OpenCV: Experimental and Obsolete Functionality

# Experimental and Obsolete Functionality Reference

The functionality resides in cvaux library. To use it in your application, place #include "cvaux.h" in your source files and:

- In case of Win32 link the app against cvaux.lib that is import library for cvaux.dll
- In case of Linux use -lcvaux compiler option

- Stereo Correspondence Functions
  - FindStereoCorrespondence
- View Morphing Functions
  - MakeScanlines
  - PreWarpImage
  - FindRuns
  - DynamicCorrespondMulti
  - MakeAlphaScanlines
  - MorphEpilinesMulti
  - PostWarpImage
  - DeleteMoire
- 3D Tracking Functions
  - 3dTrackerCalibrateCameras
  - 3dTrackerLocateObjects
- Eigen Objects (PCA) Functions
  - CalcCovarMatrixEx
  - CalcEigenObjects
  - CalcDecompCoeff
  - EigenDecomposite
  - EigenProjection
- Embedded Hidden Markov Models Functions
  - HMM
  - ImgObsInfo
  - Create2DHMM
  - Release2DHMM
  - CreateObsInfo
  - ReleaseObsInfo
  - ImgToObs_DCT
  - UniformImgSegm
  - InitMixSegm
  - EstimateHMMStateParams
  - EstimateTransProb
  - EstimateObsProb
  - EViterbi
  - MixSegmL2

## Stereo Correspondence Functions

### FindStereoCorrespondence

Calculates disparity for stereo-pair

    cvFindStereoCorrespondence(
                       const  CvArr* leftImage, const  CvArr* rightImage,
                       int     mode, CvArr*  depthImage,
                       int     maxDisparity,
                       double  param1, double  param2, double  param3,
                       double  param4, double  param5  );

leftImage
  Left image of stereo pair, rectified grayscale 8-bit image
rightImage
  Right image of stereo pair, rectified grayscale 8-bit image
mode
  Algorithm used to find a disparity (now only CV_DISPARITY_BIRCHFIELD is supported)
depthImage
  Destination depth image, grayscale 8-bit image that codes the scaled disparity, so that the zero disparity (corresponding to the points that are very far from the cameras) maps to 0, maximum disparity maps to 255.
maxDisparity
  Maximum possible disparity. The closer the objects to the cameras, the larger value should be specified here. Too big values slow down the process significantly.
param1, param2, param3, param4, param5
  - parameters of algorithm. For example, param1 is the constant occlusion penalty, param2 is the constant match reward, param3 defines a highly reliable region (set of contiguous pixels whose reliability is at least param3), param4 defines a moderately reliable region, param5 defines a slightly reliable region. If some parameter is omitted default value is used. In Birchfield's algorithm param1 = 25, param2 = 5, param3 = 12, param4 = 15, param5 = 25 (These values have been taken from "Depth Discontinuities by Pixel-to-Pixel Stereo" Stanford University Technical Report STAN-CS-TR-96-1573, July 1996.)

The function `cvFindStereoCorrespondence` calculates disparity map for two rectified grayscale images.

Example. Calculating disparity for pair of 8-bit color images

    /*---------------------------------------------------------------------------------*/
    IplImage* srcLeft = cvLoadImage("left.jpg",1);
    IplImage* srcRight = cvLoadImage("right.jpg",1);
    IplImage* leftImage = cvCreateImage(cvGetSize(srcLeft), IPL_DEPTH_8U, 1);
    IplImage* rightImage = cvCreateImage(cvGetSize(srcRight), IPL_DEPTH_8U, 1);
    IplImage* depthImage = cvCreateImage(cvGetSize(srcRight), IPL_DEPTH_8U, 1);

    cvCvtColor(srcLeft, leftImage, CV_BGR2GRAY);
    cvCvtColor(srcRight, rightImage, CV_BGR2GRAY);

    cvFindStereoCorrespondence( leftImage, rightImage, CV_DISPARITY_BIRCHFIELD, depthImage, 50, 15, 3, 6, 8, 15 );
    /*---------------------------------------------------------------------------------*/

