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comparison c/feature-based-tracking.cpp @ 800:2cade72d75ad dev

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modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 31 May 2016 17:06:41 -0400
parents 85af65b6d531
children d3e8dd9f3ca4 daa992ac6b44
comparison
equal deleted inserted replaced
799:0662c87a61c9 800:2cade72d75ad
60 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName); 60 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
61 features.clear(); 61 features.clear();
62 } 62 }
63 63
64 void trackFeatures(const KLTFeatureTrackingParameters& params) { 64 void trackFeatures(const KLTFeatureTrackingParameters& params) {
65 // BriefDescriptorExtractor brief(32);
66 // const int DESIRED_FTRS = 500;
67 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
68
69 Mat homography = ::loadMat(params.homographyFilename, " "); 65 Mat homography = ::loadMat(params.homographyFilename, " ");
70 Mat invHomography; 66 Mat invHomography;
71 if (params.display && !homography.empty()) 67 if (params.display && !homography.empty())
72 invHomography = homography.inv(); 68 invHomography = homography.inv();
73 69
172 if (frame.size() != videoSize) { 168 if (frame.size() != videoSize) {
173 cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl; 169 cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl;
174 break; 170 break;
175 } 171 }
176 } 172 }
177 173
178
179 cvtColor(frame, currentFrameBW, CV_RGB2GRAY); 174 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
180 175
181 if (!prevPts.empty()) { 176 if (!prevPts.empty()) {
182 currPts.clear(); 177 currPts.clear();
183 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold); 178 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
186 std::vector<Point2f> trackedPts; 181 std::vector<Point2f> trackedPts;
187 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin(); 182 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
188 while (iter != featurePointMatches.end()) { 183 while (iter != featurePointMatches.end()) {
189 bool deleteFeature = false; 184 bool deleteFeature = false;
190 185
191 if (status[iter->pointNum]) { 186 if (status[iter->pointNum] && (mask.at<uchar>(static_cast<int>(round(currPts[iter->pointNum].y)), static_cast<int>(round(currPts[iter->pointNum].x))) != 0)) {
192 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography); 187 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
193 188
194 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement) 189 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
195 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound); 190 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
196 if (deleteFeature) 191 if (deleteFeature)
197 iter->feature->shorten(); 192 iter->feature->shorten();
198 } else 193 } else
217 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities"); 212 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
218 213
219 if (params.display) { 214 if (params.display) {
220 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches) 215 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
221 fp.feature->draw(frame, invHomography, Colors::red()); 216 fp.feature->draw(frame, invHomography, Colors::red());
222 // object detection
223 // vector<Rect> locations;
224 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
225 // BOOST_FOREACH(Rect r, locations)
226 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
227 } 217 }
228 } 218 }
229 219
230 // adding new features, using mask around existing feature positions 220 // adding new features, using mask around existing feature positions
231 Mat featureMask = mask.clone(); 221 Mat featureMask = mask.clone();
232 for (unsigned int n=0;n<currPts.size(); n++) 222 for (unsigned int n=0;n<currPts.size(); n++)
233 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++) 223 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
234 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++) 224 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
235 featureMask.at<uchar>(i,j)=0; 225 featureMask.at<uchar>(i,j)=0;
236 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k); 226 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
237 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) { 227 BOOST_FOREACH(Point2f p, newPts) {
238 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography)); 228 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
239 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size())); 229 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
240 currPts.push_back(p); 230 currPts.push_back(p);
241 } 231 }
242 232