dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status [point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append (the_point)
# draw the current point
cv.cvCircle (image,
cv.cvPointFrom32f(the_point),
3, cv.cvScalar (0, 255, 0, 0),
-1, 8, 0)
# set back the points we keep
points [1] = new_points
if add_remove_pt:
# we want to add a point
points [1].append (cv.cvPointTo32f (pt))
# refine the corner locations
points [1][-1] = cv.cvFindCornerSubPix (
grey,
[points [1][-1]],
cv.cvSize (win_size, win_size), cv.cvSize (-1, -1),
dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status [point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append (the_point)
# draw the current point
cv.cvCircle (image,
cv.cvPointFrom32f(the_point),
3, cv.cvScalar (0, 255, 0, 0),
-1, 8, 0)
# draw the flow vector
if status[point_counter]:
dx1 = old_points[point_counter].x - the_point.x
dy1 = old_points[point_counter].y - the_point.y
if dx1 * dx1 + dy1 * dy1 <= 500:
cv.cvLine(image,
cv.cvPointFrom32f(old_points[point_counter]),
cv.cvPointFrom32f(the_point),
cv.cvScalar(0,255,0,0), 2)
#print 'velocity: ',dx1/(time.time()-t1),dy1/(time.time()-t1)
dx = pt.x - the_point.x
dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status[point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append(the_point)
# draw the current point
cv.cvCircle(image, cv.cvPointFrom32f(the_point), 3,
cv.cvScalar(0, 255, 0, 0), -1, 8, 0)
# set back the points we keep
points[1] = new_points
if add_remove_pt:
# we want to add a point
points[1].append(cv.cvPointTo32f(pt))
# refine the corner locations
points[1][-1] = cv.cvFindCornerSubPix(
grey, [points[1][-1]], cv.cvSize(win_size, win_size),
cv.cvSize(-1, -1),
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20,
0.03))[0]
def harrisResponse(frame):
"""pyvision/point/DetectorHarris.py
Runs at 10.5 fps...
"""
#gray = cv.cvCreateImage( cv.cvGetSize(image), 8, 1 )
#corners = cv.cvCreateImage( cv.cvGetSize(image), 32, 1 )
#cv.cvCvtColor( image, gray, cv.CV_BGR2GRAY )
#cv.cvCornerHarris(gray,corners,15)
# This could be done in a persistant way
# create the images we need
image = cv.cvCreateImage(cv.cvGetSize(frame), 8, 3)
grey = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
prev_grey = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
pyramid = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
prev_pyramid = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
eig = cv.cvCreateImage(cv.cvGetSize(frame), cv.IPL_DEPTH_32F, 1)
temp = cv.cvCreateImage(cv.cvGetSize(frame), cv.IPL_DEPTH_32F, 1)
points = [[], []]
# copy the frame, so we can draw on it
cv.cvCopy(frame, image)
# create a grey version of the image
cv.cvCvtColor(image, grey, cv.CV_BGR2GRAY)
# search the good points
points[1] = cv.cvGoodFeaturesToTrack(grey, eig, temp, MAX_COUNT, quality,
min_distance, None, 3, 0, 0.04)
# refine the corner locations
cv.cvFindCornerSubPix(
grey, points[1], cv.cvSize(win_size, win_size), cv.cvSize(-1, -1),
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20, 0.03))
if len(points[0]) > 0:
# we have points, so display them
# calculate the optical flow
[points[1], status], something = cv.cvCalcOpticalFlowPyrLK(
prev_grey, grey, prev_pyramid, pyramid, points[0], len(points[0]),
(win_size, win_size), 3, len(points[0]), None,
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20,
0.03), flags)
# initializations
point_counter = -1
new_points = []
for the_point in points[1]:
# go trough all the points
# increment the counter
point_counter += 1
if add_remove_pt:
# we have a point to add, so see if it is close to
# another one. If yes, don't use it
dx = pt.x - the_point.x
dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status[point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append(the_point)
# draw the current point
cv.cvCircle(image, cv.cvPointFrom32f(the_point), 3,
cv.cvScalar(0, 255, 0, 0), -1, 8, 0)
# set back the points we keep
points[1] = new_points
# swapping
prev_grey, grey = grey, prev_grey
prev_pyramid, pyramid = pyramid, prev_pyramid
points[0], points[1] = points[1], points[0]
return image
def harrisResponse(frame):
"""pyvision/point/DetectorHarris.py
Runs at 10.5 fps...
"""
#gray = cv.cvCreateImage( cv.cvGetSize(image), 8, 1 )
#corners = cv.cvCreateImage( cv.cvGetSize(image), 32, 1 )
#cv.cvCvtColor( image, gray, cv.CV_BGR2GRAY )
#cv.cvCornerHarris(gray,corners,15)
# This could be done in a persistant way
# create the images we need
image = cv.cvCreateImage (cv.cvGetSize (frame), 8, 3)
grey = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
prev_grey = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
pyramid = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
prev_pyramid = cv.cvCreateImage (cv.cvGetSize (frame), 8, 1)
eig = cv.cvCreateImage (cv.cvGetSize (frame), cv.IPL_DEPTH_32F, 1)
temp = cv.cvCreateImage (cv.cvGetSize (frame), cv.IPL_DEPTH_32F, 1)
points = [[], []]
# copy the frame, so we can draw on it
cv.cvCopy (frame, image)
# create a grey version of the image
cv.cvCvtColor (image, grey, cv.CV_BGR2GRAY)
# search the good points
points [1] = cv.cvGoodFeaturesToTrack (
grey, eig, temp,
MAX_COUNT,
quality, min_distance, None, 3, 0, 0.04)
# refine the corner locations
cv.cvFindCornerSubPix (
grey,
points [1],
cv.cvSize (win_size, win_size), cv.cvSize (-1, -1),
cv.cvTermCriteria (cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS,
20, 0.03))
if len (points [0]) > 0:
# we have points, so display them
# calculate the optical flow
[points [1], status], something = cv.cvCalcOpticalFlowPyrLK (
prev_grey, grey, prev_pyramid, pyramid,
points [0], len (points [0]),
(win_size, win_size), 3,
len (points [0]),
None,
cv.cvTermCriteria (cv.CV_TERMCRIT_ITER|cv.CV_TERMCRIT_EPS,
20, 0.03),
flags)
# initializations
point_counter = -1
new_points = []
for the_point in points [1]:
# go trough all the points
# increment the counter
point_counter += 1
if add_remove_pt:
# we have a point to add, so see if it is close to
# another one. If yes, don't use it
dx = pt.x - the_point.x
dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status [point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append (the_point)
# draw the current point
cv.cvCircle (image,
cv.cvPointFrom32f(the_point),
3, cv.cvScalar (0, 255, 0, 0),
-1, 8, 0)
# set back the points we keep
points [1] = new_points
# swapping
prev_grey, grey = grey, prev_grey
prev_pyramid, pyramid = pyramid, prev_pyramid
points [0], points [1] = points [1], points [0]
return image
