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// Copyright (c) 2011 libmv authors.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
#include "libmv/tracking/hybrid_region_tracker.h"
#include "libmv/image/image.h"
#include "libmv/image/convolve.h"
#include "libmv/image/sample.h"
#include "libmv/logging/logging.h"
namespace libmv {
bool HybridRegionTracker::Track(const FloatImage &image1,
const FloatImage &image2,
double x1, double y1,
double *x2, double *y2) const {
double x2_coarse = *x2;
double y2_coarse = *y2;
if (!coarse_tracker_->Track(image1, image2, x1, y1, &x2_coarse, &y2_coarse)) {
LG << "Coarse tracker failed.";
return false;
}
double x2_fine = x2_coarse;
double y2_fine = y2_coarse;
if (!fine_tracker_->Track(image1, image2, x1, y1, &x2_fine, &y2_fine)) {
LG << "Fine tracker failed.";
return false;
}
// Calculate the shift done by the fine tracker.
double dx2 = x2_coarse - x2_fine;
double dy2 = y2_coarse - y2_fine;
double fine_shift = sqrt(dx2 * dx2 + dy2 * dy2);
LG << "Refinement: dx=" << dx2 << " dy=" << dy2 << ", d=" << fine_shift;
// If the fine tracker shifted the window by more than a pixel, then
// something bad probably happened and we should give up tracking.
if (fine_shift < 2.0) {
LG << "Refinement small enough; success.";
*x2 = x2_fine;
*y2 = y2_fine;
return true;
}
LG << "Refinement was too big; failing.";
return false;
}
} // namespace libmv
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