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// Motion Tracker with Optical Flow.cpp : Defines the entry point for the console application.
//
 
#include <stdafx.h>
#include <cv.h>
#include <highgui.h>
#include <math.h>
#include <stdio.h>
 
 
const int MAX_COUNT = 2000;
int count = 0, startOfTrackPoints = 0;
 
CvPoint2D32f* points[2] = {0,0};
 
IplImage *color_img=0;
 
/* Listener for mouse clicks */
void OnMouseClick(int event, int x, int y, int flags, void* param)
{
	    
	if(color_img->origin)
	y = color_img->height - y;
	if(event == CV_EVENT_LBUTTONDOWN && count < MAX_COUNT) 
	{
		// Add point
		points[1][count] = points[0][count] = cvPoint2D32f(x, y); 
		count++;
	}
	
}
int main(int argc,char *argv[])
{
	
	int c, i, j, step, win_size, flags, color;
	char* status = 0;
 
	CvCapture* capture = cvCaptureFromCAM( CV_CAP_ANY );
	if( !capture ) 
	{
    fprintf( stderr, "ERROR: capture is NULL \n" );
    getchar();
    return -1;
	}
printf("Debug 1\n");
	IplImage *gray_img, *prev_img, *curr_img;
	IplImage *pyramid, *prev_pyramid, *optical_flow_field;
	CvPoint p1, p2, p3, p4, p5;
	printf("Welcome to Ax demo! ^_^\n");
	printf("Click on the 'This is my webcam!' window to add trackballs.\n");
	printf("The 'Field' window shows the optical flow with larger \n");
	printf("arrows corresponding to larger displacements.\n\n");
	printf("Keyboard commands:\n");
	printf(" ESC to quit\n");
	printf(" c to clear all the trackballs\n");
	printf(" n to cycle through the different trackball colors\n");
 
/* Initialization and space allocation */
color_img = cvQueryFrame(capture);
if(!color_img)
return 0;
 
gray_img = cvCreateImage(cvSize(color_img->width,color_img->height), IPL_DEPTH_8U, 1);
optical_flow_field = cvCreateImage( cvSize(color_img->width,color_img->height), IPL_DEPTH_8U, 1);
prev_img = cvCreateImage(cvSize(color_img->width,color_img->height), IPL_DEPTH_8U, 1);
curr_img = cvCreateImage(cvSize(color_img->width,color_img->height), IPL_DEPTH_8U, 1);
pyramid = cvCreateImage(cvSize(color_img->width,color_img->height), IPL_DEPTH_8U, 1);
prev_pyramid = cvCreateImage(cvSize(color_img->width,color_img->height), IPL_DEPTH_8U, 1);
 
gray_img->origin = color_img->origin;
optical_flow_field->origin = color_img->origin;
prev_img->origin = color_img->origin;
curr_img->origin = color_img->origin;
pyramid->origin = color_img->origin;
prev_pyramid->origin = color_img->origin;
 
	points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
	points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(points[0][0]));
	status = (char*)cvAlloc(MAX_COUNT);
	flags = 0;
	step = 10;
	win_size = 10;
	color = 0;
	
 
/* Create windows */
cvNamedWindow("This is my webcam!", CV_WINDOW_AUTOSIZE);
cvNamedWindow("Field", CV_WINDOW_AUTOSIZE);
 
/* Set up mouse event listener */
int mouseParam=5;
cvSetMouseCallback("This is my webcam!", OnMouseClick, &mouseParam);
 
/* Initialize the points to the points on the image separated
by distances of 10 pixels */
printf("Debug 2\n");
for(i = 0; i < color_img->height; i+=step) 
{
	for(j = 0; j < color_img->width; j+=step) 
	{
		points[0][count] = cvPoint2D32f(j, i);
		points[1][count] = cvPoint2D32f(j, i);
		count++; // count the number of points
		
	}
 
 
}
 
/* Where track points begin */
startOfTrackPoints = count;
 
/* Use the "first" frame */
color_img = cvQueryFrame(capture);
if(!color_img)
return 0;
 
cvCvtColor( color_img, gray_img, CV_BGR2GRAY );
 
/* Smooth to improve accuracy */
cvSmooth(gray_img, gray_img, CV_GAUSSIAN, 3, 0, 0);
cvSmooth(gray_img, gray_img, CV_GAUSSIAN, 3, 0, 0);
cvSmooth(gray_img, gray_img, CV_GAUSSIAN, 3, 0, 0);
cvCopy(curr_img, prev_img, 0);
cvCopy(gray_img, curr_img, 0);
 
/* Begin the main infinite loop until break */
for(;;) 
{
	color_img = cvQueryFrame(capture);
	if(!color_img)
	break;
	cvCvtColor( color_img, gray_img, CV_BGR2GRAY );
 
	/* Smooth to improve accuracy */
	cvSmooth(gray_img, gray_img, CV_GAUSSIAN, 3, 0, 0);
	cvSmooth(gray_img, gray_img, CV_GAUSSIAN, 3, 0, 0);
	cvSmooth(gray_img, gray_img, CV_GAUSSIAN, 3, 0, 0);
	cvCopy(curr_img, prev_img, 0);
	cvCopy(gray_img, curr_img, 0);
	cvCopy(pyramid, prev_pyramid, 0);
 
	for(i = startOfTrackPoints; i < count; i++)
	points[0][i] = points[1][i];
 
