class TrackerInWindowMode:
def __init__(self, order=7, defaultKernelSize=21):
#cv.NamedWindow('reducedWindow', cv.CV_WINDOW_AUTOSIZE)
self.windowWidth = 100
self.windowHeight = 100
self.frameGray = cv.CreateImage((self.windowWidth, self.windowHeight),
cv.IPL_DEPTH_32F, 1)
self.originalImage = cv.CreateImage(
(self.windowWidth, self.windowHeight), cv.IPL_DEPTH_32F, 3)
self.markerTracker = MarkerTracker(order, defaultKernelSize, 2500)
self.trackerIsInitialized = False
self.subImagePosition = None
pass
def cropFrame(self, frame, lastMarkerLocationX, lastMarkerLocationY):
if (not self.trackerIsInitialized):
self.markerTracker.allocateSpaceGivenFirstFrame(self.originalImage)
self.reducedImage = cv.CreateImage(
(self.windowWidth, self.windowHeight), frame.depth, 3)
xCornerPos = lastMarkerLocationX - self.windowWidth / 2
yCornerPos = lastMarkerLocationY - self.windowHeight / 2
# Ensure that extracted window is inside the original image.
if (xCornerPos < 1):
xCornerPos = 1
if (yCornerPos < 1):
yCornerPos = 1
if (xCornerPos > frame.width - self.windowWidth):
xCornerPos = frame.width - self.windowWidth
if (yCornerPos > frame.height - self.windowHeight):
yCornerPos = frame.height - self.windowHeight
try:
self.subImagePosition = (xCornerPos, yCornerPos, self.windowWidth,
self.windowHeight)
self.reducedImage = cv.GetSubRect(frame, self.subImagePosition)
cv.ConvertScale(self.reducedImage, self.originalImage)
cv.CvtColor(self.originalImage, self.frameGray, cv.CV_RGB2GRAY)
except:
print("frame: ", frame.depth)
print("originalImage: ", self.originalImage.height,
self.originalImage.width, self.originalImage)
print("frameGray: ", self.frameGray.height, self.frameGray.width,
self.frameGray.depth)
print "Unexpected error:", sys.exc_info()[0]
#quit(0)
pass
def locateMarker(self):
(xm, ym) = self.markerTracker.locateMarker(self.frameGray)
#xm = 50
#ym = 50
#cv.Line(self.reducedImage, (0, ym), (self.originalImage.width, ym), (0, 0, 255)) # B, G, R
#cv.Line(self.reducedImage, (xm, 0), (xm, self.originalImage.height), (0, 0, 255))
redColor = (55, 55, 255)
blueColor = (255, 0, 0)
orientation = self.markerTracker.orientation
cv.Circle(self.reducedImage, (xm, ym), 4, redColor, 2)
xm2 = int(xm + 50 * math.cos(orientation))
ym2 = int(ym + 50 * math.sin(orientation))
cv.Line(self.reducedImage, (xm, ym), (xm2, ym2), blueColor, 2)
xm = xm + self.subImagePosition[0]
ym = ym + self.subImagePosition[1]
#print((xm, ym))
#return [xm, ym, orientation, self.markerTracker.quality]
return MarkerPose(xm, ym, orientation, self.markerTracker.quality,
self.markerTracker.order)
def showCroppedImage(self):
pass
class TrackerInWindowMode:
def __init__(self, order = 7, defaultKernelSize = 21):
#cv.NamedWindow('reducedWindow', cv.CV_WINDOW_AUTOSIZE)
self.windowWidth = 100
self.windowHeight = 100
self.frameGray = cv.CreateImage ((self.windowWidth, self.windowHeight), cv.IPL_DEPTH_32F, 1)
self.originalImage = cv.CreateImage((self.windowWidth, self.windowHeight), cv.IPL_DEPTH_32F, 3)
self.markerTracker = MarkerTracker(order, defaultKernelSize, 2500)
self.trackerIsInitialized = False
self.subImagePosition = None
pass
def cropFrame(self, frame, lastMarkerLocationX, lastMarkerLocationY):
if(not self.trackerIsInitialized):
self.markerTracker.allocateSpaceGivenFirstFrame(self.originalImage)
self.reducedImage = cv.CreateImage((self.windowWidth, self.windowHeight), frame.depth, 3)
xCornerPos = lastMarkerLocationX - self.windowWidth / 2
yCornerPos = lastMarkerLocationY - self.windowHeight / 2
# Ensure that extracted window is inside the original image.
if(xCornerPos < 1):
xCornerPos = 1
if(yCornerPos < 1):
yCornerPos = 1
if(xCornerPos > frame.width - self.windowWidth):
xCornerPos = frame.width - self.windowWidth
if(yCornerPos > frame.height - self.windowHeight):
yCornerPos = frame.height - self.windowHeight
try:
self.subImagePosition = (xCornerPos, yCornerPos, self.windowWidth, self.windowHeight)
self.reducedImage = cv.GetSubRect(frame, self.subImagePosition)
cv.ConvertScale(self.reducedImage, self.originalImage)
cv.CvtColor(self.originalImage, self.frameGray, cv.CV_RGB2GRAY)
except:
print("frame: ", frame.depth)
print("originalImage: ", self.originalImage.height, self.originalImage.width, self.originalImage)
print("frameGray: ", self.frameGray.height, self.frameGray.width, self.frameGray.depth)
print "Unexpected error:", sys.exc_info()[0]
#quit(0)
pass
def locateMarker(self):
(xm, ym) = self.markerTracker.locateMarker(self.frameGray)
#xm = 50
#ym = 50
#cv.Line(self.reducedImage, (0, ym), (self.originalImage.width, ym), (0, 0, 255)) # B, G, R
#cv.Line(self.reducedImage, (xm, 0), (xm, self.originalImage.height), (0, 0, 255))
redColor = (55, 55, 255)
blueColor = (255, 0, 0)
orientation = self.markerTracker.orientation
cv.Circle(self.reducedImage, (xm, ym), 4, redColor, 2)
xm2 = int(xm + 50*math.cos(orientation))
ym2 = int(ym + 50*math.sin(orientation))
cv.Line(self.reducedImage, (xm, ym), (xm2, ym2), blueColor, 2)
xm = xm + self.subImagePosition[0]
ym = ym + self.subImagePosition[1]
#print((xm, ym))
#return [xm, ym, orientation, self.markerTracker.quality]
return MarkerPose(xm, ym, orientation, self.markerTracker.quality, self.markerTracker.order)
def showCroppedImage(self):
pass