And here is the example stereo pair that can be used to test the example

## View Morphing Functions

### MakeScanlines

Calculates scanlines coordinates for two cameras by fundamental matrix

    void cvMakeScanlines( const CvMatrix3* matrix, CvSize img_size, int* scanlines1,
                          int* scanlines2, int* lengths1, int* lengths2, int* line_count );

matrix
  Fundamental matrix.
imgSize
  Size of the image.
scanlines1
  Pointer to the array of calculated scanlines of the first image.
scanlines2
  Pointer to the array of calculated scanlines of the second image.
lengths1
  Pointer to the array of calculated lengths (in pixels) of the first image scanlines.
lengths2
  Pointer to the array of calculated lengths (in pixels) of the second image scanlines.
line_count
  Pointer to the variable that stores the number of scanlines.

The function `cvMakeScanlines` finds coordinates of scanlines for two images.

This function returns the number of scanlines. The function does nothing except calculating the number of scanlines if the pointers `scanlines1` or `scanlines2` are equal to zero.

### PreWarpImage

Rectifies image

    void cvPreWarpImage( int line_count, IplImage* img, uchar* dst,
                         int* dst_nums, int* scanlines );

line_count
  Number of scanlines for the image.
img
  Image to prewarp.
dst
  Data to store for the prewarp image.
dst_nums
  Pointer to the array of lengths of scanlines.
scanlines
  Pointer to the array of coordinates of scanlines.

The function `cvPreWarpImage` rectifies the image so that the scanlines in the rectified image are horizontal. The output buffer of size `max(width,height)*line_count*3` must be allocated before calling the function.

### FindRuns

Retrieves scanlines from rectified image and breaks them down into runs

    void cvFindRuns( int line_count, uchar* prewarp1, uchar* prewarp2,
                     int* line_lengths1, int* line_lengths2,
                     int* runs1, int* runs2,
                     int* num_runs1, int* num_runs2 );

line_count
  Number of the scanlines.
prewarp1
  Prewarp data of the first image.
prewarp2
  Prewarp data of the second image.
line_lengths1
  Array of lengths of scanlines in the first image.
line_lengths2
  Array of lengths of scanlines in the second image.
runs1
  Array of runs in each scanline in the first image.
runs2
  Array of runs in each scanline in the second image.
num_runs1
  Array of numbers of runs in each scanline in the first image.
num_runs2
  Array of numbers of runs in each scanline in the second image.

The function `cvFindRuns` retrieves scanlines from the rectified image and breaks each scanline down into several runs, that is, series of pixels of almost the same brightness.

### DynamicCorrespondMulti

Finds correspondence between two sets of runs of two warped images

    void cvDynamicCorrespondMulti( int line_count, int* first, int* first_runs,
                                   int* second, int* second_runs,
                                   int* first_corr, int* second_corr );

line_count
  Number of scanlines.
first
  Array of runs of the first image.
first_runs
  Array of numbers of runs in each scanline of the first image.
second
  Array of runs of the second image.
second_runs
  Array of numbers of runs in each scanline of the second image.
first_corr
  Pointer to the array of correspondence information found for the first runs.
second_corr
  Pointer to the array of correspondence information found for the second runs.

The function `cvDynamicCorrespondMulti` finds correspondence between two sets of runs of two images. Memory must be allocated before calling this function. Memory size for one array of correspondence information is

`max( width,height )* numscanlines*3*sizeof ( int )` .

### MakeAlphaScanlines

Calculates coordinates of scanlines of image from virtual camera

    void cvMakeAlphaScanlines( int* scanlines1, int* scanlines2,
                               int* scanlinesA, int* lengths,
                               int line_count, float alpha );

scanlines1
  Pointer to the array of the first scanlines.
scanlines2
  Pointer to the array of the second scanlines.
scanlinesA
  Pointer to the array of the scanlines found in the virtual image.
lengths
  Pointer to the array of lengths of the scanlines found in the virtual image.
line_count
  Number of scanlines.
alpha
  Position of virtual camera `(0.0 - 1.0)` .

