//------------------------------------------------------------------------
void ofxFern::detect(IplImage * frame){
// do we need to detect the marker?
if(!bDetected){
detector->detect(frame);
// found the marker?
if(detector->pattern_is_detected){
bDetected = true;
tracker->initialize(detector->detected_u_corner[0], detector->detected_v_corner[0],
detector->detected_u_corner[1], detector->detected_v_corner[1],
detector->detected_u_corner[2], detector->detected_v_corner[2],
detector->detected_u_corner[3], detector->detected_v_corner[3]);
}
else{ // nope
bDetected = false;
trackedMarker.tracked = false;
tracker->initialize();
if(show_keypoints) {
draw_detected_keypoints(frame, detector);
}
return;
}
}
// track the marker if it was detected
if(bDetected){
// is the marker being tracked?
if(tracker->track(frame)){
if(show_keypoints) {
draw_detected_keypoints(frame, detector);
draw_recognized_keypoints(frame, detector);
}
setTrackedMarker(tracker);
draw_tracked_position(frame, tracker);
if(show_tracked_locations)
draw_tracked_locations(frame, tracker);
} else { // nope
if(show_keypoints) {
draw_detected_keypoints(frame, detector);
draw_recognized_keypoints(frame, detector);
}
setTrackedMarker(detector);
draw_detected_position(frame, detector);
bDetected = false;
}
}
else{
tracker->initialize();
if(show_keypoints) {
draw_detected_keypoints(frame, detector);
}
//draw_initial_rectangle(frame, tracker);
trackedMarker.tracked = false;
}
}
//------------------------------------------------------------------------
IplImage * ofxFern::detect(IplImage * frame){
static bool last_frame_ok=false;
if (mode == 1 || ((mode==0) && last_frame_ok)) {
bool ok = tracker->track(frame);
last_frame_ok=ok;
if (!ok) {
if (mode==0) return detect(frame);
else {
draw_initial_rectangle(frame, tracker);
tracker->initialize();
}
} else {
draw_tracked_position(frame, tracker);
if (show_tracked_locations) draw_tracked_locations(frame, tracker);
}
//cvPutText(frame, "template-based 3D tracking", cvPoint(10, 30), &font, cvScalar(255, 255, 255));
} else {
detector->detect(frame);
if (detector->pattern_is_detected) {
last_frame_ok=true;
tracker->initialize(detector->detected_u_corner[0], detector->detected_v_corner[0],
detector->detected_u_corner[1], detector->detected_v_corner[1],
detector->detected_u_corner[2], detector->detected_v_corner[2],
detector->detected_u_corner[3], detector->detected_v_corner[3]);
if (mode == 3 && tracker->track(frame)) {
if (show_keypoints) {
draw_detected_keypoints(frame, detector);
draw_recognized_keypoints(frame, detector);
}
draw_tracked_position(frame, tracker);
if (show_tracked_locations) draw_tracked_locations(frame, tracker);
;//cvPutText(frame, "detection+template-based 3D tracking", cvPoint(10, 30), &font, cvScalar(255, 255, 255));
} else {
if (show_keypoints) {
draw_detected_keypoints(frame, detector);
draw_recognized_keypoints(frame, detector);
}
draw_detected_position(frame, detector);
;//cvPutText(frame, "detection", cvPoint(10, 30), &font, cvScalar(255, 255, 255));
}
} else {
last_frame_ok=false;
if (show_keypoints) draw_detected_keypoints(frame, detector);
if (mode == 3)
;//cvPutText(frame, "detection + template-based 3D tracking", cvPoint(10, 30), &font, cvScalar(255, 255, 255));
else
;//cvPutText(frame, "detection", cvPoint(10, 30), &font, cvScalar(255, 255, 255));
}
}
//cvShowImage("ferns-demo", frame);
}
