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comparison c/feature-based-tracking.cpp @ 128:536510f60854

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new features generated as needed
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 17 Aug 2011 02:44:28 -0400
parents d19d6e63dd77
children 2a6e7a9a5c53
comparison
equal deleted inserted replaced
127:d19d6e63dd77 128:536510f60854
70 params.derivLambda = 0.5; 70 params.derivLambda = 0.5;
71 Size window = Size(params.windowSize, params.windowSize); 71 Size window = Size(params.windowSize, params.windowSize);
72 72
73 BruteForceMatcher<Hamming> descMatcher; 73 BruteForceMatcher<Hamming> descMatcher;
74 vector<DMatch> matches; 74 vector<DMatch> matches;
75 Size videoSize;
75 76
76 if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter 77 if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
77 capture.open(argc == 2 ? argv[1][0] - '0' : 0); 78 capture.open(argc == 2 ? argv[1][0] - '0' : 0);
78 else if( argc >= 2 ) 79 else if( argc >= 2 )
79 { 80 {
80 capture.open(argv[1]); 81 capture.open(argv[1]);
81 if( capture.isOpened() ) 82 if( capture.isOpened() )
83 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
82 cout << "Video " << argv[1] << 84 cout << "Video " << argv[1] <<
83 ": width=" << capture.get(CV_CAP_PROP_FRAME_WIDTH) << 85 ": width=" << videoSize.width <<
84 ", height=" << capture.get(CV_CAP_PROP_FRAME_HEIGHT) << 86 ", height=" << videoSize.height <<
85 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl; 87 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
86 if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt) 88 if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt)
87 { 89 {
88 sscanf(argv[2], "%d", &params.frame1); 90 sscanf(argv[2], "%d", &params.frame1);
89 cout << "seeking to frame #" << params.frame1 << endl; 91 cout << "seeking to frame #" << params.frame1 << endl;
104 vector<KeyPoint> prevKpts, currKpts; 106 vector<KeyPoint> prevKpts, currKpts;
105 vector<Point2f> prevPts, currPts; 107 vector<Point2f> prevPts, currPts;
106 vector<uchar> status; 108 vector<uchar> status;
107 vector<float> errors; 109 vector<float> errors;
108 Mat prevDesc, currDesc; 110 Mat prevDesc, currDesc;
111
109 112
110 // TODO structure de donnee paires pointeur trajectory, numero de keypoint 113 // TODO structure de donnee paires pointeur trajectory, numero de keypoint
111 int key = '?'; 114 int key = '?';
112 for (int frameNum = 0; ((params.frame1+frameNum < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) { 115 for (int frameNum = params.frame1; ((params.frame1+frameNum < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
113 capture >> frame; 116 capture >> frame;
114 cout << capture.get(CV_CAP_PROP_POS_FRAMES) << endl; 117 cout << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
115 while (frame.empty()) 118 while (frame.empty())
116 capture >> frame;//break; 119 capture >> frame;//break;
117 120
118 cvtColor(frame, currentFrameBW, CV_RGB2GRAY); 121 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
119 122
120 detector.detect(currentFrameBW, currKpts); 123 if (!prevPts.empty()) {
121 //cout << currKpts.size() << " kpts" << endl; 124 //::keyPoints2Points(prevKpts, prevPts);
122
123 brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
124
125 if (!prevKpts.empty()) {
126 ::keyPoints2Points(prevKpts, prevPts);
127 currPts.clear(); 125 currPts.clear();
128 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), params.derivLambda, 0); // OPTFLOW_USE_INITIAL_FLOW 126 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), params.derivLambda, 0); // OPTFLOW_USE_INITIAL_FLOW
127
129 drawOpticalFlow(prevPts, currPts, status, frame); 128 drawOpticalFlow(prevPts, currPts, status, frame);
130 129
130 vector<Point2f> trackedPts;
131 for (unsigned int i=0; i<status.size(); i++)
132 if (status[i])
133 trackedPts.push_back(currPts[i]);
134 currPts = trackedPts;
135
131 // cout << matches.size() << " matches" << endl; 136 // cout << matches.size() << " matches" << endl;
132 // descMatcher.match(currDesc, prevDesc, matches); 137 // descMatcher.match(currDesc, prevDesc, matches);
133 // cout << matches.size() << " matches" << endl; 138 // cout << matches.size() << " matches" << endl;
134 drawMatchesRelative(prevKpts, currKpts, matches, frame); 139 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
135 //drawMatches(frame, prevKpts, frame, currKpts, matches, display);//, Scalar::all(-1), Scalar::all(-1), vector<vector<char> >(), DrawMatchesFlags::DRAW_OVER_OUTIMG);
136 } 140 }
137 141
142 // adding new features, using mask around existing feature positions
143 Mat featureMask = Mat::ones(videoSize, CV_8UC1);
144 for (unsigned int n=0;n<currPts.size(); n++)
145 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
146 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
147 featureMask.at<uchar>(i,j)=0;
148 detector.detect(currentFrameBW, currKpts, featureMask);
149 ::keyPoints2Points(currKpts, currPts, false);
150
151 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
152
138 imshow("frame", frame); 153 imshow("frame", frame);
154 imshow("mask", featureMask*256);
139 previousFrameBW = currentFrameBW.clone(); 155 previousFrameBW = currentFrameBW.clone();
140 prevKpts = currKpts; 156 prevPts = currPts;
141 currDesc.copyTo(prevDesc); 157 //prevKpts = currKpts;
158 //currDesc.copyTo(prevDesc);
142 key = waitKey(2); 159 key = waitKey(2);
143 } 160 }
144 161
145 return 0; 162 return 0;
146 } 163 }