The function `cvMakeAlphaScanlines` finds coordinates of scanlines for the virtual camera with the given camera position.

Memory must be allocated before calling this function. Memory size for the array of correspondence runs is `numscanlines*2*4*sizeof(int)` . Memory size for the array of the scanline lengths is `numscanlines*2*4*sizeof(int)` .

### MorphEpilinesMulti

Morphs two pre-warped images using information about stereo correspondence

    void cvMorphEpilinesMulti( int line_count, uchar* first_pix, int* first_num,
                               uchar* second_pix, int* second_num,
                               uchar* dst_pix, int* dst_num,
                               float alpha, int* first, int* first_runs,
                               int* second, int* second_runs,
                               int* first_corr, int* second_corr );

line_count
  Number of scanlines in the prewarp image.
first_pix
  Pointer to the first prewarp image.
first_num
  Pointer to the array of numbers of points in each scanline in the first image.
second_pix
  Pointer to the second prewarp image.
second_num
  Pointer to the array of numbers of points in each scanline in the second image.
dst_pix
  Pointer to the resulting morphed warped image.
dst_num
  Pointer to the array of numbers of points in each line.
alpha
  Virtual camera position `(0.0 - 1.0)` .
first
  First sequence of runs.
first_runs
  Pointer to the number of runs in each scanline in the first image.
second
  Second sequence of runs.
second_runs
  Pointer to the number of runs in each scanline in the second image.
first_corr
  Pointer to the array of correspondence information found for the first runs.
second_corr
  Pointer to the array of correspondence information found for the second runs.

The function `cvMorphEpilinesMulti` morphs two pre-warped images using information about correspondence between the scanlines of two images.

### PostWarpImage

Warps rectified morphed image back

    void cvPostWarpImage( int line_count, uchar* src, int* src_nums,
                          IplImage* img, int* scanlines );

line_count
  Number of the scanlines.
src
  Pointer to the prewarp image virtual image.
src_nums
  Number of the scanlines in the image.
img
  Resulting unwarp image.
scanlines
  Pointer to the array of scanlines data.

The function `cvPostWarpImage` warps the resultant image from the virtual camera by storing its rows across the scanlines whose coordinates are calculated by cvMakeAlphaScanlines.

### DeleteMoire

Deletes moire in given image

    void cvDeleteMoire( IplImage* img );

img
  Image.

The function `cvDeleteMoire` deletes moire from the given image. The post-warped image may have black (un-covered) points because of possible holes between neighboring scanlines. The function deletes moire (black pixels) from the image by substituting neighboring pixels for black pixels. If all the scanlines are horizontal, the function may be omitted.

## 3D Tracking Functions

The section discusses functions for tracking objects in 3d space using a stereo camera. Besides C API, there is DirectShow 3dTracker filter and the wrapper application 3dTracker. Here you may find a description how to test the filter on sample data.

### 3dTrackerCalibrateCameras

Simultaneously determines position and orientation of multiple cameras

    CvBool cv3dTrackerCalibrateCameras(int num_cameras,
               const Cv3dTrackerCameraIntrinsics camera_intrinsics[],
               CvSize checkerboard_size,
               IplImage *samples[],
               Cv3dTrackerCameraInfo camera_info[]);

num_cameras
  the number of cameras to calibrate. This is the size of each of the three array parameters.
camera_intrinsics
  camera intrinsics for each camera, such as determined by CalibFilter.
checkerboard_size
  the width and height (in number of squares) of the checkerboard.
samples
  images from each camera, with a view of the checkerboard.
camera_info
  filled in with the results of the camera calibration. This is passed into 3dTrackerLocateObjects to do tracking.

