+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#include "tracker.h"
-
-
-CLkTracker::CLkTracker()
-{
- m_tracked = m_count = 0;
- m_init = false;
-}
-
-
-CLkTracker::~CLkTracker()
-{
-}
-
-
-void CLkTracker::Initialize( CImage& image, int max_features, double quality,
- double min_distance )
-{
- IplImage* img = image.GetImage();
-
- if( img )
- {
- IplImage* img0 = 0;
- IplImage* img1 = 0;
-
- for( int i = 0; i < 2; i++ )
- {
- //m_features[i].SetSize( max_features, 10 );
- m_features[i].reserve(max_features+10);
-
- m_frame[i].Create( image.Width(), image.Height(), 8, image.GetImage()->origin );
- m_pyr[i].Create( image.Width(), image.Height(), 8, image.GetImage()->origin );
- m_temp[i].Create( image.Width(), image.Height(), 32, image.GetImage()->origin );
- {
- IplImage* tmp_img = m_temp[i].GetImage();
- tmp_img->depth = IPL_DEPTH_32F;
- tmp_img->nChannels = 1;
- }
- }
- //m_status.SetSize( max_features, 10 );
- m_status.reserve(max_features+10);
- //m_matrices.SetSize( max_features*2, 20 );
- m_matrices.reserve(max_features+20);
-
- img0 = m_frame[0].GetImage();
- img1 = m_frame[1].GetImage();
-
- m_frame[0].CopyOf( image, 0 );
-
- int count = max_features;
- cvGoodFeaturesToTrack( img0, m_temp[0].GetImage(), m_temp[1].GetImage(),
- &m_features[0][0], &count, quality, min_distance );
-
- if( count > 0 )
- {
- cvFindCornerSubPix( img0, &m_features[0][0], count,
- cvSize(5,5), cvSize(-1,-1),
- cvTermCriteria( CV_TERMCRIT_ITER, 10, 0.1f ));
- for( int i = 0; i < m_count; i++ )
- {
- m_status[i] = 1;
- }
- m_tracked = 0;
- m_idx = 0;
- m_count = count;
- m_init = true;
- }
- }
-}
-
-
-void CLkTracker::PushFrame( CImage& image )
-{
- static int frame_idx = 0;
-
- IplImage* img = image.GetImage();
-
- if( m_count > 0 && img )
- {
- int I = m_idx, J = m_idx ^ 1;
- int pyr0_ready = m_tracked != 0;
-
- int i, k, count;
-
- assert( m_idx == 0 || m_idx == 1 );
-
- m_frame[I].Create( image.Width(), image.Height(), 8, image.GetImage()->origin );
- m_frame[J].Create( image.Width(), image.Height(), 8, image.GetImage()->origin );
- m_pyr[I].Create( image.Width(), image.Height(), 8, image.GetImage()->origin );
- m_pyr[J].Create( image.Width(), image.Height(), 8, image.GetImage()->origin );
-
- m_frame[J].CopyOf( image, 0 );
-
- IplImage* img0 = m_frame[I].GetImage();
- IplImage* img1 = m_frame[J].GetImage();
- IplImage* pyr0 = m_pyr[I].GetImage();
- IplImage* pyr1 = m_pyr[J].GetImage();
-
- cvCalcOpticalFlowPyrLK( img0, img1, pyr0, pyr1,
- &m_features[I][0], &m_features[J][0],
- m_count, cvSize(10,10), 3,
- &m_status[0], 0,
- cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03),
- pyr0_ready ? CV_LKFLOW_PYR_A_READY : 0 );
-
- frame_idx++;
-
- /*cvCalcAffineFlowPyrLK( img0, img1, pyr0, pyr1,
- &m_features[I][0], &m_features[J][0],
- &(m_matrices[0].x),
- m_count, cvSize(5,5), 3,
- &m_status[0], 0,
- cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,5,0.3),
- pyr0_ready ? CV_LKFLOW_PYR_A_READY : 0 );*/
-
- count = m_count;
- for( i = 0, k = 0; i < count; i++ )
- {
- if( m_status[i] )
- {
- m_features[J][k++] = m_features[J][i];
- }
- else
- {
- m_count--;
- }
- }
-
- m_tracked++;
- m_idx = J;
- }
- /*
- if( img.GetImage() )
- {
- cvGoodFeaturesToTrack( img.GetImage(), m_temp[0].GetImage(),
- m_temp[1].GetImage(),
- &m_features[0][0], &m_count, 0.1, 10 );
- }*/
-}
-
-
-
-void CLkTracker::RemovePoint( int index )
-{
- if( (unsigned)index < (unsigned)m_count )
- {
- //m_features[m_idx].RemoveAt( index );
- m_features[m_idx].erase(m_features[m_idx].begin() + index);
-
- //m_features[m_idx^1].RemoveAt( index );
- m_features[m_idx^1].erase(m_features[m_idx^1].begin() + index);
-
- //m_matrices.RemoveAt( m_count*2 - 1 );
- m_matrices.erase(m_matrices.begin() + m_count*2 - 1);
- //m_matrices.RemoveAt( m_count*2 - 2 );
- m_matrices.erase(m_matrices.begin() + m_count*2 - 2);
- m_count--;
- }
-}
-
-
-void CLkTracker::AddPoint( CvPoint p, CImage& image )
-{
- CvPoint2D32f pt = AdjustPoint( p, image );
-
- if( m_count < m_features[m_idx].size() )
- {
- m_features[m_idx][m_count] = pt;
- }
- else
- {
- //m_features[m_idx].Add(pt);
- m_features[m_idx].push_back(pt);
- //m_features[m_idx].Add(pt);
- m_features[m_idx].push_back(pt);
- //m_features[m_idx^1].Add(pt);
- m_features[m_idx^1].push_back(pt);
- //m_matrices.Add(pt);
- m_matrices.push_back(pt);
- //m_matrices.Add(pt);
- m_matrices.push_back(pt);
- //m_status.Add(0);
- m_status.push_back(0);
- }
- m_count++;
-}
-
-
-void CLkTracker::MovePoint( int index, CvPoint p, CImage& image )
-{
- if((unsigned)index < (unsigned)m_count )
- {
- CvPoint2D32f pt = AdjustPoint( p, image );
- m_features[m_idx][index] = pt;
- }
-}
-
-
-CvPoint2D32f CLkTracker::AdjustPoint( CvPoint p, CImage& image )
-{
- CvPoint2D32f pt;
- pt.x = (float)p.x;
- pt.y = (float)p.y;
- cvFindCornerSubPix( image.GetImage(), &pt, 1, cvSize(5,5), cvSize(-1,-1),
- cvTermCriteria( CV_TERMCRIT_ITER, 10, 0.1f ));
- return pt;
-}
projects / opencv / blobdiff