QVision: Qt's Image, Video and Computer Vision Library

00001 /*
00002  *      Copyright (C) 2011, 2012. PARP Research Group.
00003  *      <http://perception.inf.um.es>
00004  *      University of Murcia, Spain.
00005  *
00006  *      This file is part of the QVision library.
00007  *
00008  *      QVision is free software: you can redistribute it and/or modify
00009  *      it under the terms of the GNU Lesser General Public License as
00010  *      published by the Free Software Foundation, version 3 of the License.
00011  *
00012  *      QVision is distributed in the hope that it will be useful,
00013  *      but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *      GNU Lesser General Public License for more details.
00016  *
00017  *      You should have received a copy of the GNU Lesser General Public
00018  *      License along with QVision. If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00024 
00025 #ifndef QVKLTTRACKER_H
00026 #define QVKLTTRACKER_H
00027 
00028 #include <GL/glew.h>
00029 #include <QVImage>
00030 #include <QGLPixelBuffer>
00031 
00032 #include "v3d_gpuklt.h"
00033 
00034 using namespace V3D_GPU;
00035 
00042 class QVKLTTrackerFeature{
00043 private:
00044     QPointF position;
00045     float gain;
00046 
00047 public:
00048     QVKLTTrackerFeature() { };
00049 
00050     QVKLTTrackerFeature(float x, float y, float gain) {
00051         this->position = QPointF(x,y);
00052         this->gain = gain;
00053     }
00054 
00055     void setGain (float gain){
00056         this->gain = gain;
00057     }
00058     void setPosition (float x, float y){
00059             this->position = QPointF(x,y);
00060     }
00061 
00062     float getGain() const {
00063         return gain;
00064     }
00065 
00066     QPointF getPosition() const{
00067         return position;
00068     };
00069 };
00070 
00077 class QVKLTTracker
00078 {
00079 public:
00080     //Constructors
00081 
00084     QVKLTTracker() { };
00085 
00104     QVKLTTracker(int width, int height, bool trackWithGain=true,
00105                  int featuresWidth=64, int featuresHeight=64,
00106                  int nIterations=10, int nLevels=4, int levelSkip=1,int windowWidth=7,
00107                  float trackBorderMargin=20.0f, float detectBorderMargin=20.0f,
00108                  float convergenceThreshold=0.1f, float SSD_Threshold=5000.0f,
00109                  int minDistance=7, float minCornerness=50.0f);
00110 
00111     //Destructors
00112     // @brief Default destructor
00114     ~QVKLTTracker();
00115 
00121     void detect (const QVImage<uChar,1> &image, QHash<int, QVKLTTrackerFeature> &features);
00122 
00128     void redetect (const QVImage<uChar,1> &image, QHash<int, QVKLTTrackerFeature> &features);
00129 
00135     void track (const QVImage<uChar,1> &image, QHash<int, QVKLTTrackerFeature> &features);
00136 
00137 private:
00138       void updateHashTable( QHash<int,QVKLTTrackerFeature> &features,int width,int height);
00139 
00140       KLT_SequenceTracker* tracker;
00141       KLT_TrackedFeature* feat;
00142       int* trackID;
00143       int nFeatures;
00144       int lastID;
00145 };
00146 
00147 #endif // QVKLTTRACKER_H
src/qvgpukltflow/qvklttracker.h