The function `cv3dTrackerCalibrateCameras` searches for a checkerboard of the specified size in each of the images. For each image in which it finds the checkerboard, it fills in the corresponding slot in `camera_info` with the position and orientation of the camera relative to the checkerboard and sets the `valid` flag. If it finds the checkerboard in all the images, it returns true; otherwise it returns false.

This function does not change the members of the `camera_info` array that correspond to images in which the checkerboard was not found. This allows you to calibrate each camera independently, instead of simultaneously. To accomplish this, do the following:

1. clear all the `valid` flags before calling this function the first time;
2. call this function with each set of images;
3. check all the `valid` flags after each call. When all the `valid` flags are set, calibration is complete.

Note that this method works well only if the checkerboard is rigidly mounted; if it is handheld, all the cameras should be calibrated simultaneously to get an accurate result. To ensure that all cameras are calibrated simultaneously, ignore the `valid` flags and use the return value to decide when calibration is complete.

### 3dTrackerLocateObjects

Determines 3d location of tracked objects

    int  cv3dTrackerLocateObjects(int num_cameras,
             int num_objects,
             const Cv3dTrackerCameraInfo camera_info[],
             const Cv3dTracker2dTrackedObject tracking_info[],
             Cv3dTrackerTrackedObject tracked_objects[]);

num_cameras
  the number of cameras.
num_objects
  the maximum number of objects found by any camera. (Also the maximum number of objects returned in `tracked_objects`.)
camera_info
  camera position and location information for each camera, as determined by 3dTrackerCalibrateCameras.
tracking_info
  the 2d position of each object as seen by each camera. Although this is specified as a one-dimensional array, it is actually a two-dimensional array: `const Cv3dTracker2dTrackedObject tracking_info[num_cameras][num_objects]`. The `id` field of any unused slots must be -1. Ids need not be ordered or consecutive.
tracked_objects
  filled in with the results.

The function `cv3dTrackerLocateObjects` determines the 3d position of tracked objects based on the 2d tracking information from multiple cameras and the camera position and orientation information computed by 3dTrackerCalibrateCameras. It locates any objects with the same `id` that are tracked by more than one camera. It fills in the `tracked_objects` array and returns the number of objects located. The `id` fields of any unused slots in `tracked_objects` are set to -1.

## Eigen Objects (PCA) Functions

The functions described in this section do PCA analysis and compression for a set of 8-bit images that may not fit into memory all together. If your data fits into memory and the vectors are not 8-bit (or you want a simpler interface), use cvCalcCovarMatrix, cvSVD and cvGEMM to do PCA

### CalcCovarMatrixEx

Calculates covariance matrix for group of input objects

    void cvCalcCovarMatrixEx( int object_count, void* input, int io_flags,
                              int iobuf_size, uchar* buffer, void* userdata,
                              IplImage* avg, float* covar_matrix );

object_count
  Number of source objects.
input
  Pointer either to the array of `IplImage` input objects or to the read callback function according to the value of the parameter `ioFlags`.
io_flags
  Input/output flags.
iobuf_size
  Input/output buffer size.
buffer
  Pointer to the input/output buffer.
userdata
  Pointer to the structure that contains all necessary data for the
callback
  functions.
avg
  Averaged object.
covar_matrix
  Covariance matrix. An output parameter; must be allocated before the call.

The function `cvCalcCovarMatrixEx` calculates a covariance matrix of the input objects group using previously calculated averaged object. Depending on `ioFlags` parameter it may be used either in direct access or callback mode. If `ioFlags` is not `CV_EIGOBJ_NO_CALLBACK`, buffer must be allocated before calling the function.

