/*
** Description
** Check for keyboard or mouse event with possible timeout
** Timeout value in milliseconds, -1 means forever
**
** 1998-08-06 CG
** 1999-05-20 Tomas
*/
void
FBcheckevent (FB *f, FBEVENT *ev, int timeout) {
int interrupted;
struct pollfd in[2];
int nfds=1, ret;
in[0].fd = f->tty;
in[0].events = POLLMASK;
if ((f->sbuf != f->sbak) && (msefd != -1)) {
in[1].fd = msefd;
in[1].events = POLLMASK;
tcflush( msefd, TCIFLUSH );
nfds = 2;
}
do {
interrupted = FALSE;
ret = poll(in, nfds, timeout);
if(ret == -1) {
if(errno == EINTR) {
interrupted = TRUE;
if (msefd != -1) {
if (f->sbuf == f->sbak) {
nfds = 1;
} else {
in[1].fd = msefd;
in[1].events = POLLMASK;
tcflush( msefd, TCIFLUSH );
nfds = 2;
}
}
} else {
/*
fprintf(stderr,"ofbis: fbevent.c: tty fd=%d\n", in[0].fd);
fprintf(stderr,"ofbis: fbevent.c: tty revents=0x%x\n",in[0].revents);
fprintf(stderr,"ofbis: fbevent.c: mouse fd=%d\n", in[1].fd);
fprintf(stderr,"ofbis: fbevent.c: mouse revents=0x%x\n",in[1].revents);
*/
FBerror( FATAL | SYSERR, "FBcheckevent: poll() returned" );
}
}
} while(interrupted);
if(ret == 0) { /* if poll() timed out */
ev->type = FBNoEvent;
} else if(in[0].revents & POLLIN) {
ev->type = FBKeyEvent;
FBprocesskey (f, &ev->key);
} else if(in[1].revents & POLLIN) {
ev->type = FBMouseEvent;
FBprocessmouse (&ev->mouse);
/* printf("buttons: %d x: %d y: %d\n",ev->mouse.buttons, ev->mouse.x, ev->mouse.y ); */
}
}
void TrackerMedianFlowImpl::check_FB(const Mat& oldImage,const Mat& newImage,
const std::vector<Point2f>& oldPoints,const std::vector<Point2f>& newPoints,std::vector<bool>& status){
if(status.size()==0){
status=std::vector<bool>(oldPoints.size(),true);
}
std::vector<uchar> LKstatus(oldPoints.size());
std::vector<float> errors(oldPoints.size());
std::vector<double> FBerror(oldPoints.size());
std::vector<Point2f> pointsToTrackReprojection;
calcOpticalFlowPyrLK(newImage, oldImage,newPoints,pointsToTrackReprojection,LKstatus,errors,Size(3,3),5,termcrit,0);
for(int i=0;i<(int)oldPoints.size();i++){
FBerror[i]=l2distance(oldPoints[i],pointsToTrackReprojection[i]);
}
double FBerrorMedian=getMedian(FBerror);
dprintf(("point median=%f\n",FBerrorMedian));
dprintf(("FBerrorMedian=%f\n",FBerrorMedian));
for(int i=0;i<(int)oldPoints.size();i++){
status[i]=(FBerror[i]<FBerrorMedian);
}
}