	/* Calculate the optical flow using pyramidal iterative LK */
	cvCalcOpticalFlowPyrLK(prev_img, curr_img, prev_pyramid, pyramid,
	points[0], points[1], count, cvSize(win_size, win_size), 3, status, 0,
	cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), flags);
 
	/* Threshold to ignore noise */
	for(i = startOfTrackPoints; i < count; i++)
	if(abs((int)(points[0][i].x - points[1][i].x)) > 50 ||
	abs((int)(points[0][i].y - points[1][i].y)) > 50)
	points[1][i] = points[0][i];
 
	/* Set flags */
	flags |= CV_LKFLOW_PYR_A_READY;
 
	/* Refresh the optical flow field */
	for (i = 0; i < optical_flow_field->height; i++)
	for (j = 0; j < optical_flow_field->width; j++)
	(optical_flow_field->imageData + optical_flow_field->widthStep*i)[j] = (char)255;
 
	/* Draw the optical flow field; the greater the velocity, the bigger the
	respective arrow and arrowhead will be for better visualization */
 
for (i = 0; i < startOfTrackPoints; i++) 
{
	/* Threshold velocities: not drawing very small or very large velocities */
	if((abs((int)(points[0][i].x - points[1][i].x)) >= 1 ||
	abs((int)(points[0][i].y - points[1][i].y)) >= 1) &&
	(abs((int)(points[0][i].x - points[1][i].x)) <= 20 &&
	abs((int)(points[0][i].y - points[1][i].y)) <= 20)) 
	{
 
		/* Arrow */
		cvLine(optical_flow_field, cvPointFrom32f(points[0][i]),
		cvPointFrom32f(points[1][i]), cvScalar(0, 0, 0,0), 1, 8, 0);
		/* Arrowhead */
 
		p1 = cvPoint((int)(cvPointFrom32f(points[0][i]).x + 0.7*(cvPointFrom32f(points[1][i]).x - cvPointFrom32f(points[0][i]).x)),
		(int)(cvPointFrom32f(points[0][i]).y + 0.7*(cvPointFrom32f(points[1][i]).y -
		cvPointFrom32f(points[0][i]).y)));
 
		p2 = cvPoint((int)(cvPointFrom32f(points[0][i]).x + 0.7*(cvPointFrom32f(points[1][i]).x -
		cvPointFrom32f(points[0][i]).x)),
		(int)cvPointFrom32f(points[1][i]).y);
 
		p3 = cvPoint((int)cvPointFrom32f(points[1][i]).x,(int)(cvPointFrom32f(points[0][i]).y +
		0.7*(cvPointFrom32f(points[1][i]).y - cvPointFrom32f(points[0][i]).y)));
 
		p4 = cvPoint((int)(p1.x + 0.5*(p2.x-p1.x)),
		(int)(p1.y + 0.5*(p2.y-p1.y)));
 
		p5 = cvPoint((int)(p1.x + 0.5*(p3.x-p1.x)),
		(int)(p1.y + 0.5*(p3.y-p1.y)));
 
		cvLine(optical_flow_field, cvPointFrom32f(points[1][i]),
		p4, cvScalar(0, 0, 0,0), 1, 8, 0);
 
		cvLine(optical_flow_field, cvPointFrom32f(points[1][i]),
		p5, cvScalar(0, 0, 0,0), 1, 8, 0);
	}
 
	else 
	{
		/* Draws a dot */
		cvLine(optical_flow_field, cvPointFrom32f(points[0][i]),
		cvPointFrom32f(points[0][i]), cvScalar(0, 0, 0,0), 1, 8, 0);
	}
 
}
 
for(i = startOfTrackPoints; i < count; i++) 
{
	/* Draw trackballs */
	if(color == 0)
	cvCircle(color_img, cvPoint((int)points[1][i].x, (int)points[1][i].y),
	5, cvScalar(0,255,0,0), 3, 8, 0);
 
	else if(color == 1)
	cvCircle(color_img, cvPoint((int)points[1][i].x, (int)points[1][i].y),
	5, cvScalar(255,0,0,0), 3, 8, 0);
 
	else
	cvCircle(color_img, cvPoint((int)points[1][i].x, (int)points[1][i].y), 5, cvScalar(0,255,255,0), 3, 8, 0);
}
 
	/* Show images */
	cvShowImage("This is my webcam!", color_img);
	cvShowImage("Field", optical_flow_field);
	/* Wait */
	c = cvWaitKey(10);
	/* Check for ESC */
if(c == 27)
break;
 
else if(c == 'c')
startOfTrackPoints = count;
 
else if(c == 'n') 
{
	color++;
	color = color % 3;
	}
}
	/* Release windows */
	cvReleaseCapture(&capture);
	cvDestroyWindow("This is my webcam!");
	cvDestroyWindow("Field");
}

                                  

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