### CalcEigenObjects

Calculates orthonormal eigen basis and averaged object for group of input objects

    void cvCalcEigenObjects( int nObjects, void* input, void* output, int ioFlags,
                             int ioBufSize, void* userData, CvTermCriteria* calcLimit,
                             IplImage* avg, float* eigVals );

nObjects
  Number of source objects.
input
  Pointer either to the array of `IplImage` input objects or to the read callback function according to the value of the parameter `ioFlags`.
output
  Pointer either to the array of eigen objects or to the write callback function according to the value of the parameter ioFlags .
ioFlags
  Input/output flags.
ioBufSize
  Input/output buffer size in bytes. The size is zero, if unknown.
userData
  Pointer to the structure that contains all necessary data for the callback functions.
calcLimit
  Criteria that determine when to stop calculation of eigen objects.
avg
  Averaged object.
eigVals
  Pointer to the eigenvalues array in the descending order; may be `NULL` .

The function `cvCalcEigenObjects` calculates orthonormal eigen basis and the averaged object for a group of the input objects. Depending on `ioFlags` parameter it may be used either in direct access or callback mode. Depending on the parameter `calcLimit`, calculations are finished either after first `calcLimit.max_iter` dominating eigen objects are retrieved or if the ratio of the current eigenvalue to the largest eigenvalue comes down to `calcLimit.epsilon` threshold. The value `calcLimit -> type` must be `CV_TERMCRIT_NUMB, CV_TERMCRIT_EPS`, or `CV_TERMCRIT_NUMB | CV_TERMCRIT_EPS` . The function returns the real values `calcLimit->max_iter` and `calcLimit->epsilon` .

The function also calculates the averaged object, which must be created previously. Calculated eigen objects are arranged according to the corresponding eigenvalues in the descending order.

The parameter `eigVals` may be equal to `NULL`, if eigenvalues are not needed.

The function `cvCalcEigenObjects` uses the function cvCalcCovarMatrixEx.

### CalcDecompCoeff

Calculates decomposition coefficient of input object

    double cvCalcDecompCoeff( IplImage* obj, IplImage* eigObj, IplImage* avg );

obj
  Input object.
eigObj
  Eigen object.
avg
  Averaged object.

The function `cvCalcDecompCoeff` calculates one decomposition coefficient of the input object using the previously calculated eigen object and the averaged object.

### EigenDecomposite

Calculates all decomposition coefficients for input object

    void cvEigenDecomposite( IplImage* obj, int eigenvec_count, void* eigInput,
                             int ioFlags, void* userData, IplImage* avg, float* coeffs );

obj
  Input object.
eigenvec_count
  Number of eigen objects.
eigInput
  Pointer either to the array of `IplImage` input objects or to the read callback function according to the value of the parameter `ioFlags`.
ioFlags
  Input/output flags.
userData
  Pointer to the structure that contains all necessary data for the callback functions.
avg
  Averaged object.
coeffs
  Calculated coefficients; an output parameter.

The function `cvEigenDecomposite` calculates all decomposition coefficients for the input object using the previously calculated eigen objects basis and the averaged object. Depending on `ioFlags` parameter it may be used either in direct access or callback mode.

### EigenProjection

Calculates object projection to the eigen sub-space

    void cvEigenProjection( void* input_vecs, int eigenvec_count, int io_flags, void* userdata,
                            float* coeffs, IplImage* avg, IplImage* proj );

input_vec
  Pointer to either an array of `IplImage` input objects or to a callback function, depending on `io_flags`.
eigenvec_count
  Number of eigenvectors.
io_flags
  Input/output flags; see cvCalcEigenObjects.
userdata
  Pointer to the structure that contains all necessary data for the callback functions.
coeffs
  Previously calculated decomposition coefficients.
avg
  Average vector, calculated by cvCalcEigenObjects.
proj
  Projection to the eigen sub-space.

The function `cvEigenProjection` calculates an object projection to the eigen sub-space or, in other words, restores an object using previously calculated eigen objects basis, averaged object, and decomposition coefficients of the restored object. Depending on `io_flags` parameter it may be used either in direct access or callback mode.

## Embedded Hidden Markov Models Functions

In order to support embedded models the user must define structures to represent 1D HMM and 2D embedded HMM model.

