main.m

%
% Big Brother
% Mohit Deshpande & Brad Pershon
% CSE 5524
% vid link: http://crcv.ucf.edu/projects/multipleCameras/multiple-cameras.php
% Sequence 3

vanRaw = VideoReader('van.mpg');

split = 192;
frameCounter = 1;

%Video making code
workingDir = tempname;
mkdir(workingDir)
mkdir(workingDir,'images')

%homography estimate for van
hv = [0.0363290990792627,-0.794525903497003,95.2809196746197;0.0591400409370579,0.491985361829041,-33.7103160613083;-0.000899040995371794,0.00296290596489446,0.0533758696343162];

%Mean-shift vars
bins = 16;
h = 25;
r = 5; %7 on grill, 5 some drift but reasonable, 3 has best cov tracking
is_start = 1;
buffer = 5;
K = [0.5 1]';

%van point
vanRoi = [42 86; 42 94; 52 86; 52 94];
roiSize = max(vanRoi, [], 1) - min(vanRoi,[],1);
extents = floor(roiSize / 2);

% track center point of ROI
vanPoint1 = min(vanRoi,[],1) + extents;

while hasFrame(vanRaw)
    %Van Code
    vanFrame = readFrame(vanRaw);    
    vanFrame1 = vanFrame(:, 1:split, :);
    vanFrame2 = vanFrame(:, (split + 1):end, :);
    
    %SURF STUFF REMOVEME used to generate homography
    %getFeatures(vanFrame1,vanFrame2);

    img_new = double(vanFrame1);
    if is_start == 1
        % initialize model and covariance matrix
        is_start = 0;
        
        minPt = vanPoint1 - extents;
        maxPt = vanPoint1 + extents;
        
        roi = img_new(minPt(2):maxPt(2), minPt(1):maxPt(1), :);
        covMatrix = computeCovMatrix(roi);
        
        X1 = circularNeighbors(img_new, vanPoint1(1), vanPoint1(2), r); 
        qModel = colorHistogram(X1, bins, vanPoint1(1), vanPoint1(2), h);
    else
        vanPoint1 = meanShift(img_new, qModel, vanPoint1, r, h, bins);
    end
    
    % reorganize points
    searchRegion = calcPoint([vanPoint1 - extents; vanPoint1 + extents], hv);
    
    minPt = min(searchRegion, [], 1) - buffer;
    maxPt = max(searchRegion, [], 1) + buffer;
    
    searchRegion(1,:) = floor(minPt);
    searchRegion(2,:) = floor(maxPt);
    
    searchRoi = vanFrame2(searchRegion(1,2):searchRegion(1,1),... 
        searchRegion(2,2):searchRegion(2,1), :);
    searchRoi = double(searchRoi);
    
    match = covTracking(searchRoi, covMatrix, roiSize, K);
    match(1) = match(1) + minPt(1);
    match(2) = match(2) + minPt(2);
    
    match = floor(match);
  
    %Calc new pos in camera 2
    vanPoint2 = calcPoint(vanPoint1, hv);
    displayImages(vanFrame1, vanFrame2, vanPoint1, extents, vanPoint2, match, searchRegion, workingDir, frameCounter);
       
    frameCounter = frameCounter + 1;
end

imageNames = dir(fullfile(workingDir,'images','*.jpg'));
imageNames = {imageNames.name}';

outputVideo = VideoWriter(fullfile('van_out'));
outputVideo.FrameRate = vanRaw.FrameRate;
open(outputVideo)

for ii = 1:length(imageNames)
   img = imread(fullfile(workingDir,'images',imageNames{ii}));
   writeVideo(outputVideo,img)
end

close(outputVideo)