int mainMotionPoints(void)
{
// Initialise capture device
CvCapture* capture = cvCaptureFromCAM( CV_CAP_ANY );
if(!capture) error("No Capture");
// Create a window
cvNamedWindow("OpenSURF", CV_WINDOW_AUTOSIZE );
// Declare Ipoints and other stuff
IpVec ipts, old_ipts, motion;
IpPairVec matches;
IplImage *img;
// Main capture loop
while( 1 )
{
// Grab frame from the capture source
img = cvQueryFrame(capture);
// Detect and describe interest points in the image
old_ipts = ipts;
surfDetDes(img, ipts, true, 3, 4, 2, 0.0004f);
// Fill match vector
getMatches(ipts,old_ipts,matches);
for (unsigned int i = 0; i < matches.size(); ++i)
{
const float & dx = matches[i].first.dx;
const float & dy = matches[i].first.dy;
float speed = sqrt(dx*dx+dy*dy);
if (speed > 5 && speed < 30)
drawIpoint(img, matches[i].first, 3);
}
// Display the result
cvShowImage("OpenSURF", img);
// If ESC key pressed exit loop
if( (cvWaitKey(10) & 255) == 27 ) break;
}
// Release the capture device
cvReleaseCapture( &capture );
cvDestroyWindow( "OpenSURF" );
return 0;
}
int mainMatch(void)
{
// Initialise capture device
CvCapture* capture = cvCaptureFromCAM( CV_CAP_ANY );
if(!capture) error("No Capture");
// Declare Ipoints and other stuff
IpPairVec matches;
IpVec ipts, ref_ipts;
// This is the reference object we wish to find in video frame
// Replace the line below with IplImage *img = cvLoadImage("imgs/object.jpg");
// where object.jpg is the planar object to be located in the video
IplImage *img = cvLoadImage("../imgs/object.jpg");
if (img == NULL) error("Need to load reference image in order to run matching procedure");
CvPoint src_corners[4] = {{0,0}, {img->width,0}, {img->width, img->height}, {0, img->height}};
CvPoint dst_corners[4];
// Extract reference object Ipoints
surfDetDes(img, ref_ipts, false, 3, 4, 3, 0.004f);
drawIpoints(img, ref_ipts);
showImage(img);
// Create a window
cvNamedWindow("OpenSURF", CV_WINDOW_AUTOSIZE );
// Main capture loop
while( true )
{
// Grab frame from the capture source
img = cvQueryFrame(capture);
// Detect and describe interest points in the frame
surfDetDes(img, ipts, false, 3, 4, 3, 0.004f);
// Fill match vector
getMatches(ipts,ref_ipts,matches);
// This call finds where the object corners should be in the frame
if (translateCorners(matches, src_corners, dst_corners))
{
// Draw box around object
for(int i = 0; i < 4; i++ )
{
CvPoint r1 = dst_corners[i%4];
CvPoint r2 = dst_corners[(i+1)%4];
cvLine( img, cvPoint(r1.x, r1.y),
cvPoint(r2.x, r2.y), cvScalar(255,255,255), 3 );
}
for (unsigned int i = 0; i < matches.size(); ++i)
drawIpoint(img, matches[i].first);
}
// Draw the FPS figure
drawFPS(img);
// Display the result
cvShowImage("OpenSURF", img);
// If ESC key pressed exit loop
if( (cvWaitKey(10) & 255) == 27 ) break;
}
// Release the capture device
cvReleaseCapture( &capture );
cvDestroyWindow( "OpenSURF" );
return 0;
}
void msrmtupdate(unsigned char *img,double updt[][9],IpVec *refpts,double
*refhist,int w,int h)
{
long double tot=0,dist2=0;
double hist[257 * 10]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
static double ptr[4],p;
int key[10][2];
IpVec pts,tpts;
IplImage *cl,*tmp2;
cl=cvCreateImage(cvSize(w,h),IPL_DEPTH_8U,3);
memcpy(cl->imageData,(img),cl->imageSize);
tmp2=cvCloneImage(cl);
surfDetDes(cl,tpts ,false, 5, 4, 2, 0.00004f);
IpPairVec matches;
IpVec ipts, ref_ipts;
CvPoint src_corners[4] = {cvPoint(0,0), cvPoint(80,0), cvPoint(80, 60),
cvPoint(0, 60)};
CvPoint dst_corners[4];
getMatches(tpts,*refpts,matches);
int tt=0;
tt=translateCorners(matches, src_corners, dst_corners);
if (translateCorners(matches, src_corners, dst_corners))
{
// Draw box around object
for(int i = 0; i < 4; i++ )
{
CvPoint r1 = dst_corners[i%4];
CvPoint r2 = dst_corners[(i+1)%4];
cvLine( cl, cvPoint(r1.x, r1.y), cvPoint(r2.x, r2.y), cvScalar(255,255,255),3 );
}
for (unsigned int i = 0; i < matches.size(); ++i)
drawIpoint(cl, matches[i].first);
}
CvPoint cpt;
cpt.x=((dst_corners[0].x)+(dst_corners[2].x))/2;
cpt.y=((dst_corners[0].y)+(dst_corners[2].y))/2;
p++;
if(tt)
{
if((abs(ptr[2]-abs(dst_corners[0].x-dst_corners[1].x))>=30 ||
abs(ptr[3]-abs(dst_corners[0].y-dst_corners[3].y))>=30 ||
!isrect(dst_corners)) && p>3 )
{
tt=0;
}
else
{
cvCvtColor(tmp2,cl ,CV_RGB2HSV);
ptr[0]=cpt.x;ptr[1]=cpt.y;ptr[2]=abs(dst_corners[0].xst_corners[1].x);ptr[3]=abs(dst_corners[0].y-dst_corners[3].y);
crhist((unsigned char *)cl->imageData,hist,w,h,ptr);
dist2=.1*(double)exp(-2*pow(comphist(hist,refhist),2));
}
}
for(int i=0;i<N;i++)
{
if(tt && dist2>.05 )
{
updt[i][0]=cpt.x;
updt[i][1]=cpt.y;
updt[i][2]=ptr[2];
updt[i][3]=ptr[3];
updt[i][4]=1;
updt[i][5]=1;
updt[i][8]=1;
tot++;
}
else
{
double pt[4];
for(int k=0;k<4;k++)
{
pt[k]=updt[i][k];
}
cvCvtColor(tmp2,cl, CV_RGB2HSV);
crhist((unsigned char *)cl->imageData,hist,w,h,pt);
dist2=.1*(double)exp(-100*pow(comphist(hist,refhist),2));
updt[i][8]=dist2;
tot+=updt[i][8];
}
}
for(int i=0;i<N;i++)
updt[i][8]/=(double)tot;
}
