void FeatureTrackerKLTCv::addPointsFromRegion(const cv::Mat &img,const cv::Rect& roi)
{
cv::Mat imgGray;
cv::cvtColor(img, imgGray, CV_BGR2GRAY);
double qualityLevel = 0.05;
double minDistance = 5.0;
int maxCorners = 20;
std::vector<cv::Point2f> points;
goodFeaturesToTrack(imgGray(roi),points,maxCorners,qualityLevel,minDistance);
//the points are wrt roi axis. Convert to img axis.
for(cv::Point2f& p : points){
p.x+=roi.x;
p.y+=roi.y;
this->addPointToTrack(p);
}
}
void NormalizedPatchModel::addAppearance(cv::Mat& img, const cv::Rect &detBox)
{
cv::Mat imgGray;
if ( img.channels() == 3 ) //BGR image?
cv::cvtColor( img, imgGray, CV_BGR2GRAY );
else if ( img.channels() == 1 )
imgGray = img.clone();
else
throw std::runtime_error("Error in NormalizedPatchModel::extract: image type not supported");
cv::Mat roi;
if ( detBox == cv::Rect() )
roi = imgGray;
else
roi = imgGray(detBox);
cv::Mat patch;
// std::cout << "input image size w: " << img.size().width << " h: " << img.size().height << std::endl;
// std::cout << "roi size w: " << detBox.width << " h: " << detBox.height << std::endl;
// std::cout << "image crop size w: " << roi.size().width << " h: " << roi.size().height << std::endl;
cv::resize(roi, patch, cv::Size(_normalizedWidth, _normalizedHeight));
// cv::namedWindow("patch");
// cv::imshow("patch", patch);
// cv::waitKey(0);
//std::cout << "patch size w: " << patch.size().width << " h: " << patch.size().height << std::endl;
patchVector patchVector;
imgToVector(patch, patchVector);
//float m = mean(patchVector);
//float s = stdDev(patchVector, m);
normalize(patchVector, patchVector);
_appearances.push_back(patchVector);
}