### CvHMM

Embedded HMM Structure

        typedef struct _CvEHMM
        {
            int level;
            int num_states;
            float* transP;
            float** obsProb;
            union
            {
                CvEHMMState* state;
                struct _CvEHMM* ehmm;
            } u;
        } CvEHMM;

level
  Level of embedded HMM. If `level ==0`, HMM is most external. In 2D HMM there are two types of HMM: 1 external and several embedded. External HMM has `level ==1`, embedded HMMs have `level ==0` .
num_states
  Number of states in 1D HMM.
transP
  State-to-state transition probability, square matrix `(num_state×num_state )`.
obsProb
  Observation probability matrix.
state
  Array of HMM states. For the last-level HMM, that is, an HMM without embedded HMMs, HMM states are real.
ehmm
  Array of embedded HMMs. If HMM is not last-level, then HMM states are not real and they are HMMs.

For representation of observations the following structure is defined:

### CvImgObsInfo

Image Observation Structure

        typedef struct CvImgObsInfo
        {
            int obs_x;
            int obs_y;
            int obs_size;
            float** obs;
            int* state;
            int* mix;
        } CvImgObsInfo;

obs_x
  Number of observations in the horizontal direction.
obs_y
  Number of observations in the vertical direction.
obs_size
  Length of every observation vector.
obs
  Pointer to observation vectors stored consequently. Number of vectors is `obs_x*obs_y` .
state
  Array of indices of states, assigned to every observation vector.
mix
  Index of mixture component, corresponding to the observation vector within an assigned state.

### Create2DHMM

Creates 2D embedded HMM

    CvEHMM* cvCreate2DHMM( int* stateNumber, int* numMix, int obsSize );

stateNumber
  Array, the first element of the which specifies the number of superstates in the HMM. All subsequent elements specify the number of states in every embedded HMM, corresponding to each superstate. So, the length of the array is `stateNumber [0]+1` .
numMix
  Array with numbers of Gaussian mixture components per each internal state. The number of elements in the array is equal to number of internal states in the HMM, that is, superstates are not counted here.
obsSize
  Size of observation vectors to be used with created HMM.

The function `cvCreate2DHMM` returns the created structure of the type CvEHMM with specified parameters.

### Release2DHMM

Releases 2D embedded HMM

    void cvRelease2DHMM(CvEHMM** hmm );

hmm
  Address of pointer to HMM to be released.

The function `cvRelease2DHMM` frees all the memory used by HMM and clears the pointer to HMM.

### CreateObsInfo

Creates structure to store image observation vectors

    CvImgObsInfo* cvCreateObsInfo( CvSize numObs, int obsSize );

numObs
  Numbers of observations in the horizontal and vertical directions. For the given image and scheme of extracting observations the parameter can be computed via the macro `CV_COUNT_OBS( roi, dctSize, delta, numObs )`, where `roi, dctSize, delta, numObs` are the pointers to structures of the type CvSize . The pointer `roi` means size of `roi` of image observed, `numObs` is the output parameter of the macro.
obsSize
  Size of observation vectors to be stored in the structure.

The function `cvCreateObsInfo` creates new structures to store image observation vectors. For definitions of the parameters `roi, dctSize`, and `delta` see the specification of The function `cvImgToObs_DCT`.

### ReleaseObsInfo

Releases observation vectors structure

    void cvReleaseObsInfo( CvImgObsInfo** obsInfo );

obsInfo
  Address of the pointer to the structure CvImgObsInfo .

The function `cvReleaseObsInfo` frees all memory used by observations and clears pointer to the structure CvImgObsInfo .

### ImgToObs_DCT

Extracts observation vectors from image

    void cvImgToObs_DCT( IplImage* image, float* obs, CvSize dctSize,
                         CvSize obsSize, CvSize delta );

image
  Input image.
obs
  Pointer to consequently stored observation vectors.
dctSize
  Size of image blocks for which DCT (Discrete Cosine Transform) coefficients are to be computed.
obsSize
  Number of the lowest DCT coefficients in the horizontal and vertical directions to be put into the observation vector.
delta
  Shift in pixels between two consecutive image blocks in the horizontal and vertical directions.

