practice-4. first function

include/tracking.hpp

@@ -8,6 +8,16 @@
 class Tracker {
  public:
   static std::shared_ptr<Tracker> CreateTracker(const std::string &name);
-  virtual bool Init(const cv::Mat &frame, const cv::Rect &roi) = 0;
+  virtual bool Init(const cv::Mat &frame, const cv::Mat &next_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::Mat &next_frame, const cv::Rect &roi);
+	virtual cv::Rect Track(const cv::Mat &frame);
+
+protected:
+	cv::Rect position_;
+	cv::Mat frame_;
+};

samples/template_demo.cpp

@@ -2,6 +2,11 @@
 #include <string>
 
 #include "opencv2/core.hpp"
+#include <opencv2/highgui/highgui.hpp>
+#include <iostream>
+
+#include "tracking.hpp"
+
 
 using namespace std;
 using namespace cv;
@@ -26,6 +31,44 @@ int main(int argc, const char** argv) {
     return 0;
   }
 
+
+  string filename = "pedestrians.mpg";
+
+  VideoCapture capture(filename);
+  Mat frame;
+  Mat next_frame;
+
+  if (!capture.isOpened())
+	  throw "Error when reading steam_avi";
+
+
+  MedianFlowTracker medianflowtraacker;
+
+  Rect ROI(70, 70, 90, 90);
+
+  const cv::Rect &roi = ROI;
+
+  namedWindow("video", 1);
+  for (; ; )
+  {   
+	  capture >> frame;
+
+	  if (frame.empty()) {
+		 continue;
+	  }
+
+	  //getting next frame
+	  capture.read(next_frame);
+
+	  medianflowtraacker.Init(frame, next_frame, roi);
+
+	  imshow("video", frame);
+	  waitKey(20); 
+  }
+  waitKey(0);
+
+
+
   // Do something cool.
   cout << "This is empty template sample." << endl;
 

src/tracking.cpp

@@ -1,13 +1,109 @@
 #include "tracking.hpp"
 
 #include <iostream>
+#include <opencv2/video/tracking.hpp>
+
+
+#include "opencv2/core.hpp"
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+
+using namespace std;
+using namespace cv;
+
 
 using std::string;
 using std::shared_ptr;
 using namespace cv;
 
 shared_ptr<Tracker> Tracker::CreateTracker(const string &name) {
+	if (name == "median_flow") {
+		return std::make_shared<MedianFlowTracker>();
+	}
+
   std::cerr << "Failed to create tracker with name '" << name << "'"
             << std::endl;
   return nullptr;
 }
+
+
+bool MedianFlowTracker::Init(const cv::Mat &frame, const cv::Mat &next_frame, const cv::Rect &roi)
+{
+	vector<Point2f> corners;
+	vector<Point2f> next_corners;
+
+	std::vector<uchar> status;
+	std::vector<float> err;
+
+	int maxCorners = 150;
+	double qualityLevel = 0.01;
+	double minDistance = 10;
+	int maxTrackbar = 100;
+
+	RNG rng(12345);
+
+	Mat frame_gray;
+	frame.copyTo(frame_gray);
+
+	//convert to gray
+	cvtColor(frame, frame_gray, COLOR_BGR2GRAY);
+
+	//set 8-bit, single-channel
+	frame_gray.convertTo(frame_gray, CV_8UC1);
+
+	//cut roi
+	Mat cropped_frame = frame_gray(roi);
+	imshow("Croped_frame", cropped_frame);
+
+	// get features from roi
+	goodFeaturesToTrack(cropped_frame, corners, maxCorners, qualityLevel, minDistance);
+
+	/// corners detected
+	cout << "** Number of corners detected: " << corners.size() << endl;
+
+	waitKey(0);
+
+	//////////////////////////////////
+	///for next_frame
+	/////////////////////////////////
+
+	Mat next_frame_gray;
+	next_frame.copyTo(next_frame_gray);
+
+	//convert to gray
+	cvtColor(next_frame, next_frame_gray, COLOR_BGR2GRAY);
+
+	//set 8-bit, single-channel
+	next_frame_gray.convertTo(next_frame_gray, CV_8UC1);
+
+	//cut roi
+	Mat next_cropped_frame = next_frame_gray(roi);
+
+	// get features from roi
+	goodFeaturesToTrack(next_cropped_frame, next_corners, maxCorners, qualityLevel, minDistance);
+
+	/// corners detected
+	cout << "** Number of corners on next frame detected: " << next_corners.size() << endl;
+
+	waitKey(0);
+
+	//////
+
+
+	//count optical flow	
+	calcOpticalFlowPyrLK(cropped_frame, next_cropped_frame, corners, next_corners, status, err);
+
+	for (int i = 0; i < status.size(); i++) {
+		//if (!status[i]) 
+		//cout << "** status: " << status[i] << endl;
+	}
+
+	return true;
+}
+
+cv::Rect MedianFlowTracker::Track(const cv::Mat &frame)
+{
+	cv::Rect objects;
+	return objects;
+}