From 00c08e5042fe745645e8521a871b8982cb5cc81c Mon Sep 17 00:00:00 2001
From: Nickiel12 <nicholasyoungsumner@gmail.com>
Date: Sun, 1 Oct 2023 17:42:47 -0700
Subject: [PATCH] working tracking with MIL

---
 flake.nix                   | 10 ++++------
 object_tracking/src/main.rs | 19 +++++++++++++++++++
 2 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/flake.nix b/flake.nix
index 02fbbe2..1136e53 100644
--- a/flake.nix
+++ b/flake.nix
@@ -34,7 +34,10 @@ Some utility commands:
       };
       rustSettings = with pkgs; {
         src = ./.;
-        nativeBuildInputs = [ pkg-config ];
+        nativeBuildInputs = [ 
+          pkg-config
+          llvmPackages.clang
+        ];
         buildInputs = [
           (opencv.override { 
             enableGtk2 = true; 
@@ -59,11 +62,6 @@ Some utility commands:
             extensions = [ "rust-src" ];
           })
           bacon
-          (opencv.override { 
-            enableGtk2 = true; 
-            enableFfmpeg = true;
-          })
-          llvmPackages.clang
         ];
         inputsFrom = with self.packages.${system}; [ opencv_tracking ];
       };
diff --git a/object_tracking/src/main.rs b/object_tracking/src/main.rs
index 9dde802..dfadaff 100644
--- a/object_tracking/src/main.rs
+++ b/object_tracking/src/main.rs
@@ -2,8 +2,11 @@ use anyhow::Result; // Automatically handle the error types
 use opencv::{
     prelude::*,
     videoio,
+    video::{TrackerMIL, TrackerMIL_Params},
     highgui
 }; // Note, the namespace of OpenCV is changed (to better or worse). It is no longer one enormous.
+
+
 fn main() -> Result<()> { // Note, this is anyhow::Result
     // Open a GUI window
     highgui::named_window("window", highgui::WINDOW_FULLSCREEN)?;
@@ -11,9 +14,25 @@ fn main() -> Result<()> { // Note, this is anyhow::Result
     let mut cam = videoio::VideoCapture::new(0, videoio::CAP_ANY)?;
     let mut frame = Mat::default(); // This array will store the web-cam data
     // Read the camera
+    cam.read(&mut frame)?;
+    cam.read(&mut frame)?;
+    cam.read(&mut frame)?;
+    cam.read(&mut frame)?;
+
+    let mut tracker = TrackerMIL::create(TrackerMIL_Params::default().unwrap()).unwrap();
+
+    let mut bbox = highgui::select_roi(&frame, true, true)?;
+
+    tracker.init(&frame, bbox)?;
+
     // and display in the window
     loop {
         cam.read(&mut frame)?;
+
+        let success = tracker.update(&frame, &mut bbox)?;
+
+        opencv::imgproc::rectangle(&mut frame, bbox, opencv::core::VecN([0_f64, 255., 0., 255.]), 1_i32, 1_i32, 0_i32)?;
+
         highgui::imshow("window", &frame)?;
         let key = highgui::wait_key(1)?;
         if key == 113 { // quit with q