yellow    {255, 255, 255},  //   2: white    {0, 255, 0},      //   3: green    {160, 32, 240},   //   4: purple    {0, 0, 255},      //   5: blue    {255, 0, 0},      //   6: red    {0, 255, 255},    //   7: cyan    {131, 111, 255},  //   8: SlateBlue1    {255, 215, 0},    //   9: gold    {127, 255, 0},    //  10: chartreuse    {255, 140, 0},    //  11: DarkOrange    {191, 239, 255}   //  12: LightBlue1};// needed in RGB32Image: ColourFilteringMethod using RGB colour spacetypedef enum{// Simple norm methods    CF_METHOD_1_NORM,   //  1-norm of (R,G,B)    CF_METHOD_2_NORM,   //  2-norm of (R,G,B)    CF_METHOD_MAX_NORM, //  max-norm of (R,G,B)// HSV after D Travis    CF_METHOD_H,        //  H of HSV after D Travis    CF_METHOD_S,        //  S of HSV after D Travis    CF_METHOD_V,        //  V of HSV after D Travis    // Chrominance and luminance according to CIE recommendations    CF_METHOD_Y_601,    // Y  from YCbCr after CIE recommendation 601    CF_METHOD_CB_601,   // Cb from YCbCr after CIE recommendation 601    CF_METHOD_CR_601,   // Cr from YCbCr after CIE recommendation 601    CF_METHOD_Y_709     // Y  from YCbCr after CIE recommendation 709} ColourFilteringMethod;// EdgeDetector things...typedef enum{    EDGE_OCCLUDED,    EDGE_BAD,    EDGE_GOOD} edge_status_t;typedef enum{    STATISTICAL_EDGE_SEARCH,    MAXIMUM_EDGE_SEARCH,    NEAREST_EDGE_SEARCH} edge_search_method_t;// Results statustypedef enum{    RESULTS_UNDEFINED,    RESULTS_COMPLETE,    RESULTS_PROCESSED} results_status_t;// vertical histrogram for HumanFeatureTrackertypedef struct      // histogram of pixels projected vertically{    // all of these measures are in pixels using region image coordinates    unsigned int width;                // width of region (pixels of the image)    unsigned int height;               // height of region (pixels of the image)    unsigned int xlo;                  // position of region in video image    unsigned int xhi;                  // position of region in video image    unsigned int ylo;                  // position of region in video image    unsigned int yhi;                  // position of region in video image//    unsigned int average;              // average value ("height") of inner part    unsigned int min_value;            // minimum value > 0    unsigned int max_value;            // maximum value    unsigned int leftmost;             // leftmost significantly non-empty y row.    unsigned int rightmost;            // rightmost significantly non-empty y row.    unsigned int peak_pos[10];         // position (y centre) of 0 to 10 peaks    unsigned int peak_max_pos[10];     // position of maximum in these peaks    unsigned int peak_max_value[10];   // value at this position//    unsigned int mean_peak_value[10];  // mean value of these peaks    unsigned int peak_width[10];       // width of peak region    unsigned int peak_height[10];      // relative height of peak region} VerticalHistogram;typedef struct HeadInfo{    // all of these measures are in pixels using region image coordinates    unsigned int x;        // position of centre (ie COG of bbox)    unsigned int y;        // position of centre (ie COG of bbox)    unsigned int x_abs;    // x, absolute image coordinates     unsigned int y_abs;    // y, absolute image coordinates     unsigned int width;    // width, height of bbox in pixels    unsigned int height;    VerticalHistogram *head_histogram;  // vertical histogram of upper body part    HeadInfo &operator= (HeadInfo &original);} HeadInfo;// This is used in HSV32Image: ColourDistanceMethod using HSV colour spacetypedef enum{    CD_METHOD_V_WEIGHTED_HS   // distance in H/S circle, weighted by V} ColourDistanceMethod;// Some useful constants.  From /usr/include/math.h.  Only a few of them are actually needed.#define M_E            2.7182818284590452354   /* e */#define M_LOG2E        1.4426950408889634074   /* log_2 e */#define M_LOG10E       0.43429448190325182765  /* log_10 e */#define M_LN2          0.69314718055994530942  /* log_e 2 */#define M_LN10         2.30258509299404568402  /* log_e 10 */#define M_PI           3.14159265358979323846  /* pi */#define M_PI_2         1.57079632679489661923  /* pi/2 */#define M_PI_4         0.78539816339744830962  /* pi/4 */#define M_1_PI         0.31830988618379067154  /* 1/pi */#define M_2_PI         0.63661977236758134308  /* 2/pi */#define M_2_SQRTPI     1.12837916709551257390  /* 2/sqrt(pi) */#define M_SQRT2        1.41421356237309504880  /* sqrt(2) */#define M_SQRT1_2      0.70710678118654752440  /* 1/sqrt(2) */// some simple inline math functions that had been `define's in the past...#ifdef WIN32// Windows does not have fast floating point fmax, fmin, copysign and hypot#define fmax max#define fmin mintemplate <class type>inline type copysign(const type &a, const type &b){    if ((a > 0) ^ (b > 0))              return -a;      else              return a;}template <class type>inline const type &hypot(const type &a, const type &b){    return sqrt (a*a + b*b);}#endif#ifndef HAVE_MIN_MAX// ISO C99 defines these and does not like them re-defined...// lower case versions of sometemplate <class type>inline const type &min(const type &a, const type &b){    if (a < b)	return a;    return b;}template <class type>inline const type &max(const type &a, const type &b){    if (a > b)	return a;        return b;}#endif  // ifndef HAVE_MIN_MAX_ABStemplate <class type>inline const type abs(const type &a){    if (a < 0)	return -a;        return a;}// upper case versions#ifdef MIN#undef MIN#endiftemplate <class type>inline type MIN(const type &a, const type &b){    if (a < b)	return a;    return b;}#ifdef MAX#undef MAX#endiftemplate <class type>inline type MAX(const type &a, const type &b){    if (a > b)	return a;        return b;}template <class type>inline type SGN(const type &a){    if (a < 0)	return -1;       return 1;}template <class type>inline type ZSGN(const type &a){    if (a == 0)	return 0;        if (a < 0)	return -1;        return 1;}#ifdef ABS#undef ABS#endiftemplate <class type>inline type ABS(const type &a){    if (a < 0)	return -a;        return a;}template <class type>inline type SQUARE(const type &a){    return a * a;}template <class type>inline void SWAP(type &a, type &b){    type temp = a;    a = b;    b = temp;}} // namespace ReadingPeopleTracker#endif