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comparison c/feature-based-tracking.cpp @ 134:a617d0808bbc

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added test on feature length and display control
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 17 Aug 2011 23:21:26 -0400
parents 63dd4355b6d1
children 32d2722d4028
comparison
equal deleted inserted replaced
133:63dd4355b6d1 134:a617d0808bbc
58 58
59 VideoCapture capture; 59 VideoCapture capture;
60 Mat frame, currentFrameBW, previousFrameBW; 60 Mat frame, currentFrameBW, previousFrameBW;
61 61
62 KLTFeatureTrackingParameters params; 62 KLTFeatureTrackingParameters params;
63 params.display = false;
63 params.frame1 = 0; 64 params.frame1 = 0;
64 params.nFrames = 50; 65 params.nFrames = -1;
65 params.maxNFeatures = 1000; 66 params.maxNFeatures = 1000;
66 params.featureQuality = 0.1; 67 params.featureQuality = 0.1;
67 params.minFeatureDistanceKLT = 3; 68 params.minFeatureDistanceKLT = 3;
68 params.windowSize = 3; 69 params.windowSize = 3;
69 params.useHarrisDetector = false; 70 params.useHarrisDetector = false;
72 73
73 params.pyramidLevel = 3; 74 params.pyramidLevel = 3;
74 params.maxNumberTrackingIterations = 20; // 30 75 params.maxNumberTrackingIterations = 20; // 30
75 params.minTrackingError = 0.3; // 0.01 76 params.minTrackingError = 0.3; // 0.01
76 params.derivLambda = 0.5; 77 params.derivLambda = 0.5;
78 params.minFeatureTime = 20;
79
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;
80 vector<DMatch> matches; 83 vector<DMatch> matches;
81 Size videoSize; 84 Size videoSize;
126 // TODO structure de donnee paires pointeur trajectory, numero de keypoint 129 // TODO structure de donnee paires pointeur trajectory, numero de keypoint
127 int key = '?'; 130 int key = '?';
128 unsigned int savedFeatureId=0; 131 unsigned int savedFeatureId=0;
129 for (int frameNum = params.frame1; ((params.frame1+frameNum < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) { 132 for (int frameNum = params.frame1; ((params.frame1+frameNum < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
130 capture >> frame; 133 capture >> frame;
131 cout << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl; 134 cout << frameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
132 while (frame.empty()) 135 while (frame.empty())
133 capture >> frame;//break; 136 capture >> frame;//break;
134 137
135 cvtColor(frame, currentFrameBW, CV_RGB2GRAY); 138 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
136 139
149 iter->feature->addPoint(frameNum, currPts[iter->pointNum]); 152 iter->feature->addPoint(frameNum, currPts[iter->pointNum]);
150 trackedPts.push_back(currPts[iter->pointNum]); 153 trackedPts.push_back(currPts[iter->pointNum]);
151 iter->pointNum = trackedPts.size()-1; 154 iter->pointNum = trackedPts.size()-1;
152 iter++; 155 iter++;
153 } else { 156 } else {
154 iter->feature->setId(savedFeatureId); 157 if (iter->feature->length() >= params.minFeatureTime) {
155 savedFeatureId++; 158 iter->feature->setId(savedFeatureId);
156 iter->feature->write(trajectoryDB); 159 savedFeatureId++;
160 iter->feature->write(trajectoryDB);
161 }
157 iter = featurePointMatches.erase(iter); 162 iter = featurePointMatches.erase(iter);
158 } 163 }
159 } 164 }
160 currPts = trackedPts; 165 currPts = trackedPts;
161 assert(currPts.size() == featurePointMatches.size()); 166 assert(currPts.size() == featurePointMatches.size());
162 167
163 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches) 168 if (params.display)
164 fp.feature->draw(frame, Colors::red()); 169 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
170 fp.feature->draw(frame, Colors::red());
165 //drawOpticalFlow(prevPts, currPts, status, frame); 171 //drawOpticalFlow(prevPts, currPts, status, frame);
166 172
167 // cout << matches.size() << " matches" << endl; 173 // cout << matches.size() << " matches" << endl;
168 // descMatcher.match(currDesc, prevDesc, matches); 174 // descMatcher.match(currDesc, prevDesc, matches);
169 // cout << matches.size() << " matches" << endl; 175 // cout << matches.size() << " matches" << endl;
170 //drawMatchesRelative(prevKpts, currKpts, matches, frame); 176 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
171 } 177 }
186 // currPts.insert(currPts.end(), newPts.begin(), newPts.end()); 192 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
187 //::keyPoints2Points(currKpts, currPts, false); 193 //::keyPoints2Points(currKpts, currPts, false);
188 194
189 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location 195 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
190 196
191 imshow("frame", frame); 197 if (params.display) {
192 imshow("mask", featureMask*256); 198 imshow("frame", frame);
199 imshow("mask", featureMask*256);
200 key = waitKey(2);
201 }
193 previousFrameBW = currentFrameBW.clone(); 202 previousFrameBW = currentFrameBW.clone();
194 prevPts = currPts; 203 prevPts = currPts;
195 //prevKpts = currKpts; 204 //prevKpts = currKpts;
196 //currDesc.copyTo(prevDesc); 205 //currDesc.copyTo(prevDesc);
197 key = waitKey(2);
198 } 206 }
199 207
200 trajectoryDB.disconnect(); 208 trajectoryDB.disconnect();
201 return 0; 209 return 0;
202 } 210 }