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;
}
