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Viewing changes to sw/ext/opencv_bebop/opencv/samples/cpp/phase_corr.cpp

  • Committer: Paparazzi buildbot
  • Date: 2016-05-18 15:00:29 UTC
  • Revision ID: felix.ruess+docbot@gmail.com-20160518150029-e8lgzi5kvb4p7un9
Manual import commit 4b8bbb730080dac23cf816b98908dacfabe2a8ec from v5.0 branch.

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sw/ext/opencv_bebop/opencv/samples/cpp/phase_corr.cpp
 
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#include "opencv2/core/core.hpp"
 
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#include "opencv2/videoio/videoio.hpp"
 
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#include "opencv2/highgui/highgui.hpp"
 
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#include "opencv2/imgproc/imgproc.hpp"
 
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using namespace cv;
 
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int main(int, char* [])
 
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{
 
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    VideoCapture video(0);
 
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    Mat frame, curr, prev, curr64f, prev64f, hann;
 
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    int key = 0;
 
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    do
 
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    {
 
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        video >> frame;
 
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        cvtColor(frame, curr, COLOR_RGB2GRAY);
 
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        if(prev.empty())
 
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        {
 
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            prev = curr.clone();
 
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            createHanningWindow(hann, curr.size(), CV_64F);
 
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        }
 
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        prev.convertTo(prev64f, CV_64F);
 
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        curr.convertTo(curr64f, CV_64F);
 
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        Point2d shift = phaseCorrelate(prev64f, curr64f, hann);
 
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        double radius = std::sqrt(shift.x*shift.x + shift.y*shift.y);
 
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        if(radius > 5)
 
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        {
 
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            // draw a circle and line indicating the shift direction...
 
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            Point center(curr.cols >> 1, curr.rows >> 1);
 
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            circle(frame, center, (int)radius, Scalar(0, 255, 0), 3, LINE_AA);
 
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            line(frame, center, Point(center.x + (int)shift.x, center.y + (int)shift.y), Scalar(0, 255, 0), 3, LINE_AA);
 
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        }
 
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        imshow("phase shift", frame);
 
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        key = waitKey(2);
 
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        prev = curr.clone();
 
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    } while((char)key != 27); // Esc to exit...
 
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    return 0;
 
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}