From 548e3a01654ba0c5386fdfe03d45cfd46f5a4cfe Mon Sep 17 00:00:00 2001
From: okondratieva <olga-kondratieva@inbox.ru>
Date: Thu, 7 Jul 2016 18:53:05 +0400
Subject: [PATCH] day_4

---
 include/tracking.hpp      | 17 ++++++++++++
 samples/tracking_demo.cpp | 55 +++++++++++++++++++++++++++++++++++++++
 src/tracking.cpp          | 43 ++++++++++++++++++++++++++++++
 3 files changed, 115 insertions(+)
 create mode 100644 samples/tracking_demo.cpp

diff --git a/include/tracking.hpp b/include/tracking.hpp
index f80004c..e0b84e1 100644
--- a/include/tracking.hpp
+++ b/include/tracking.hpp
@@ -4,6 +4,7 @@
 #include <string>
 
 #include "opencv2/core/core.hpp"
+#include "opencv2\opencv.hpp"
 
 class Tracker {
  public:
@@ -11,3 +12,19 @@ class Tracker {
   virtual bool Init(const cv::Mat &frame, const cv::Rect &roi) = 0;
   virtual cv::Rect Track(const cv::Mat &frame) = 0;
 };
+class MedianFlowTracker : public Tracker {
+public:
+	virtual bool Init(const cv::Mat &frame, const cv::Rect &roi);
+	virtual cv::Rect Track(const cv::Mat &frame);
+
+protected:
+	cv::Rect position_;
+	cv::Mat frame_;
+};
+/*
+struct MouseCallbackState {
+	bool is_selection_started;
+	bool is_selection_finished;
+	Point point_first;
+	Point point_second;
+};*/
\ No newline at end of file
diff --git a/samples/tracking_demo.cpp b/samples/tracking_demo.cpp
new file mode 100644
index 0000000..6b0e6fe
--- /dev/null
+++ b/samples/tracking_demo.cpp
@@ -0,0 +1,55 @@
+#include <iostream>
+#include <string>
+
+#include "opencv2/core.hpp"
+#include "tracking.hpp"
+using namespace std;
+using namespace cv;
+
+const char* kAbout =
+    "This is an empty application that can be treated as a template for your "
+    "own doing-something-cool applications.";
+
+const char* kOptions =
+    "{ v video        |        | video to process         }"
+    "{ h ? help usage |        | print help message       }";
+
+
+int main(int argc, const char** argv) {
+  // Parse command line arguments.
+  CommandLineParser parser(argc, argv, kOptions);
+  parser.about(kAbout);
+
+  // If help option is given, print help message and exit.
+  if (parser.get<bool>("help")) {
+    parser.printMessage();
+    return 0;
+  }
+  MedianFlowTracker tracker;
+  //VideoCapture cap("Users/iss2016/Documents/itseez-ss-2016-practice/test/test_data/video/logo.mp4");
+  Mat frame_prev,frame_next;
+  VideoCapture cap(0);
+  Rect roi(10, 20, 50, 100);
+
+	cap >> frame_prev;
+	tracker.Init(frame_prev, roi);
+  
+  for (;;) {
+	  cap >> frame_next;
+
+	  rectangle(frame_next, tracker.Track(frame_next),CV_RGB(0,240,0));
+	
+	  tracker.Init(frame_next, roi);
+
+
+	  imshow("Tracking", frame_next);
+	  if(waitKey(30)>=0)break;
+  }
+
+
+
+  // Do something cool.
+  cout << "This is empty template sample." << endl;
+
+  return 0;
+}
diff --git a/src/tracking.cpp b/src/tracking.cpp
index 26cbe06..a20cd32 100644
--- a/src/tracking.cpp
+++ b/src/tracking.cpp
@@ -9,5 +9,48 @@ using namespace cv;
 shared_ptr<Tracker> Tracker::CreateTracker(const string &name) {
   std::cerr << "Failed to create tracker with name '" << name << "'"
             << std::endl;
+  if (name == "median_flow") {
+	  return std::make_shared<MedianFlowTracker>();
+  }
   return nullptr;
 }
+bool MedianFlowTracker::Init(const cv::Mat &frame, const cv::Rect &roi) {
+	position_ = roi;
+	frame_ = frame.clone();
+	return true;
+}
+cv::Rect MedianFlowTracker::Track(const cv::Mat &frame) {
+	std::vector<Point2f> features;
+	std::vector<Point2f> features_;
+	std::vector<uchar> status;
+	std::vector<float> err;
+
+	Mat frame_prev_roi(frame_, position_);
+
+	goodFeaturesToTrack(frame_prev_roi, features, 100, 0.3, 5);
+	goodFeaturesToTrack(frame, features_, 100, 0.3, 5);
+	
+	calcOpticalFlowPyrLK(frame_, frame, features_, features, status, err);
+
+	int k = 0;
+	for (int i = 0; i < status.size();i++)
+		if (status[i] == 0)
+		{
+			features_.erase(features_.begin() + i - k);
+			features.erase(features.begin() + i - k);
+			k++;
+		}
+
+	std::vector<float>dx, dy;
+	for (int i = 0; i < features_.size(); i++) {
+		dx.push_back(features[i].x-features_[i].x);
+		dy.push_back(features[i].y - features_[i].y);
+	}
+
+	std::sort(dx.begin(), dx.end());
+	std::sort(dy.begin(), dy.end());
+	position_.x += dx.size() / 2;
+	position_.y += dy.size() / 2;
+
+	return position_;
+}