The function `cvImgToObs_DCT` extracts observation vectors, that is, DCT coefficients, from the image. The user must pass `obsInfo.obs` as the parameter `obs` to use this function with other HMM functions and use the structure `obsInfo` of the CvImgObsInfo type.

`Calculating Observations for HMM`

        CvImgObsInfo* obs_info;

            ...

            cvImgToObs_DCT( image,obs_info->obs, //!!!

            dctSize, obsSize, delta );

### UniformImgSegm

Performs uniform segmentation of image observations by HMM states

    void cvUniformImgSegm( CvImgObsInfo* obsInfo, CvEHMM* hmm );

obsInfo
  Observations structure.
hmm
  HMM structure.

The function `cvUniformImgSegm` segments image observations by HMM states uniformly (see Initial Segmentation for 2D Embedded HMM for 2D embedded HMM with 5 superstates and 3, 6, 6, 6, 3 internal states of every corresponding superstate).

Initial Segmentation for 2D Embedded HMM

### InitMixSegm

Segments all observations within every internal state of HMM by state mixture components

    void cvInitMixSegm( CvImgObsInfo** obsInfoArray, int numImg, CvEHMM* hmm );

obsInfoArray
  Array of pointers to the observation structures.
numImg
  Length of above array.
hmm
  HMM.

The function `cvInitMixSegm` takes a group of observations from several training images already segmented by states and splits a set of observation vectors within every internal HMM state into as many clusters as the number of mixture components in the state.

### EstimateHMMStateParams

Estimates all parameters of every HMM state

    void cvEstimateHMMStateParams( CvImgObsInfo** obsInfoArray, int numImg, CvEHMM* hmm );

obsInfoArray
  Array of pointers to the observation structures.
numImg
  Length of the array.
hmm
  HMM.

The function `cvEstimateHMMStateParams` computes all inner parameters of every HMM state, including Gaussian means, variances, etc.

### EstimateTransProb

Computes transition probability matrices for embedded HMM

    void cvEstimateTransProb( CvImgObsInfo** obsInfoArray, int numImg, CvEHMM* hmm );

obsInfoArray
  Array of pointers to the observation structures.
numImg
  Length of the above array.
hmm
  HMM.

The function `cvEstimateTransProb` uses current segmentation of image observations to compute transition probability matrices for all embedded and external HMMs.

### EstimateObsProb

Computes probability of every observation of several images

    void cvEstimateObsProb( CvImgObsInfo* obsInfo, CvEHMM* hmm );

obsInfo
  Observation structure.
hmm
  HMM structure.

The function `cvEstimateObsProb` computes Gaussian probabilities of each observation to occur in each of the internal HMM states.

### EViterbi

Executes Viterbi algorithm for embedded HMM

    float cvEViterbi( CvImgObsInfo* obsInfo, CvEHMM* hmm );

obsInfo
  Observation structure.
hmm
  HMM structure.

The function `cvEViterbi` executes Viterbi algorithm for embedded HMM. Viterbi algorithm evaluates the likelihood of the best match between the given image observations and the given HMM and performs segmentation of image observations by HMM states. The segmentation is done on the basis of the match found.

### MixSegmL2

Segments observations from all training images by mixture components of newly assigned states

    void cvMixSegmL2( CvImgObsInfo** obsInfoArray, int numImg, CvEHMM* hmm );

obsInfoArray
  Array of pointers to the observation structures.
numImg
  Length of the array.
hmm
  HMM.

The function `cvMixSegmL2` segments observations from all training images by mixture components of newly Viterbi algorithm-assigned states. The function uses Euclidean distance to group vectors around the existing mixtures centers.