int fbtrack(IplImage *imgI, IplImage *imgJ, float *bb, float *bbnew,
float *scaleshift)
{
char level = 5;
int numAdd = 50;
// find good points
const int margin = 5;
CvRect rect = cvRect(bb[0],bb[1],bb[2]-bb[0]+1,bb[3]-bb[1]+1);
cvSetImageROI(imgI, rect);
IplImage *eig_image = cvCreateImage(cvGetSize(imgI), 32, 1);
IplImage *temp_image = cvCreateImage(cvGetSize(imgI), 32, 1);
CvPoint2D32f corners [numAdd];
cvGoodFeaturesToTrack(imgI, eig_image, temp_image, corners, &numAdd, 0.01, 0, NULL, 2, 0, 0.04);
cvReleaseImage(&(eig_image));
cvReleaseImage(&(temp_image));
cvResetImageROI(imgI);
//printf("%d - number of features\n", numAdd);
if (numAdd > 50) {
numAdd = 50;
}
int numM = sqrt(100 - numAdd);
int numN = sqrt(100 - numAdd);
const int nPoints = numM * numN + numAdd;
const int sizePointsArray = nPoints * 2;
float fb[nPoints];
float ncc[nPoints];
char status[nPoints];
float pt[sizePointsArray];
float ptTracked[sizePointsArray];
int nlkPoints;
CvPoint2D32f *startPoints;
CvPoint2D32f *targetPoints;
float *fbLkCleaned;
float *nccLkCleaned;
int i, M;
int nRealPoints;
float medFb;
float medNcc;
int nAfterFbUsage;
getFilledBBPoints(bb, numM, numN, margin, pt);
//getFilledBBPoints(bb, numM, numN, 5, &ptTracked);
//show good points
//IplImage *tmp_show = cvCreateImage(cvGetSize(imgI), imgI->depth, imgI->nChannels);
//cvCopy(imgI, tmp_show, NULL);
//for(i = numN+numM; i < numN+numM+numAdd; i++) {
// cvCircle(tmp_show, CvPoint{bb[0]+corners[i-(numN+numM)].x, bb[1]+corners[i-(numN+numM)].y}, 2, CvScalar{0,0,255}, 1, 8, 0);
//}
//cvRectangle(tmp_show, CvPoint{bb[0],bb[1]},CvPoint{bb[2],bb[3]},CvScalar{0,0,255},1,8,0);
//cvShowImage("name",tmp_show);
//copy good points
for(i = numN*numM; i < numN*numM+numAdd; i++)
{
pt[2*i + 0] = (int)(corners[i-(numN*numM)].x+bb[0]);
pt[2*i + 1] = (int)(corners[i-(numN*numM)].y+bb[1]);
}
memcpy(ptTracked, pt, sizeof(float) * sizePointsArray);
initImgs();
trackLK(imgI, imgJ, pt, nPoints, ptTracked, nPoints, level, fb, ncc, status);
initImgs();
// char* status = *statusP;
nlkPoints = 0;
for(i = 0; i < nPoints; i++)
{
nlkPoints += status[i];
}
startPoints = (CvPoint2D32f *) malloc(nlkPoints * sizeof(CvPoint2D32f));
targetPoints = (CvPoint2D32f *) malloc(nlkPoints * sizeof(CvPoint2D32f));
fbLkCleaned = (float *) malloc(nlkPoints * sizeof(float));
nccLkCleaned = (float *) malloc(nlkPoints * sizeof(float));
M = 2;
nRealPoints = 0;
for(i = 0; i < nPoints; i++)
{
//TODO:handle Missing Points
//or status[i]==0
if(ptTracked[M * i] == -1)
{
}
else
{
startPoints[nRealPoints].x = pt[2 * i];
startPoints[nRealPoints].y = pt[2 * i + 1];
targetPoints[nRealPoints].x = ptTracked[2 * i];
targetPoints[nRealPoints].y = ptTracked[2 * i + 1];
fbLkCleaned[nRealPoints] = fb[i];
nccLkCleaned[nRealPoints] = ncc[i];
nRealPoints++;
}
}
//assert nRealPoints==nlkPoints
medFb = getMedian(fbLkCleaned, nlkPoints);
medNcc = getMedian(nccLkCleaned, nlkPoints);
/* printf("medianfb: %f\nmedianncc: %f\n", medFb, medNcc);
printf("Number of points after lk: %d\n", nlkPoints);*/
nAfterFbUsage = 0;
for(i = 0; i < nlkPoints; i++)
{
if((fbLkCleaned[i] <= medFb) & (nccLkCleaned[i] >= medNcc))
{
startPoints[nAfterFbUsage] = startPoints[i];
targetPoints[nAfterFbUsage] = targetPoints[i];
nAfterFbUsage++;
}
}
/*printf("Number of points after fb correction: %d\n", nAfterFbUsage);*/
// showIplImage(IMGS[1]);
// show "OpticalFlow" fb filtered.
