void TemplateTracker::setTemplateImage(const Img8u &templateImage,
float rotationStepSizeDegree){
Img8u test = templateImage;
test.scale(test.getSize()*4);
RotateOp rot;
ICLASSERT_RETURN(rotationStepSizeDegree > 0.001);
const int w = templateImage.getWidth();
const int h = templateImage.getHeight();
data->lut.clear();
for(float a=0;a<=360;a+=rotationStepSizeDegree){
rot.setAngle(a);
const Img8u *r = rot.apply(&templateImage)->as8u();
const int rw = r->getWidth();
const int rh = r->getHeight();
Rect center((rw-w)/2, (rh-h)/2, w,h);
SmartPtr<const Img8u> roiimage = r->shallowCopy(center);
Img8u *tmp = new Img8u(test.getSize()/4,1);
// data->lut.push_back(roiimage->deepCopyROI());
roiimage->scaledCopyROI(tmp,interpolateLIN);
data->lut.push_back(tmp);
}
}
TemplateTracker::Result TemplateTracker::track(const Img8u &image,
const Result *initialResult,
std::vector<Result> *allResults){
Result last = initialResult ? *initialResult : data->lastResult;
if(last.pos == Point32f(-1,-1)){
last.pos = Point(image.getWidth()/2,image.getHeight()/2);
}
const double angle = last.angle;
const int X = last.pos.x;
const int Y = last.pos.y;
const int lutSize = (int)data->lut.size();
const int angleIndex = angle / (2*M_PI) * (lutSize-1);
const int ROI = getPropertyValue("tracking.position range");
const float rotationRange = getPropertyValue("tracking.rotation range");
const int step1 = getPropertyValue("tracking.coarse steps");
//const int step2 = getPropertyValue("tracking.fine steps");
//const float angleStepSize = 360./lutSize;
const Rect roi(X - ROI/2, Y-ROI/2, ROI, ROI);
SmartPtr<const Img8u> roiImageTmp = image.shallowCopy(roi);
SmartPtr<Img8u> roiImage = roiImageTmp->deepCopyROI();
const int stepRadius = lutSize * rotationRange/720;
Result bestResult = last;
for(int i = -stepRadius; i <= stepRadius; i+= step1){
int curIndex = angleIndex + i;
while(curIndex >= lutSize) curIndex -= lutSize;
while(curIndex < 0) curIndex += lutSize;
data->prox->apply(roiImage.get(),data->lut.at(curIndex).get(),&data->buf);
Point maxPos;
float maxValue = data->buf->getMax(0,&maxPos);
Result curr(maxPos+last.pos,
(float(curIndex)/lutSize) * 2 * M_PI,
maxValue,
data->lut.at(curIndex).get());
if(curr.proximityValue > bestResult.proximityValue){
bestResult = curr;
}
if(allResults) allResults->push_back(curr);
}
data->lastResult = bestResult;
return bestResult;
}
int main(int n, char **a){
pa_explain("-o","output filename (should be some format, that supports alpha channel such as png)\n"
"or, if no output is given, the image is just show");
pa_init(n,a,"-icon-name|-i(iconname=empty) -output|-o(2) -image-file-to-c++-array|-ita(input-file-name)");
if(pa("-ita")){
Img8u image = load<icl8u>(pa("-ita"));
const int w=image.getWidth(), h = image.getHeight(), c = image.getChannels();
std::cout << "static icl8u data_XYZ["<<w<<"]["<<h<<"]["<<c<<"]={" << std::endl;
for(int y=0;y<h;++y){
std::cout << "{";
for(int x=0;x<w;++x){
std::cout << "{";
for(int i=0;i<c;++i){
std::cout << (int)image(x,y,i) << (i<c-1?",":"}");
}
std::cout << (x<w-1?",":"}");
}
std::cout << (y<h-1?",":"};") << std::endl;
}
std::cout << "//#include <ICLCore/Img.h>" << std::endl;
std::cout << "//#include <ICLCC/CCFunctions.h>" << std::endl;
std::cout << "const Img8u& load_data_XYZ(){" << std::endl;
std::cout << " static SmartPtr<Img8u> image;" << std::endl;
std::cout << " if(!image){" << std::endl;
std::cout << " image = new Img8u(Size(" << w << "," << h << ")," << c << ");" << std::endl;
std::cout << " interleavedToPlanar((const icl8u*)data_XYZ, image.get());" << std::endl;
std::cout << " }" << std::endl;
std::cout << " return *image;" << std::endl;
std::cout << "}" << std::endl;
}else{
const Img8u &image = IconFactory::create_image(pa("-i"));
if(pa("-o")){
GenericImageOutput out(pa("-o"));
out.send(&image);
}else{
show(image);
}
}
}