Vehicle tracking with optical flow using haar input - c++

Question

My difficulty in implementing optical flow method to track vehicles with input from the haar cascade.
So far I can only implement Optical flow but input not from Haar Cascade.
can you help me .. ??
this is my code
using namespace cv;
using namespace std;
int main()
{
int count= 0; double areax, areay, KoorX, KoorY;
Mat prev_frame, gray, temp, prev_img;
Mat frameROI, imgROI, frameLKP;
Mat ROI, prevROI, ROIOF;
//Parameter OFLKP
int win_size = 24;
int maxCorners =24;
int maxlevel =8;
TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS,20,0.01);
vector<uchar>found;
vector<float>error;
//Parameter Shi-Tomasi
vector<Point2f> prevcorners, corners;
double qualityLevel = 0.05; //0.4
double minDistance = 1; //2
int blockSize = 3;
bool useHarrisDetector = false;
double k = 0.04;
vector<Point2f> frame_corners; // CvPoint array of features
frame_corners.reserve(maxCorners);
vector<Point2f> prevframe_corners;
prevframe_corners.reserve(maxCorners);
//=======> Manggil dan buka video
VideoCapture video("Uji1.avi");
//=======> Manggil .xml
CascadeClassifier Casmobil;
String Casmobil_file = "car2500.xml";
Casmobil.load(Casmobil_file);
namedWindow("Video", 1);
namedWindow("Tracking OF", 1);
namedWindow("Deteksi Haar", 1);
video >> prev_frame;
Rect roi = Rect(50, 180, 540, 240);
prevROI=prev_frame(roi);
cvtColor(prevROI, gray, CV_BGR2GRAY);
gray.convertTo(prev_img, CV_8UC1);
while(true)
{
//=====> baca frame dr video
video >> frameROI;
//=====> ROI
Rect roi = Rect(50, 180, 540, 240);
Mat ROI=frameROI(roi);
cvtColor(ROI, gray, CV_BGR2GRAY); //=====> RGB to Grayscale
gray.convertTo(imgROI, CV_8UC1);
Mat ROIOF = frameROI(roi);
//======> Deteksi
vector<Rect> mobil;
Casmobil.detectMultiScale(gray, mobil, 1.1, 3,
CV_HAAR_DO_CANNY_PRUNING|CV_HAAR_SCALE_IMAGE,
Size(0,0));
//======> Gambar kotak
for (size_t i = 0; i < mobil.size(); i++)
{
Rect kotak = mobil[i];
areax = (mobil[i].x + mobil[i].width*0.5);
areay = (mobil[i].y + mobil[i].height*0.5);
Point center = Point(areax ,areay);
rectangle(ROI, kotak,CV_RGB(0,255,0),2,8,0);
circle(ROI, center, 3,CV_RGB(255, 0, 0),-2);
}
//prev_frame
goodFeaturesToTrack(imgROI, frame_corners,maxCorners,
qualityLevel,minDistance,Mat(),
blockSize,useHarrisDetector,k);
cornerSubPix(imgROI, frame_corners, Size(win_size, win_size),
Size( -1, -1 ),termcrit);
calcOpticalFlowPyrLK(imgROI, prev_img, frame_corners,
prevframe_corners, found, error,
Size(win_size, win_size), maxlevel,termcrit);
for( int j = 0; j < frame_corners.size(); j++ )
{
circle(ROIOF, frame_corners[j], 2, CV_RGB(255, 0, 0), -1);
circle(ROIOF, prevframe_corners[j], 2, CV_RGB(0, 0, 255), -1);
//circle(copy, corners[i], r, Scalar(rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255)), -1, 8, 0 );
line(ROIOF, prevframe_corners[j], frame_corners[j], CV_RGB(0, 255, 0),2, 8, 0);
}
prev_img = imgROI.clone();
imshow("Video ", frameROI);
imshow("Deteksi Haar", ROI);
imshow("Tracking OF", ROIOF);
if(waitKey(400) >= 0) break;
}
return 0;
}
Thanks,,
do I need to replace the input image from goodfeaturesToTrack by croping images from Haar Results ??
like :
Mat Crop = imgROI(mobil[i]);
goodFeaturesToTrack(Crop,frame_corners,maxCorners,qualityLevel,minDistance,Mat(),blockSize,useHarrisDetector,k);