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comparison c/feature-based-tracking.cpp @ 140:8de5e8256224

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added function to save vectors of features
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 23 Aug 2011 19:04:41 -0400
parents 47329bd16cc0
children 6f10a227486c
comparison
equal deleted inserted replaced
139:47329bd16cc0 140:8de5e8256224
49 int pointNum; 49 int pointNum;
50 50
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
55 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const unsigned int& minNFeatures = 0) {
56 if (features.size() >= minNFeatures) {
57 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db);
58 features.clear();
59 }
60 }
54 61
55 int main(int argc, char *argv[]) { 62 int main(int argc, char *argv[]) {
56 // BriefDescriptorExtractor brief(32); 63 // BriefDescriptorExtractor brief(32);
57 // const int DESIRED_FTRS = 500; 64 // const int DESIRED_FTRS = 500;
58 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4); 65 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
108 // cout << "capture device " << argv[1] << " failed to open!" << endl; 115 // cout << "capture device " << argv[1] << " failed to open!" << endl;
109 // return 1; 116 // return 1;
110 // } 117 // }
111 118
112 // database 119 // database
113 TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessList<Point2f>(); 120 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
114 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>(); 121 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
115 trajectoryDB->connect(params.databaseFilename.c_str()); 122 trajectoryDB->connect(params.databaseFilename.c_str());
116 trajectoryDB->createTable(); 123 trajectoryDB->createTable();
117 124
118 vector<KeyPoint> prevKpts, currKpts; 125 vector<KeyPoint> prevKpts, currKpts;
119 vector<Point2f> prevPts, currPts, newPts; 126 vector<Point2f> prevPts, currPts, newPts;
120 vector<uchar> status; 127 vector<uchar> status;
121 vector<float> errors; 128 vector<float> errors;
122 Mat prevDesc, currDesc; 129 Mat prevDesc, currDesc;
123 130
124 vector<FeatureTrajectoryPtr> features; 131 vector<FeatureTrajectoryPtr> lostFeatures;
125 vector<FeaturePointMatch> featurePointMatches; 132 vector<FeaturePointMatch> featurePointMatches;
126 133
127 int key = '?'; 134 int key = '?';
128 unsigned int savedFeatureId=0; 135 unsigned int savedFeatureId=0;
129 for (int frameNum = params.frame1; ((params.frame1+frameNum < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) { 136 for (int frameNum = params.frame1; ((params.frame1+frameNum < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
160 if (deleteFeature) { 167 if (deleteFeature) {
161 if (iter->feature->length() >= params.minFeatureTime) { 168 if (iter->feature->length() >= params.minFeatureTime) {
162 iter->feature->setId(savedFeatureId); 169 iter->feature->setId(savedFeatureId);
163 savedFeatureId++; 170 savedFeatureId++;
164 /// \todo smoothing 171 /// \todo smoothing
165 iter->feature->write(*trajectoryDB); 172 //iter->feature->write(*trajectoryDB);
173 lostFeatures.push_back(iter->feature);
166 } 174 }
167 iter = featurePointMatches.erase(iter); 175 iter = featurePointMatches.erase(iter);
168 } else { 176 } else {
169 trackedPts.push_back(currPts[iter->pointNum]); 177 trackedPts.push_back(currPts[iter->pointNum]);
170 iter->pointNum = trackedPts.size()-1; 178 iter->pointNum = trackedPts.size()-1;
171 iter++; 179 iter++;
172 } 180 }
173 } 181 }
174 currPts = trackedPts; 182 currPts = trackedPts;
175 assert(currPts.size() == featurePointMatches.size()); 183 assert(currPts.size() == featurePointMatches.size());
184 saveFeatures(lostFeatures, *trajectoryDB);
176 185
177 if (params.display) { 186 if (params.display) {
178 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches) 187 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
179 fp.feature->draw(frame, Colors::red()); 188 fp.feature->draw(frame, Colors::red());
180 } 189 }
193 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++) 202 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
194 featureMask.at<uchar>(i,j)=0; 203 featureMask.at<uchar>(i,j)=0;
195 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k); 204 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
196 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) { 205 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
197 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p)); 206 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p));
198 //features.push_back(f);
199 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size())); 207 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
200 currPts.push_back(p); 208 currPts.push_back(p);
201 } 209 }
202 // currPts.insert(currPts.end(), newPts.begin(), newPts.end()); 210 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
203 //::keyPoints2Points(currKpts, currPts, false); 211 //::keyPoints2Points(currKpts, currPts, false);