Table Of Content

Y L F M A E T Team-Fly® Programming Cameras and Pan-Tilts with DirectX and Java Programming Cameras and Pan-Tilts with DirectX and Java (cid:2) Ioannis Pavlidis, University of Houston Vassilios (cid:2) Morellas, Honeywell, Inc. Pete Roeber, Vital Images SeniorEditor TimCox PublishingServicesManager EdwardWade SeniorProductionEditor CheriPalmer EditorialCoordinator StaciePierce ProjectManagement DustyFriedman,TheBookCompany CoverDesign YvoRiezebosDesign CoverImage (cid:1)c NationalGeographic/gettyimages TextDesign LisaDevenish Illustration/Composition InteractiveCompositionCorporation Copyeditor JaneLoftus Proofreader MarthaGhent Indexer MickiTaylor Printer TheMaple-VailBookManufacturingGroup Designationsusedbycompaniestodistinguishtheirproductsareoftenclaimedastrademarks orregisteredtrademarks.InallinstancesinwhichMorganKaufmannPublishersisawareofa claim,theproductnamesappearininitialcapitalorallcapitalletters.Readers,however,should contacttheappropriatecompaniesformorecompleteinformationregardingtrademarksand registration. MorganKaufmannPublishers AnimprintofElsevierScience 340PineStreet,SixthFloor SanFrancisco,CA94104-3205 www.mkp.com ©2003byElsevierScience(USA) Allrightsreserved. PrintedintheUnitedStatesofAmerica 07 06 05 04 03 5 4 3 2 1 Nopartofthispublicationmaybereproduced,storedinaretrievalsystem,ortransmittedin anyformorbyanymeans—electronic,mechanical,photocopying,orotherwise—withoutthe priorwrittenpermissionofthepublisher. LibraryofCongressControlNumber:2002112509 ISBN:1-55860-756-0 Thisbookisprintedonacid-freepaper. To our families Praise for Programming Cameras and Pan-Tilts with DirectX and Java Thisbookwillbeaninvaluablesupplementaltextforanyimage processing/computervisioncoursebothattheundergraduateand graduatelevel.Iwouldalsoconsideritinlowerlevelundergraduate programmingcourses!Manyfacultymembers,includingmyself, withexpertiseincomputervisionhavestartedintegrating computervisionresearchresultsintocorecourseslikeData StructuresandAlgorithms.Therewillsoonbestrongindustry demandforcomputervisionscientistsandengineers—forpeople whounderstandvisiontechnologyandknowhowtoapplyit. —Dr.GeorgeBebis,Director,ComputerVisionLab, UniversityofNevada Thisbookisanexcellentsourcefortheamateurprogrammerand theprofessionaldeveloperalike.Itdemonstratesthefundamentals fordevelopingusefulapplicationsusingbothC++withDirectXand JavawithJMF,anditcollectsallofthecriticalinformationinone place. —JonathanDowdall,UniversityofNevada,Reno Icommendtheauthorsfortheeffortofprovidingtoolsand techniquesformanyuserswhoarestrugglingtoacquirean in-depthunderstandingofvideoprogramming.Thereisagrowing needforthistopic,butthereexistslimitedusefulinformationfor theaverageuserordeveloperwhomaynothaveenough knowledgeinthisparticularﬁeld.Mostdocumentsareeithernot suitablefornoviceusersortheyaredifﬁculttofollow. —Dr.BirBhanu,ProfessorofEECSandDirector CenterforResearchinIntelligentSystems, UniversityofCaliforniaatRiverside Introduction................................................... 1 Ubiquitous Cameras and Computers - A Technological Revolution............................ 2 Interpersonal Communication.......................... 3 Entertainment................................................... 4 Security and Surveillance ................................ 4 Transportation.................................................. 5 Manufacturing Inspection................................. 6 Hardware Architecture................................ 6 Computer ......................................................... 8 Camera ............................................................ 8 Frame Grabber ................................................ 9 Expansion Bus................................................. 10 Software...................................................... 13 Summary .................................................... 13 The DirectShow Software Development Kit and the Component Object Model1..5....... Overview..................................................... 16 The COM .................................................... 18 COM Interfaces........................................... 20 COM Objects .............................................. 28 Our First DirectShow Application - Playing an AVI File ..................................... 30 How to Write a DirectShow Filter................ 31 Summary .................................................... 32 A Video Preview Application - Source and Render Filters3.3....................................... The GraphEdit Utility................................... 34 Building the Video Preview Filter Graph..... 34 The Property Pages of Filters..................... 39 The AVI Decompressor .............................. 41 Summary .................................................... 45 A Custom Filter for Video Processing4..7...... A Simple Change Detection Filter............... 48 Define and Instantiate Our Filter’s Class .... 50 Class Declaration............................................. 50 Filter Instantiation............................................. 54 Override the Appropriate Base Class Member Functions...................................... 58 The CheckInputType Member Function........... 58 The Transform Member Function .................... 60 The Differencing and Thresholding Operations ....................................................... 66 The Thresholding Algorithm............................. 69 Access Additional Interfaces....................... 74 Create the Property Page........................... 80 Create Registry Information........................ 92 Summary .................................................... 94 A Simple Video-Based Security Application9..7.................................................. Building the Application Shell ..................... 98 The Document-View Programming Architecture................................................. 102 The CCDAppApp Class.............................. 105 The CMainFrame Class.............................. 108 The CCDAppView Class............................. 111 Summary .................................................... 117 A Custom Filter for Pan-Tilt Manipulation1..19 Device Driver Categorization ...................... 120 Class CSearial: The Low-Level Serial Device Driver .............................................. 122 Reading and Writing Data into a Serial Port .... 126 Class CPanTiltDevice: The High-Level Driver .......................................................... 130 Opening and Closing a Pan-Tilt Communication Port ........................................ 131 Setting the Mode and Executing a Pan-Tilt Movement ........................................................ 132 The CPanTiltFilter Source Filter ................. 136 Developing the GUI through a Property Page................................................................. 136 The Pan-Tilt Interface ...................................... 143 Development of the Pan-Tilt Filter ................... 143 Running the UWan]iltGilter Using the \raphgdit Utility ............................................ 147 Summary .................................................... 149 A Custom Filter for Object Tracking1..5..1....... The Theory of Mean-Shift Algorithm........... 152 A Practical Implementation of the Mean- Shift Algorithm ............................................ 154 The Color Histogram Distribution of the Target Model.................................................... 154 The Color Histogram Distribution of the Target Candidate............................................. 155 Object Tracking via Maximization of Color Histogram Matching......................................... 156 The Mean-Shift Tracking Algorithm ............ 157 The Color Histogram CColorHistogramIndex Class ..................... 158 The CModel Parameters Class................... 160 Implementation of the Mean-Shift Object- Tracking Filter............................................. 161 The IPTTrackingInterface of the Tracking Filter................................................................. 161 The Structure of the CPTTrackingFilter Class................................................................ 162