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comparison c/feature-based-tracking.cpp @ 147:0089fb29cd26

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added projection of points and reprojection for display
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 30 Aug 2011 13:38:31 -0400
parents 7150427c665e
children 668710d4c773
comparison
equal deleted inserted replaced
146:7150427c665e 147:0089fb29cd26
51 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum): 51 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
52 feature(_feature), pointNum(_pointNum) {} 52 feature(_feature), pointNum(_pointNum) {}
53 }; 53 };
54 54
55 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) { 55 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
56 /// \todo smoothing
56 if (features.size() >= minNFeatures) { 57 if (features.size() >= minNFeatures) {
57 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName); 58 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
58 features.clear(); 59 features.clear();
59 } 60 }
60 } 61 }
68 Mat frame, currentFrameBW, previousFrameBW; 69 Mat frame, currentFrameBW, previousFrameBW;
69 70
70 KLTFeatureTrackingParameters params(argc, argv); 71 KLTFeatureTrackingParameters params(argc, argv);
71 cout << params.parameterDescription << endl; 72 cout << params.parameterDescription << endl;
72 73
73 Mat m = ::loadMat(params.homographyFilename, " "); 74 Mat homography = ::loadMat(params.homographyFilename, " ");
74 //cout << m << endl; 75 Mat invHomography;
76 if (params.display && !homography.empty())
77 invHomography = homography.inv();
75 78
76 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; 79 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
77 Size window = Size(params.windowSize, params.windowSize); 80 Size window = Size(params.windowSize, params.windowSize);
78 81
79 BruteForceMatcher<Hamming> descMatcher; 82 BruteForceMatcher<Hamming> descMatcher;
117 // //help(argv); 120 // //help(argv);
118 // cout << "capture device " << argv[1] << " failed to open!" << endl; 121 // cout << "capture device " << argv[1] << " failed to open!" << endl;
119 // return 1; 122 // return 1;
120 // } 123 // }
121 124
122 // mask
123 Mat mask = imread(params.maskFilename, 0); 125 Mat mask = imread(params.maskFilename, 0);
124 if (mask.empty()) 126 if (mask.empty())
125 mask = Mat::ones(videoSize, CV_8UC1); 127 mask = Mat::ones(videoSize, CV_8UC1);
126 128
127 // database
128 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>()); 129 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
129 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>(); 130 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
130 trajectoryDB->connect(params.databaseFilename.c_str()); 131 trajectoryDB->connect(params.databaseFilename.c_str());
131 trajectoryDB->createTable("positions"); 132 trajectoryDB->createTable("positions");
132 trajectoryDB->createTable("velocities"); 133 trajectoryDB->createTable("velocities");
169 vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin(); 170 vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
170 while (iter != featurePointMatches.end()) { 171 while (iter != featurePointMatches.end()) {
171 bool deleteFeature = false; 172 bool deleteFeature = false;
172 173
173 if (status[iter->pointNum]) { 174 if (status[iter->pointNum]) {
174 iter->feature->addPoint(frameNum, currPts[iter->pointNum]); 175 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
175 176
176 deleteFeature |= iter->feature->smallDisplacement(params.nDisplacements, minTotalFeatureDisplacement) 177 deleteFeature |= iter->feature->smallDisplacement(params.nDisplacements, minTotalFeatureDisplacement)
177 || !iter->feature->motionSmooth(params.accelerationBound, params.deviationBound); 178 || !iter->feature->motionSmooth(params.accelerationBound, params.deviationBound);
178 if (deleteFeature) 179 if (deleteFeature)
179 iter->feature->shorten(); 180 iter->feature->shorten();
182 183
183 if (deleteFeature) { 184 if (deleteFeature) {
184 if (iter->feature->length() >= params.minFeatureTime) { 185 if (iter->feature->length() >= params.minFeatureTime) {
185 iter->feature->setId(savedFeatureId); 186 iter->feature->setId(savedFeatureId);
186 savedFeatureId++; 187 savedFeatureId++;
187 /// \todo smoothing
188 //iter->feature->write(*trajectoryDB);
189 lostFeatures.push_back(iter->feature); 188 lostFeatures.push_back(iter->feature);
190 } 189 }
191 iter = featurePointMatches.erase(iter); 190 iter = featurePointMatches.erase(iter);
192 } else { 191 } else {
193 trackedPts.push_back(currPts[iter->pointNum]); 192 trackedPts.push_back(currPts[iter->pointNum]);
199 assert(currPts.size() == featurePointMatches.size()); 198 assert(currPts.size() == featurePointMatches.size());
200 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities"); 199 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
201 200
202 if (params.display) { 201 if (params.display) {
203 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches) 202 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
204 fp.feature->draw(frame, Colors::red()); 203 fp.feature->draw(frame, invHomography, Colors::red());
205 } 204 }
206 //drawOpticalFlow(prevPts, currPts, status, frame); 205 //drawOpticalFlow(prevPts, currPts, status, frame);
207 206
208 // cout << matches.size() << " matches" << endl; 207 // cout << matches.size() << " matches" << endl;
209 // descMatcher.match(currDesc, prevDesc, matches); 208 // descMatcher.match(currDesc, prevDesc, matches);
217 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++) 216 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
218 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++) 217 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
219 featureMask.at<uchar>(i,j)=0; 218 featureMask.at<uchar>(i,j)=0;
220 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k); 219 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
221 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) { 220 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
222 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p)); 221 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
223 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size())); 222 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
224 currPts.push_back(p); 223 currPts.push_back(p);
225 } 224 }
226 // currPts.insert(currPts.end(), newPts.begin(), newPts.end()); 225 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
227 //::keyPoints2Points(currKpts, currPts, false); 226 //::keyPoints2Points(currKpts, currPts, false);