converted some more samples to C++
This commit is contained in:
Vadim Pisarevsky
@@ -1,134 +1,98 @@
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#include "opencv2/video/tracking.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/highgui/highgui.hpp"
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#include <iostream>
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#include <ctype.h>
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#include <stdio.h>
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IplImage *image = 0, *grey = 0, *prev_grey = 0, *pyramid = 0, *prev_pyramid = 0, *swap_temp;
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using namespace cv;
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using namespace std;
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int win_size = 10;
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const int MAX_COUNT = 500;
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CvPoint2D32f* points[2] = {0,0}, *swap_points;
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char* status = 0;
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int count = 0;
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int need_to_init = 0;
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int night_mode = 0;
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int flags = 0;
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int add_remove_pt = 0;
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CvPoint pt;
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Point2f pt;
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bool addRemovePt = false;
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void on_mouse( int event, int x, int y, int flags, void* param )
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void onMouse( int event, int x, int y, int flags, void* param )
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{
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if( !image )
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return;
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if( image->origin )
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y = image->height - y;
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if( event == CV_EVENT_LBUTTONDOWN )
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{
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pt = cvPoint(x,y);
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add_remove_pt = 1;
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pt = Point2f((float)x,(float)y);
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addRemovePt = true;
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}
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}
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int main( int argc, char** argv )
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{
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CvCapture* capture = 0;
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VideoCapture cap;
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TermCriteria termcrit(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03);
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Size winSize(10,10);
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const int MAX_COUNT = 500;
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bool needToInit = false;
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bool nightMode = false;
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if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0])))
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capture = cvCaptureFromCAM( argc == 2 ? argv[1][0] - '0' : 0 );
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cap.open(argc == 2 ? argv[1][0] - '0' : 0);
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else if( argc == 2 )
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capture = cvCaptureFromAVI( argv[1] );
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cap.open(argv[1]);
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if( !capture )
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if( !cap.isOpened() )
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{
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fprintf(stderr,"Could not initialize capturing...\n");
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return -1;
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cout << "Could not initialize capturing...\n";
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return 0;
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}
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/* print a welcome message, and the OpenCV version */
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printf ("Welcome to lkdemo, using OpenCV version %s (%d.%d.%d)\n",
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CV_VERSION,
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CV_MAJOR_VERSION, CV_MINOR_VERSION, CV_SUBMINOR_VERSION);
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// print a welcome message, and the OpenCV version
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cout << "Welcome to lkdemo, using OpenCV version %s\n" << CV_VERSION;
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printf( "Hot keys: \n"
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cout << "\nHot keys: \n"
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"\tESC - quit the program\n"
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"\tr - auto-initialize tracking\n"
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"\tc - delete all the points\n"
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"\tn - switch the \"night\" mode on/off\n"
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"To add/remove a feature point click it\n" );
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"To add/remove a feature point click it\n";
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cvNamedWindow( "LkDemo", 0 );
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cvSetMouseCallback( "LkDemo", on_mouse, 0 );
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namedWindow( "LK Demo", 1 );
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setMouseCallback( "LK Demo", onMouse, 0 );
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Mat gray, prevGray, image;
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vector<Point2f> points[2];
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for(;;)
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{
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IplImage* frame = 0;
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int i, k, c;
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frame = cvQueryFrame( capture );
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if( !frame )
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Mat frame;
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cap >> frame;
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if( frame.empty() )
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break;
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if( !image )
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frame.copyTo(image);
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cvtColor(image, gray, CV_BGR2GRAY);
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if( nightMode )
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image = Scalar::all(0);
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if( needToInit )
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{
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/* allocate all the buffers */
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image = cvCreateImage( cvGetSize(frame), 8, 3 );
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image->origin = frame->origin;
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grey = cvCreateImage( cvGetSize(frame), 8, 1 );
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prev_grey = cvCreateImage( cvGetSize(frame), 8, 1 );
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pyramid = cvCreateImage( cvGetSize(frame), 8, 1 );
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prev_pyramid = cvCreateImage( cvGetSize(frame), 8, 1 );
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points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
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points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
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status = (char*)cvAlloc(MAX_COUNT);
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flags = 0;
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// automatic initialization
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goodFeaturesToTrack(gray, points[1], MAX_COUNT, 0.01, 10, Mat(), 3, 0, 0.04);
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cornerSubPix(gray, points[1], winSize, Size(-1,-1), termcrit);
