void ImgGeo::setPrincipalAxes()
{
// PURPOSE: Set principal axes
// RETURNS: None
axisMax = sqrt(prinMax/getMoment(0,0));
axisMin = sqrt(prinMin/getMoment(0,0));
}
void ImgGeo::setCentroid()
{
// PURPOSE: Sets mean x and y - the centroid location
// RETURNS: None
ctrX = getMoment(1,0)/getMoment(0,0);
ctrY = getMoment(0,1)/getMoment(0,0);
}
void ImgGeo::setPrincipalMoments()
{
// PURPOSE: Sets principal moments
// RETURNS: None
// Init vars
double o2x = getMoment(2,0);
double o2y = getMoment(0,2);
double o1xy = getMoment(1,1);
// Set principal moments
prinMax = 0.5*(o2x + o2y) + 0.5*sqrt(pow(o2x,2) + pow(o2y,2) - 2*o2x*o2y + 4*pow(o1xy,2));
prinMin = 0.5*(o2x + o2y) - 0.5*sqrt(pow(o2x,2) + pow(o2y,2) - 2*o2x*o2y + 4*pow(o1xy,2));
}
void ImgGeo::setOrientation()
{
// PURPOSE: Set angle of orientation
// RETURNS: None
// Init vars
double o2x = getMoment(2,0);
double o2y = getMoment(0,2);
double o1xy = getMoment(1,1);
double tanX,tanY;
tanX = (prinMax - o2x)/o1xy;
tanY = (prinMax - o2y)/o1xy;
orienTheta = atan2(tanY,tanX);
}
float Continuous::getMomentCore(int iMoment, const Ensemble& iEnsemble, const Parameters& iParameters) const {
// TODO: Not tested
const Variable* var = Variable::get(iEnsemble.getVariable());
float total = 0;
float minX = var->getMin();
float maxX = var->getMax();
int nX = 1000;
float dX = (maxX - minX)/((float) nX);
float c = 0;
if(iMoment > 1) {
// Compute center of moment
c = getMoment(1, iEnsemble, iParameters);
}
for(int i = 0; i < nX; i++) {
float x = minX + i*dX;
float pdf = getPdf(x, iEnsemble, iParameters);
if(!Global::isValid(pdf))
return Global::MV;
total += pow(x - c, iMoment) * pdf;
}
return total * dX;
}
//==============================================================================
// Note: Taken from Springer Handbook, chapter 2.2.11
void Inertia::computeSpatialTensor()
{
Eigen::Matrix3d C = math::makeSkewSymmetric(mCenterOfMass);
// Top left
mSpatialTensor.block<3,3>(0,0) = getMoment() + mMass*C*C.transpose();
// Bottom left
mSpatialTensor.block<3,3>(3,0) = mMass*C.transpose();
// Top right
mSpatialTensor.block<3,3>(0,3) = mMass*C;
// Bottom right
mSpatialTensor.block<3,3>(3,3) = mMass*Eigen::Matrix3d::Identity();
}
int main()
{
CvCapture* capture = 0;
printf("Initializing Capture...\n");
// capture = cvCreateFileCapture("http://192.168.1.100/videostream.cgi?user=admin&pwd=123456");
capture = cvCaptureFromCAM( CV_CAP_ANY );
printf("Camera found\n");
if(!capture){printf("Could not initialize camera...\n");}
printf("Capture Success!!!\n");
cvNamedWindow("Video", CV_WINDOW_AUTOSIZE);
cvResizeWindow("Video", 640,480);
cvMoveWindow("Video", 0,100);
cvNamedWindow("HSV",CV_WINDOW_AUTOSIZE);
cvNamedWindow("ROI");
cvMoveWindow("ROI", 700,100);
int state = 0;
int track = 1;
int change= 2;
int reset = 3;
int clear = 4;
while(1)
{
// Hold frame captured from camera
IplImage* img = cvQueryFrame(capture);
if(!img){printf("Image Query Failed");break;}
key = cvWaitKey(10);
if(key=='t'){state = track;}
if(key=='c'){state = change;}
if(key=='r'){state = reset;}
if(key=='q'){state = clear;}
key = cvWaitKey(10);
if(state == track)
{
printf("Tracking\n");
imgRed = getThresholdImage(img);
imgPos = getMoment(img);
}
key = cvWaitKey(10);
if(state == change)
{
cvRectangle(img,cvPoint(250,300),cvPoint(400,200),CV_RGB(255,0,0),5,8);
cvWaitKey(30);
cvShowImage("Video",img);
//printf("Getting Color\n");
IplImage* imgColor = getColor(img);
state = 0;
}
key = cvWaitKey(10);
if(state == reset)
{
printf("Resetting\n");
minC = hsv_min;
maxC = hsv_max;
state = 0;
}
if(state == clear)
{
printf("Paused\n");
state = 0;
}
else
{
key = cvWaitKey(10);
}
cvShowImage("HSV", imgRed);
cvShowImage("Video", img);
cvReleaseImage(&imgPos);
cvReleaseImage(&imgRed);
if ( (cvWaitKey(10) & 255) == 27 ) break;
//key = cvWaitKey(10);
}
cvDestroyWindow("Video");
cvDestroyWindow("HSV");
cvDestroyWindow("ROI");
cvReleaseCapture(&capture);
}
