#if !defined(__OPTICAL_FLOW_H__INCLUDED_)#define __OPTICAL_FLOW_H__INCLUDED_#include <cv.h>#include <vector>using namespace std;#include "Mask.h"#include "ProbDistrProvider.h"typedef vector<CvPoint2D32f> CPointVector;typedef vector<char> CStatusVector;typedef vector<double> CDoubleVector;typedef vector<CDoubleVector> CDoubleMatrix;typedef vector<float> CFloatVector;typedef struct _CondensState {  double x, y;  double vx, vy;  double angle;} CondensState;#pragma warning (disable:4786)class OpticalFlow { public:  OpticalFlow();  ~OpticalFlow(); public:  void Initialize(int width, int height);  void PrepareTracking(IplImage* rgbImage,                       IplImage* currGrayImage, int curr_indx,                       ProbDistrProvider* pProbProv,                       const CuScanMatch& match,                       ConstMaskIt mask,                       int target_num_features,                       int winsize_width,                       int winsize_height,                       double min_distance,                       double max_feature_error);  int Track(IplImage* rgbImage,            IplImage* prevImage, IplImage* currImage,            int prev_indx, int curr_indx,            int last_width, int last_height,            bool flock, bool use_prob_distr);  void DrawOverlay(IplImage* iplImage, int overlay_level);  void GetMeanFeaturePos(CvPoint2D32f& mean); protected:  void LKPyramids(IplImage* prevImage, IplImage* currImage,                  int prev_indx, int curr_indx);  void DrawFeaturesStatistics(IplImage* pImage, int overlay_level);  void FindGoodFeatures(IplImage* grayImage, const CRect& bbox,                        CPointVector& corners);  void PickSkinColoredFeatures(IplImage* rgbImage,                               const CPointVector& corners,                               CPointVector& features,                               const CuScanMatch& match,                               ConstMaskIt mask);  int FindCentroid(const CDoubleMatrix& distances,                   int discard_num_furthest);  void GetAverage(const CPointVector& features, CvPoint2D32f& avg);  void DistanceMatrix(const CPointVector& features,                      CDoubleMatrix& distances);  void ConcentrateFeatures(IplImage* rgbImage,                           CPointVector& features,                           CStatusVector& status,                           int last_width, int last_height,                           bool use_prob_distr);  void AddNewFeatures(IplImage* rgbImage,                           CPointVector& features,                           CStatusVector& status,                           int last_width, int last_height,                           bool use_prob_distr);  bool TooCloseToOthers(const CPointVector& features, int indx, int len);  void GetPixel(IplImage* rgbImage, int x, int y, ColorBGR** color);  // Condens#define OF_CONDENS_DIMS 5  void InitCondensation(int condens_num_samples);  void UpdateCondensation(IplImage* rgbImage,     int prev_indx, int curr_indx);  void FollowObservationForSmallDiffs(const CPointVector& pred,                                                  const CPointVector& obs,                                                  CPointVector& corrected,                                                 double diff);  void PreparePredictFeatureLocations(const CondensState& base_state,                                                 const CPointVector& base,                                                 CDoubleVector& old_lens,                                                 CDoubleVector& old_d_angles);  void PredictFeatureLocations(const CDoubleVector& old_lens,                                          const CDoubleVector& old_d_angles,                                          const CondensState& predicted_state,                                          CPointVector& prediction);  double EstimateProbability(const CPointVector& prediction,                                         const CPointVector& observation,                                        int discard_num_furthest);  double EstimateProbability(const CPointVector& prediction,                                        IplImage* rgbImage);   protected:  int                        m_num_features_tracked;  double                     m_recent_max_rdv;  int                        m_recent_max_rdv_decay;  int                        m_num_features_lost;  int                        m_winsize_width;  int                        m_winsize_height;  double                     m_min_distance;  double                     m_max_feature_error;  ProbDistrProvider*         m_pProbDistrProvider;  int                        m_num_pyramid_levels;  int                        m_target_num_features;  bool                       m_prev_buf_meaningful;  IplImage*                  m_pyramids[2];  IplImage*                  m_tmpEVImage[2];  CPointVector               m_features[2];  CStatusVector              m_feature_status;  CFloatVector               m_errors;  CvPoint2D32f               m_mean_feature_pos;  int                        m_saved_prev_indx;  int                        m_saved_curr_indx;  bool                       m_prepared;  // condensation tracking of features  bool                       m_condens_is_tracking;  CvConDensation*            m_pConDens;  CondensState               m_condens_state;  CPointVector               m_tmp_predicted;  CPointVector               m_features_observation;  CDoubleVector              m_sample_confidences;  CRect                      m_condens_init_rect;};#pragma warning (default:4786)#endif // __OPTICAL_FLOW_H__INCLUDED_