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addRemovePt = false;
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}
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cvCopy( frame, image, 0 );
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cvCvtColor( image, grey, CV_BGR2GRAY );
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if( night_mode )
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cvZero( image );
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if( need_to_init )
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else if( !points[0].empty() )
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{
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/* automatic initialization */
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IplImage* eig = cvCreateImage( cvGetSize(grey), 32, 1 );
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IplImage* temp = cvCreateImage( cvGetSize(grey), 32, 1 );
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double quality = 0.01;
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double min_distance = 10;
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count = MAX_COUNT;
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cvGoodFeaturesToTrack( grey, eig, temp, points[1], &count,
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quality, min_distance, 0, 3, 0, 0.04 );
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cvFindCornerSubPix( grey, points[1], count,
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cvSize(win_size,win_size), cvSize(-1,-1),
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cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
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cvReleaseImage( &eig );
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cvReleaseImage( &temp );
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add_remove_pt = 0;
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}
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else if( count > 0 )
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{
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cvCalcOpticalFlowPyrLK( prev_grey, grey, prev_pyramid, pyramid,
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points[0], points[1], count, cvSize(win_size,win_size), 3, status, 0,
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cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), flags );
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flags |= CV_LKFLOW_PYR_A_READY;
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for( i = k = 0; i < count; i++ )
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vector<uchar> status;
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vector<float> err;
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if(prevGray.empty())
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gray.copyTo(prevGray);
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calcOpticalFlowPyrLK(prevGray, gray, points[0], points[1], status, err, winSize,
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3, termcrit, 0);
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size_t i, k;
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for( i = k = 0; i < points[1].size(); i++ )
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{
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if( add_remove_pt )
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if( addRemovePt )
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{
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double dx = pt.x - points[1][i].x;
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double dy = pt.y - points[1][i].y;
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if( dx*dx + dy*dy <= 25 )
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if( norm(pt - points[1][i]) <= 5 )
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{
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add_remove_pt = 0;
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addRemovePt = false;
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continue;
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}
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}
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@@ -137,51 +101,44 @@ int main( int argc, char** argv )
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continue;
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points[1][k++] = points[1][i];
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cvCircle( image, cvPointFrom32f(points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
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circle( image, points[1][i], 3, Scalar(0,255,0), -1, 8);
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}
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count = k;
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points[1].resize(k);
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}
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if( add_remove_pt && count < MAX_COUNT )
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if( addRemovePt && points[1].size() < MAX_COUNT )
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{
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points[1][count++] = cvPointTo32f(pt);
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cvFindCornerSubPix( grey, points[1] + count - 1, 1,
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cvSize(win_size,win_size), cvSize(-1,-1),
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cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
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add_remove_pt = 0;
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vector<Point2f> tmp;
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tmp.push_back(pt);
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cornerSubPix( gray, tmp, winSize, cvSize(-1,-1), termcrit);
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points[1].push_back(tmp[0]);
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addRemovePt = false;
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}
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CV_SWAP( prev_grey, grey, swap_temp );
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CV_SWAP( prev_pyramid, pyramid, swap_temp );
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CV_SWAP( points[0], points[1], swap_points );
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need_to_init = 0;
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cvShowImage( "LkDemo", image );
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needToInit = false;
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imshow("LK Demo", image);
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c = cvWaitKey(10);
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if( (char)c == 27 )
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char c = (char)waitKey(10);
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if( c == 27 )
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break;
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switch( (char) c )
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switch( c )
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{
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case 'r':
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need_to_init = 1;
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needToInit = true;
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break;
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case 'c':
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count = 0;
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points[1].clear();
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break;
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case 'n':
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night_mode ^= 1;
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nightMode = !nightMode;
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break;
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default:
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;
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}
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std::swap(points[1], points[0]);
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swap(prevGray, gray);
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}
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cvReleaseCapture( &capture );
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cvDestroyWindow("LkDemo");
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return 0;
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}
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#ifdef _EiC
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main(1,"lkdemo.c");
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#endif
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