public static void TrackPoints(IplImage image, List<CvPoint> rects)
{
if (rects.Count == 0)
{
needToInitialize = true;
return;
}
CvSize imageSize = image.Size;
image.ConvertColor(context1.Gray, Cv.CV_BGR2GRAY);
if (needToInitialize)
{
using (IplImage eig = new IplImage(imageSize, 32, 1),
temp = new IplImage(imageSize, 32, 1))
{
int k = 0;
for (int i = 0; i < rects.Count; i++)
{
CvPoint p = rects[i];
if (!InPoints(p, rects, 0, i - 1))
context1.Points[k++] = new CvPoint2D32f(p.x, p.y);
}
context1.Count = k;
Cv.cvFindCornerSubPix(context1.Gray, context1.Points.Pointer, context1.Count, new CvSize(WinSize, WinSize),
new CvSize(-1, -1), defaultTermCriteria);
}
}
else if (context0.Count > 0)
{
Cv.cvCalcOpticalFlowPyrLK(context0.Gray, context1.Gray, context0.Pyramid, context1.Pyramid,
context0.Points.Pointer, context1.Points.Pointer,
context0.Count, new CvSize(WinSize, WinSize), 3,
status.Pointer, IntPtr.Zero, new CvTermCriteria(20, 0.03), flags);
flags |= Cv.CV_LKFLOW_PYR_A_READY;
bool[] inTracking = new bool[rects.Count];
List<CvPoint> pointsInTrack = new List<CvPoint>();
List<TrackedPoint> trackedPoints = new List<TrackedPoint>();
int k = 0;
for (int i = 0; i < context0.Count; i++)
{
if (status[i] == 0) continue;
CvPoint2D32f sp = context1.Points[i];
bool valid = false;
CvPoint p = sp.ToCvPoint();
for (int j = 0; j < rects.Count; j++)
{
if (CvPoint.Distance2(p, rects[j]) < 25)
{
inTracking[j] = true;
valid = true;
}
}
if (!valid && context0.IsFading[i]) continue;
pointsInTrack.Add(p);
context1.Points[k] = sp;
context1.IsFading[k] = !valid;
++k;
TrackedPoint tp = new TrackedPoint();
tp.p = sp;
CvPoint2D32f sp0 = context0.Points[i];
tp.offset = new CvPoint2D32f(sp.x - sp0.x, sp.y - sp0.y);
tp.isNewPoint = false;
trackedPoints.Add(tp);
}
int l = k;
for (int i = 0; i < rects.Count; i++)
{
CvPoint p = rects[i];
if (!inTracking[i] && !InPoints(p, pointsInTrack, 0, pointsInTrack.Count))
{
pointsInTrack.Add(rects[i]);
CvPoint2D32f sp = new CvPoint2D32f(p.x, p.y);
context1.Points[k++] = sp;
TrackedPoint tp = new TrackedPoint();
tp.p = sp;
tp.isNewPoint = true;
trackedPoints.Add(tp);
}
}
if (l < k)
{
Cv.cvFindCornerSubPix(context1.Gray,
new IntPtr(context1.Points.Pointer.ToInt32() + 4 * l), k - l, new CvSize(WinSize, WinSize),
new CvSize(-1, -1), defaultTermCriteria);
}
context1.Count = k;
PointTracker.trackedPoints = trackedPoints.ToArray();
}
else
{
context1.Count = 0;
PointTracker.trackedPoints = null;
}
if (context1.Count == 0)
{
needToInitialize = true;
return;
}
TrackPointContext c = context1; context1 = context0; context0 = c;
needToInitialize = false;
}
public static void InitializeTrackPoints(IplImage image)
{
status = new ByteSafeMemoryBox(MaxPointsCount);
CvSize imageSize = image.Size;
context0 = new TrackPointContext(imageSize, MaxPointsCount);
context1 = new TrackPointContext(imageSize, MaxPointsCount);
}