// drawLinesCvPoint2D32f(imgI, startPoints, nRealPoints, targetPoints,
// nRealPoints);
// showIplImage(imgI);
predictbb(bb, startPoints, targetPoints, nAfterFbUsage, bbnew, scaleshift);
/*printf("bbnew: %f,%f,%f,%f\n", bbnew[0], bbnew[1], bbnew[2], bbnew[3]);
printf("relative scale: %f \n", scaleshift[0]);*/
//show picture with tracked bb
// drawRectFromBB(imgJ, bbnew);
// showIplImage(imgJ);
free(startPoints);
free(targetPoints);
free(fbLkCleaned);
free(nccLkCleaned);
if(medFb > 10) return 0;
else return 1;
}
/**
* Calculate the bounding box of an Object in a following Image.
* Imgs aren't changed.
* @param imgI Image contain Object with known BoundingBox
* @param imgJ Following Image.
* @param bb Bounding box of object to track in imgI.
* Format x1,y1,x2,y2
* @param scaleshift returns relative scale change of bb
*/
int fbtrack(IplImage *imgI, IplImage *imgJ, float* bb, float* bbnew,
float* scaleshift)
{
char level = 5;
const int numM = 10;
const int numN = 10;
const int nPoints = numM * numN;
const int sizePointsArray = nPoints * 2;
float fb[nPoints];
float ncc[nPoints];
char status[nPoints];
float pt[sizePointsArray];
float ptTracked[sizePointsArray];
int nlkPoints;
CvPoint2D32f* startPoints;
CvPoint2D32f* targetPoints;
float *fbLkCleaned;
float *nccLkCleaned;
int i,M;
int nRealPoints;
float medFb;
float medNcc;
int nAfterFbUsage;
getFilledBBPoints(bb, numM, numN, 5, pt);
//getFilledBBPoints(bb, numM, numN, 5, &ptTracked);
memcpy(ptTracked, pt, sizeof(float) * sizePointsArray);
initImgs();
trackLK(imgI, imgJ, pt, nPoints, ptTracked, nPoints, level, fb, ncc, status);
initImgs();
// char* status = *statusP;
nlkPoints = 0;
for (i = 0; i < nPoints; i++)
{
nlkPoints += status[i];
}
startPoints = (CvPoint2D32f*) malloc(nlkPoints * sizeof(CvPoint2D32f));
targetPoints = (CvPoint2D32f*) malloc(nlkPoints * sizeof(CvPoint2D32f));
fbLkCleaned = (float*) malloc(nlkPoints * sizeof(float));
nccLkCleaned = (float*) malloc(nlkPoints * sizeof(float));
M = 2;
nRealPoints = 0;
for (i = 0; i < nPoints; i++)
{
//TODO:handle Missing Points
//or status[i]==0
if (ptTracked[M * i] == -1)
{
}
else
{
startPoints[nRealPoints].x = pt[2 * i];
startPoints[nRealPoints].y = pt[2 * i + 1];
targetPoints[nRealPoints].x = ptTracked[2 * i];
targetPoints[nRealPoints].y = ptTracked[2 * i + 1];
fbLkCleaned[nRealPoints] = fb[i];
nccLkCleaned[nRealPoints] = ncc[i];
nRealPoints++;
}
}
//assert nRealPoints==nlkPoints
medFb = getMedian(fbLkCleaned, nlkPoints);
medNcc = getMedian(nccLkCleaned, nlkPoints);
/* printf("medianfb: %f\nmedianncc: %f\n", medFb, medNcc);
printf("Number of points after lk: %d\n", nlkPoints);*/
nAfterFbUsage = 0;
for (i = 0; i < nlkPoints; i++)
{
if ((fbLkCleaned[i] <= medFb) & (nccLkCleaned[i] >= medNcc))
{
startPoints[nAfterFbUsage] = startPoints[i];
targetPoints[nAfterFbUsage] = targetPoints[i];
nAfterFbUsage++;
}
}
/*printf("Number of points after fb correction: %d\n", nAfterFbUsage);*/
// showIplImage(IMGS[1]);
// show "OpticalFlow" fb filtered.
// drawLinesCvPoint2D32f(imgI, startPoints, nRealPoints, targetPoints,
// nRealPoints);
// showIplImage(imgI);
predictbb(bb, startPoints, targetPoints, nAfterFbUsage, bbnew, scaleshift);
/*printf("bbnew: %f,%f,%f,%f\n", bbnew[0], bbnew[1], bbnew[2], bbnew[3]);
printf("relative scale: %f \n", scaleshift[0]);*/
//show picture with tracked bb
// drawRectFromBB(imgJ, bbnew);
// showIplImage(imgJ);
free(startPoints);
free(targetPoints);
free(fbLkCleaned);
free(nccLkCleaned);
if(medFb > 10) return 0;
else return 1;
}
