public LucasKanadeTracker(
Size searchWindowSize,
int levels,
MCvTermCriteria terminationCriteria,
LKFLOW_TYPE forwardFlags,
LKFLOW_TYPE backwardFlags
)
{
// save arguments
_searchWindowSize = searchWindowSize;
_levels = levels;
_terminationCriteria = terminationCriteria;
_forwardFlags = forwardFlags;
_backwardFlags = backwardFlags;
}
private void CalculateOpticalFlow()
{
PointF[] trackedFeatures;
float[] trackedErrors;
LKFLOW_TYPE flags = LKFLOW_TYPE.DEFAULT;
if (this.TrackedFeatures != null)
{
// We have a prefilled pyramid
m_PreviousPyrBufferParam = m_CurrentPyrBufferParam;
flags = LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY;
}
Emgu.CV.OpticalFlow.PyrLK(
this.PreviousGrayImage,
this.CurrentGrayImage,
m_PreviousPyrBufferParam,
m_CurrentPyrBufferParam,
this.PreviousFoundFeatures,
new Size(c_WinSize, c_WinSize),
5, // level
m_OpticalFlowTerminationCriteria,
flags,
out trackedFeatures,
out m_TrackingStatus,
out trackedErrors);
this.TrackedFeatures = trackedFeatures;
int notTrackedFeatures = 0;
for (int i = 0; i < m_TrackingStatus.Length; i++)
{
if (m_TrackingStatus[i] == 0)
{
notTrackedFeatures++;
}
}
this.NotTrackedFeaturesCount = notTrackedFeatures;
}
internal OpticalFlowResult CalculateOpticalFlow(Image <Gray, Byte> previousGrayImage, Image <Gray, Byte> currentGrayImage, PointF[] previousFoundFeaturePoints)
{
LKFLOW_TYPE flags = LKFLOW_TYPE.DEFAULT;
if (m_PreviousPyrBufferParam != null)
{
// We have a prefilled pyramid
m_PreviousPyrBufferParam = m_CurrentPyrBufferParam;
flags = LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY;
}
else
{
m_PreviousPyrBufferParam = new Image <Gray, byte>(currentGrayImage.Width + 8, currentGrayImage.Height / 3);
m_CurrentPyrBufferParam = new Image <Gray, byte>(currentGrayImage.Width + 8, currentGrayImage.Height / 3);
}
PointF[] trackedFeaturePoints;
float[] trackingErrors;
byte[] trackingStatusIndicators;
Emgu.CV.OpticalFlow.PyrLK(
previousGrayImage,
currentGrayImage,
m_PreviousPyrBufferParam,
m_CurrentPyrBufferParam,
previousFoundFeaturePoints,
new Size(c_WinSize, c_WinSize),
5, // level
m_OpticalFlowTerminationCriteria,
flags,
out trackedFeaturePoints,
out trackingStatusIndicators,
out trackingErrors);
this.OpticalFlowResult.TrackedFeaturePoints = trackedFeaturePoints;
this.OpticalFlowResult.TrackingStatusIndicators = trackingStatusIndicators;
this.OpticalFlowResult.TrackingErrors = trackingErrors;
return(this.OpticalFlowResult);
}