//! Processes a frame and returns output image
bool ObjectTrackingSample::processFrame(const cv::Mat& inputFrame, cv::Mat& outputFrame)
{
// display the frame
inputFrame.copyTo(outputFrame);
// convert input frame to gray scale
getGray(inputFrame, imageNext);
// prepare the tracking class
ObjectTrackingClass ot;
ot.setMaxCorners(m_maxCorners);
// begin tracking object
if ( trackObject ) {
ot.track(outputFrame,
imagePrev,
imageNext,
pointsPrev,
pointsNext,
status,
err);
// check if the next points array isn't empty
if ( pointsNext.empty() )
trackObject = false;
}
// store the reference frame as the object to track
if ( computeObject ) {
ot.init(outputFrame, imagePrev, pointsNext);
trackObject = true;
computeObject = false;
}
// (test) drawing of custom points
size_t i;
for( i = 0; i < customPoints.size(); i++ )
{
cv::circle( outputFrame, customPoints[i], 3, cv::Scalar(255,255,0), -1, 8);
}
// backup previous frame
imageNext.copyTo(imagePrev);
// backup points array
std::swap(pointsNext, pointsPrev);
return true;
}
//! Processes a frame and returns output image
bool ObjectTrackingSample::processFrame(const cv::Mat& inputFrame, cv::Mat& outputFrame)
{
// display the frame
inputFrame.copyTo(outputFrame);
// convert input frame to gray scale
getGray(inputFrame, imageNext);
// prepare the tracking class
ObjectTrackingClass ot;
ot.setMaxCorners(m_maxCorners);
// begin tracking object
if ( trackObject ) {
ot.track(outputFrame,
imagePrev,
imageNext,
pointsPrev,
pointsNext,
status,
err);
// check if the next points array isn't empty
if ( pointsNext.empty() )
trackObject = false;
}
// store the reference frame as the object to track
if ( computeObject ) {
ot.init(outputFrame, imagePrev, pointsNext);
trackObject = true;
computeObject = false;
}
// backup previous frame
imageNext.copyTo(imagePrev);
// backup points array
std::swap(pointsNext, pointsPrev);
return true;
}
