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comparison c/feature-based-tracking.cpp @ 401:b829ebdc18e6

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simplified input of directories of video frames (simply use the video filename parameter to point at the directory)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 29 Jul 2013 18:58:05 -0400
parents 7ef1071e3cc3
children 31604ef1cad4
comparison
equal deleted inserted replaced
400:7ef1071e3cc3 401:b829ebdc18e6
14 #include "opencv2/highgui/highgui.hpp" 14 #include "opencv2/highgui/highgui.hpp"
15 #include "opencv2/objdetect/objdetect.hpp" 15 #include "opencv2/objdetect/objdetect.hpp"
16 16
17 #include <boost/shared_ptr.hpp> 17 #include <boost/shared_ptr.hpp>
18 #include <boost/foreach.hpp> 18 #include <boost/foreach.hpp>
19 #include <boost/filesystem.hpp>
19 20
20 #include "InputVideoFileModule.h" 21 #include "InputVideoFileModule.h"
21 #include "InputFrameListModule.h" 22 #include "InputFrameListModule.h"
22
23 23
24 #include <iostream> 24 #include <iostream>
25 #include <vector> 25 #include <vector>
26 #include <ctime> 26 #include <ctime>
27 27
28 using namespace std; 28 using namespace std;
29 using namespace cv; 29 using namespace cv;
30 namespace fs = boost::filesystem;
30 31
31 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) { 32 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
32 for (int i = 0; i < (int)matches.size(); i++) 33 for (int i = 0; i < (int)matches.size(); i++)
33 { 34 {
34 Point2f pt_new = query[matches[i].queryIdx].pt; 35 Point2f pt_new = query[matches[i].queryIdx].pt;
80 Size window = Size(params.windowSize, params.windowSize); 81 Size window = Size(params.windowSize, params.windowSize);
81 82
82 // BruteForceMatcher<Hamming> descMatcher; 83 // BruteForceMatcher<Hamming> descMatcher;
83 // vector<DMatch> matches; 84 // vector<DMatch> matches;
84 85
85 InputFrameProviderIface* capture = 0; 86 boost::shared_ptr<InputFrameProviderIface> capture;
86 if(!params.listFilename.empty() && !params.folderData.empty()) 87 if (fs::is_directory(fs::path(params.videoFilename)))
87 capture = new InputFrameListModule(params.folderData, params.listFilename); 88 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
88 else if(!params.videoFilename.empty()) 89 else if(!params.videoFilename.empty())
89 capture = new InputVideoFileModule(params.videoFilename); 90 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
90 else 91 else
91 cout << "No valid input parameters"; 92 cout << "No valid input parameters" << endl;
92 93
93 if(!capture->isOpen()) { 94 if(!capture->isOpen()) {
94 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl; 95 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
95 exit(0); 96 exit(0);
96 } 97 }
122 Mat prevDesc, currDesc; 123 Mat prevDesc, currDesc;
123 124
124 std::vector<FeatureTrajectoryPtr> lostFeatures; 125 std::vector<FeatureTrajectoryPtr> lostFeatures;
125 std::vector<FeaturePointMatch> featurePointMatches; 126 std::vector<FeaturePointMatch> featurePointMatches;
126 127
127 HOGDescriptor hog; 128 //HOGDescriptor hog;
128 hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector()); 129 //hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
129 130
130 int key = '?'; 131 int key = '?';
131 unsigned int savedFeatureId=0; 132 unsigned int savedFeatureId=0;
132 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW; 133 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
133 134
231 //::keyPoints2Points(currKpts, currPts, false); 232 //::keyPoints2Points(currKpts, currPts, false);
232 233
233 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location 234 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
234 235
235 if (params.display) { 236 if (params.display) {
237 imshow("mask", featureMask*256);
236 imshow("frame", frame); 238 imshow("frame", frame);
237 imshow("mask", featureMask*256);
238 key = waitKey(2); 239 key = waitKey(2);
239 } 240 }
240 previousFrameBW = currentFrameBW.clone(); 241 previousFrameBW = currentFrameBW.clone();
241 prevPts = currPts; 242 prevPts = currPts;
242 //prevKpts = currKpts; 243 //prevKpts = currKpts;
243 //currDesc.copyTo(prevDesc); 244 //currDesc.copyTo(prevDesc);
244 } 245 }
245 246
246 trajectoryDB->endTransaction(); 247 trajectoryDB->endTransaction();
247 trajectoryDB->disconnect(); 248 trajectoryDB->disconnect();
248 delete capture;
249
250 } 249 }
251 250
252 void groupFeatures(const KLTFeatureTrackingParameters& params) { 251 void groupFeatures(const KLTFeatureTrackingParameters& params) {
253 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); 252 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
254 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>(); 253 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();