#include?“FeatureTraker.h“
#include?
#include?
#include?“opencv2/calib3d/calib3d.hpp“
#include?“opencv2/contrib/contrib.hpp“
#include?“opencv2/features2d/features2d.hpp“
#include?“opencv2/objdetect/objdetect.hpp“
#include?“opencv2/imgproc/imgproc.hpp“
#include?“opencv2/imgproc/imgproc_c.h“
#include?“opencv2/core/internal.hpp“
#include?“opencv2/nonfree/nonfree.hpp“

using?namespace?cv;

FeatureTraker::FeatureTraker（CvFeatureTrackerParams?_params）?:
params（_params）
{
	initModule_nonfree（）;
	switch?（params.feature_type）
	{
	case?CvFeatureTrackerParams::SIFT:
		dd?=?Algorithm::create（“Feature2D.SIFT“）;
		if（?dd.empty（）?）
			CV_Error（CV_StsNotImplemented?“OpenCV?has?been?compiled?without?SIFT?support“）;
		dd->set（“nOctavelayers“?5）;
		dd->set（“contrastThreshold“?0.04）;
		dd->set（“edgeThreshold“?10.7）;
		break;
	case?CvFeatureTrackerParams::SURF:
		dd?=?Algorithm::create（“Feature2D.SURF“）;
		if（?dd.empty（）?）
			CV_Error（CV_StsNotImplemented?“OpenCV?has?been?compiled?without?SURF?support“）;
		dd->set（“hessianThreshold“?400）;
		dd->set（“nOctaves“?3）;
		dd->set（“nOctavelayers“?4）;
		break;
	default:
		CV_Error（CV_StsBadArg?“Unknown?feature?type“）;
		break;
	}

	matcher?=?new?BFMatcher（NORM_L2）;
}

FeatureTraker::FeatureTraker（）
{
}

FeatureTraker::~FeatureTraker（）
{
}

void?FeatureTraker::newTrackingWindow（Mat?image?Rect?selection）
{
	image.copyTo（prev_image）;
	cvtColor（prev_image?prev_image_bw?CV_BGR2GRAY）;
	prev_trackwindow?=?selection;
	prev_center.x?=?selection.x;
	prev_center.y?=?selection.y;
	ittr?=?0;
}

Rect?FeatureTraker::updateTrackingWindow（Mat?image）
{
	if（params.feature_type?==?CvFeatureTrackerParams::OPTICAL_FLOW）
		return?updateTrackingWindowWithFlow（image）;
	else
		return?updateTrackingWindowWithSIFT（image）;
}

Rect?FeatureTraker::updateTrackingWindowWithSIFT（Mat?image）
{
	ittr++;
	vector?prev_keypoints?curr_keypoints;
	vector?prev_keys?curr_keys;
	Mat?prev_desc?curr_desc;

	Rect?window?=?prev_trackwindow;
	Mat?mask?=?Mat::zeros（image.size（）?CV_8UC1）;
	rectangle（mask?Point（window.x?window.y）?Point（window.x?+?window.width
		window.y?+?window.height）?Scalar（255）?CV_FILLED）;

	dd->operator（）（prev_image?mask?prev_keypoints?prev_desc）;

	window.x?-=?params.window_size;
	window.y?-=?params.window_size;
	window.width?+=?params.window_size;
	window.height?+=?params.window_size;
	rectangle（mask?Point（window.x?window.y）?Point（window.x?+?window.width
		window.y?+?window.height）?Scalar（255）?CV_FILLED）;

	dd->operator（）（image?mask?curr_keypoints?curr_desc）;

	if?（prev_keypoints.size（）?>?4?&&?curr_keypoints.size（）?>?4）
	{
		//descriptor->compute（prev_image?prev_keypoints?prev_desc）;
		//descriptor->compute（image?curr_keypoints?curr_desc）;

		matcher->match（prev_desc?curr_desc?matches）;

		for?（int?i?=?0;?i?		{
			prev_keys.push_back（prev_keypoints[matches[i].queryIdx].pt）;
			curr_keys.push_back（curr_keypoints[matches[i].train

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????133632??2013-06-27?17:11??FeatureTracking\Debug\FeatureTracking.exe

?????文件?????723172??2013-06-27?17:11??FeatureTracking\Debug\FeatureTracking.ilk

?????文件????1666048??2013-06-27?17:11??FeatureTracking\Debug\FeatureTracking.pdb

?????文件???????7650??2013-06-27?17:11??FeatureTracking\FeatureTracking\Debug\BuildLog.htm

?????文件????????621??2013-06-27?17:11??FeatureTracking\FeatureTracking\Debug\FeatureTracking.exe.intermediate.manifest

?????文件?????474692??2013-06-27?17:11??FeatureTracking\FeatureTracking\Debug\FeatureTraker.obj

?????文件?????139138??2013-06-27?17:11??FeatureTracking\FeatureTracking\Debug\main.obj

?????文件?????????67??2013-06-27?17:11??FeatureTracking\FeatureTracking\Debug\mt.dep

?????文件?????543744??2013-06-27?17:11??FeatureTracking\FeatureTracking\Debug\vc90.idb

?????文件????1044480??2013-06-27?17:11??FeatureTracking\FeatureTracking\Debug\vc90.pdb

?????文件???????4697??2013-06-27?16:19??FeatureTracking\FeatureTracking\FeatureTracking.vcproj

?????文件???????1427??2013-06-27?17:15??FeatureTracking\FeatureTracking\FeatureTracking.vcproj.DY5A4OBOCPYFOX7.Administrator.user

?????文件???????5379??2013-06-27?17:08??FeatureTracking\FeatureTracking\FeatureTraker.cpp

?????文件???????1324??2013-06-27?16:23??FeatureTracking\FeatureTracking\FeatureTraker.h

?????文件???????2943??2013-06-27?17:15??FeatureTracking\FeatureTracking\main.cpp

?????文件???????7420??2013-06-27?16:23??FeatureTracking\FeatureTracking\Release\BuildLog.htm

?????文件????1221941??2013-06-27?16:06??FeatureTracking\FeatureTracking\Release\featuretracker.obj

?????文件????????616??2013-06-27?16:23??FeatureTracking\FeatureTracking\Release\FeatureTracking.exe.intermediate.manifest

?????文件????1222612??2013-06-27?16:18??FeatureTracking\FeatureTracking\Release\FeatureTraker.obj

?????文件????1009858??2013-06-27?15:24??FeatureTracking\FeatureTracking\Release\hybridtracker.obj

?????文件????1102698??2013-06-27?16:23??FeatureTracking\FeatureTracking\Release\main.obj

?????文件?????????67??2013-06-27?16:23??FeatureTracking\FeatureTracking\Release\mt.dep

?????文件????1068986??2013-06-27?16:02??FeatureTracking\FeatureTracking\Release\precomp.obj

?????文件?????265216??2013-06-27?16:23??FeatureTracking\FeatureTracking\Release\vc90.idb

?????文件?????839680??2013-06-27?16:23??FeatureTracking\FeatureTracking\Release\vc90.pdb

?????文件????3419136??2013-06-27?17:15??FeatureTracking\FeatureTracking.ncb

?????文件????????911??2013-06-27?14:18??FeatureTracking\FeatureTracking.sln

????..A..H.?????46592??2013-06-27?17:15??FeatureTracking\FeatureTracking.suo

?????文件??????32256??2013-06-27?16:23??FeatureTracking\Release\FeatureTracking.exe

?????文件????1092608??2013-06-27?16:23??FeatureTracking\Release\FeatureTracking.pdb

............此處省略9個文件信息