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

#cv.ShowImage('reducedWindow', self.reducedImage)

#cv.ShowImage('reducedWindow', self.originalImage)

#cv.ShowImage('reducedWindow', self.frameGray)