Example usage for org.opencv.core MatOfKeyPoint rows

Introduction

In this page you can find the example usage for org.opencv.core MatOfKeyPoint rows.

Prototype

public int rows() 

Source Link

Usage

From source file:fi.conf.tabare.ARDataProvider.java

private void track() {
    while (running) {

        //Process blobs
        while (params.blobTracking && !blobData.isEmpty()) {

            MatOfKeyPoint r = blobData.poll();
            for (int i = 0; i < r.rows(); i++) {
                double[] c = r.get(i, 0);
                TrackableBlob blob = null;
                for (TrackableBlob cb : trackedBlobs) {
                    if (cb.getProximity(c[0], c[1], 0) <= OBJECT_MERGE_PROXIMITY) {
                        blob = cb;//from  w  ww.  j  a va2 s.  co m
                        cb.update(c[0], c[1], 0, c[2]);
                        break;
                    }
                }
                if (blob == null) {
                    blob = new TrackableBlob(c[0], c[1], 0, c[2]);
                    trackedBlobs.add(blob);
                }
                calibrator.applyCalibration(blob);
            }
            r.release();

        }

        //Process tripcodes
        if (params.tripTracking) {
            lblFound.setText(tripcodeData.size() + "/" + trackedTripcodes.size() + " fiducials found");
        }
        while (params.tripTracking && !tripcodeData.isEmpty()) {
            TripcodeCandidateSample t = tripcodeData.poll();

            TrackableTripcode trip = null;
            boolean newCode = true;

            //Search if fiducial is close/overlapping with previously detected fiducials
            for (TrackableTripcode tb : trackedTripcodes.values()) {
                //System.out.println("old: " + tb.getRawX() + " " + tb.getRawY() + ", new: " + t.x + " " + t.y + ", d: " + tb.getProximity(t.x, t.y));
                if (tb.getProximity(t.x, t.y) <= params.tripCenterDist) {
                    trip = tb;
                    trip.update(t);
                    newCode = false;
                    break;
                }
            }

            if (trip == null) {
                trip = new TrackableTripcode(t);
            }

            trip.crunch();

            int id = trip.getID();

            if (trackedTripcodes.contains(id)) {
                trackedTripcodes.get(id).release();
                newCode = false;
            }

            trackedTripcodes.put((int) trip.getID(), trip);

            calibrator.applyCalibration(trip);

            if (newCode) {
                informListenersAppeared(trip);
            } else {
                informListenersChanged(trip);
            }

        }

        //Visualization and cleanup
        Graphics2D g = camPreviewPanel.getOverlayGraphics();
        if (g == null)
            continue;

        calibrator.drawGrid(g);

        for (TrackableBlob blob : trackedBlobs) {
            if (blob.getDecay() > 1) {
                trackedBlobs.remove(blob);
                continue;
            }
            g.setColor(Color.MAGENTA);
            g.drawString("" + blob.getID(), (int) blob.getRawX(), (int) blob.getRawY());
            g.fillOval((int) blob.getRawX() - 2, (int) blob.getRawY() - 2, 4, 4);
        }

        for (TrackableTripcode trip : trackedTripcodes.values()) {

            if (trip.getDecay() > 1) {
                continue;
            }

            trip.debugDraw(g, true);
        }

        camPreviewPanel.swapOverlay();

        //FPS calculations
        if (camPreviewPanel != null) {
            long t = System.currentTimeMillis();
            trackTime = (t - lastFrameTrackTime);
            lastFrameTrackTime = t;
            camPreviewPanel.updateTrackTime(trackTime);
        }

        //Slowdown if not enough work, so we don't consume time for nothing.
        if (trackTime < 100) {
            try {
                Thread.sleep(10);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }

    }
}

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