+++ /dev/null
-#! /usr/bin/env python
-
-print "OpenCV Python version of lkdemo"
-
-import sys
-
-# import the necessary things for OpenCV
-from opencv import cv
-from opencv import highgui
-
-#############################################################################
-# some "constants"
-
-win_size = 10
-MAX_COUNT = 500
-
-#############################################################################
-# some "global" variables
-
-image = None
-pt = None
-add_remove_pt = False
-flags = 0
-night_mode = False
-need_to_init = False
-
-#############################################################################
-# the mouse callback
-
-# the callback on the trackbar
-def on_mouse (event, x, y, flags, param):
-
- # we will use the global pt and add_remove_pt
- global pt
- global add_remove_pt
-
- if image is None:
- # not initialized, so skip
- return
-
- if image.origin != 0:
- # different origin
- y = image.height - y
-
- if event == highgui.CV_EVENT_LBUTTONDOWN:
- # user has click, so memorize it
- pt = cv.cvPoint (x, y)
- add_remove_pt = True
-
-#############################################################################
-# so, here is the main part of the program
-
-if __name__ == '__main__':
-
- try:
- # try to get the device number from the command line
- device = int (sys.argv [1])
-
- # got it ! so remove it from the arguments
- del sys.argv [1]
- except (IndexError, ValueError):
- # no device number on the command line, assume we want the 1st device
- device = 0
-
- if len (sys.argv) == 1:
- # no argument on the command line, try to use the camera
- capture = highgui.cvCreateCameraCapture (device)
-
- else:
- # we have an argument on the command line,
- # we can assume this is a file name, so open it
- capture = highgui.cvCreateFileCapture (sys.argv [1])
-
- # check that capture device is OK
- if not capture:
- print "Error opening capture device"
- sys.exit (1)
-
- # display a small howto use it
- print "Hot keys: \n" \
- "\tESC - quit the program\n" \
- "\tr - auto-initialize tracking\n" \
- "\tc - delete all the points\n" \
- "\tn - switch the \"night\" mode on/off\n" \
- "To add/remove a feature point click it\n"
-
- # first, create the necessary windows
- highgui.cvNamedWindow ('LkDemo', highgui.CV_WINDOW_AUTOSIZE)
-
- # register the mouse callback
- highgui.cvSetMouseCallback ('LkDemo', on_mouse, None)
-
- while 1:
- # do forever
-
- # 1. capture the current image
- frame = highgui.cvQueryFrame (capture)
- if frame is None:
- # no image captured... end the processing
- break
-
- if image is None:
- # create the images we need
- image = cv.cvCreateImage (cv.cvGetSize (frame), 8, 3)
- image.origin = frame.origin
- grey = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
- prev_grey = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
- pyramid = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
- prev_pyramid = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
- points = [[], []]
-
- # copy the frame, so we can draw on it
- cv.cvCopy (frame, image)
-
- # create a grey version of the image
- cv.cvCvtColor (image, grey, cv.CV_BGR2GRAY)
-
- if night_mode:
- # night mode: only display the points
- cv.cvSetZero (image)
-
- if need_to_init:
- # we want to search all the good points
-
- # create the wanted images
- eig = cv.cvCreateImage (cv.cvGetSize (grey), 32, 1)
- temp = cv.cvCreateImage (cv.cvGetSize (grey), 32, 1)
-
- # the default parameters
- quality = 0.01
- min_distance = 10
-
- # search the good points
- points [1] = cv.cvGoodFeaturesToTrack (
- grey, eig, temp,
- MAX_COUNT,
- quality, min_distance, None, 3, 0, 0.04)
-
- # refine the corner locations
- cv.cvFindCornerSubPix (
- grey,
- points [1],
- cv.cvSize (win_size, win_size), cv.cvSize (-1, -1),
- cv.cvTermCriteria (cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS,
- 20, 0.03))
-
- # release the temporary images
- cv.cvReleaseImage (eig)
- cv.cvReleaseImage (temp)
-
- elif len (points [0]) > 0:
- # we have points, so display them
-
- # calculate the optical flow
- points [1], status = cv.cvCalcOpticalFlowPyrLK (
- prev_grey, grey, prev_pyramid, pyramid,
- points [0], len (points [0]),
- cv.cvSize (win_size, win_size), 3,
- len (points [0]),
- None,
- cv.cvTermCriteria (cv.CV_TERMCRIT_ITER|cv.CV_TERMCRIT_EPS,
- 20, 0.03),
- flags)
-
- # initializations
- point_counter = -1
- new_points = []
-
- for the_point in points [1]:
- # go trough all the points
-
- # increment the counter
- point_counter += 1
-
- if add_remove_pt:
- # we have a point to add, so see if it is close to
- # another one. If yes, don't use it
- dx = pt.x - the_point.x
- dy = pt.y - the_point.y
- if dx * dx + dy * dy <= 25:
- # too close
- add_remove_pt = 0
- continue
-
- if not status [point_counter]:
- # we will disable this point
- continue
-
- # this point is a correct point
- new_points.append (the_point)
-
- # draw the current point
- cv.cvCircle (image,
- [the_point.x, the_point.y],
- 3, cv.cvScalar (0, 255, 0, 0),
- -1, 8, 0)
-
- # set back the points we keep
- points [1] = new_points
-
- if add_remove_pt:
- # we want to add a point
- points [1].append (cv.cvPointTo32f (pt))
-
- # refine the corner locations
- points [1][-1] = cv.cvFindCornerSubPix (
- grey,
- [points [1][-1]],
- cv.cvSize (win_size, win_size), cv.cvSize (-1, -1),
- cv.cvTermCriteria (cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS,
- 20, 0.03))[0]
-
- # we are no more in "add_remove_pt" mode
- add_remove_pt = False
-
- # swapping
- prev_grey, grey = grey, prev_grey
- prev_pyramid, pyramid = pyramid, prev_pyramid
- points [0], points [1] = points [1], points [0]
- need_to_init = False
-
- # we can now display the image
- highgui.cvShowImage ('LkDemo', image)
-
- # handle events
- c = highgui.cvWaitKey (10)
-
- if c == '\x1b':
- # user has press the ESC key, so exit
- break
-
- # processing depending on the character
- if c in ['r', 'R']:
- need_to_init = True
- elif c in ['c', 'C']:
- points = [[], []]
- elif c in ['n', 'N']:
- night_mode = not night_mode
projects / opencv / blobdiff