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comparison c/feature-based-tracking.cpp @ 513:dbf4b83afbb9

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pulled in and merged the new functionalities to deal with camera distortion (eg GoPro cameras)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 04 Jun 2014 10:57:09 -0400
parents 935430b1d408
children 018653d1db3c
comparison
equal deleted inserted replaced
505:35c99776e593 513:dbf4b83afbb9
21 #include <boost/filesystem.hpp> 21 #include <boost/filesystem.hpp>
22 22
23 #include <iostream> 23 #include <iostream>
24 #include <vector> 24 #include <vector>
25 #include <ctime> 25 #include <ctime>
26 #include <cmath>
26 27
27 using namespace std; 28 using namespace std;
28 using namespace cv; 29 using namespace cv;
29 namespace fs = boost::filesystem; 30 namespace fs = boost::filesystem;
30 31
57 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum): 58 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
58 feature(_feature), pointNum(_pointNum) {} 59 feature(_feature), pointNum(_pointNum) {}
59 }; 60 };
60 61
61 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) { 62 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
62 /// \todo smoothing
63 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName); 63 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
64 features.clear(); 64 features.clear();
65 } 65 }
66 66
67 void trackFeatures(const KLTFeatureTrackingParameters& params) { 67 void trackFeatures(const KLTFeatureTrackingParameters& params) {
71 71
72 Mat homography = ::loadMat(params.homographyFilename, " "); 72 Mat homography = ::loadMat(params.homographyFilename, " ");
73 Mat invHomography; 73 Mat invHomography;
74 if (params.display && !homography.empty()) 74 if (params.display && !homography.empty())
75 invHomography = homography.inv(); 75 invHomography = homography.inv();
76 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
77 //cout << intrinsicCameraMatrix << endl;
76 78
77 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; 79 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
78 Size window = Size(params.windowSize, params.windowSize); 80 Size window = Size(params.windowSize, params.windowSize);
81
82 int interpolationMethod = -1;
83 if (params.interpolationMethod == 0)
84 interpolationMethod = INTER_NEAREST;
85 else if (params.interpolationMethod == 1)
86 interpolationMethod = INTER_LINEAR;
87 else if (params.interpolationMethod == 2)
88 interpolationMethod = INTER_CUBIC;
89 else if (params.interpolationMethod == 3)
90 interpolationMethod = INTER_LANCZOS4;
91 else
92 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
79 93
80 // BruteForceMatcher<Hamming> descMatcher; 94 // BruteForceMatcher<Hamming> descMatcher;
81 // vector<DMatch> matches; 95 // vector<DMatch> matches;
82 96
83 boost::shared_ptr<InputFrameProviderIface> capture; 97 boost::shared_ptr<InputFrameProviderIface> capture;
97 unsigned int nFrames = capture->getNbFrames(); 111 unsigned int nFrames = capture->getNbFrames();
98 cout << "Video " << params.videoFilename << 112 cout << "Video " << params.videoFilename <<
99 ": width=" << videoSize.width << 113 ": width=" << videoSize.width <<
100 ", height=" << videoSize.height << 114 ", height=" << videoSize.height <<
101 ", nframes=" << nFrames << endl; 115 ", nframes=" << nFrames << endl;
116
117 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
118 Mat map1, map2;
119 if (params.undistort) {
120 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
124
125 cout << "Undistorted width=" << videoSize.width <<
126 ", height=" << videoSize.height << endl;
127 }
102 128
103 Mat mask = imread(params.maskFilename, 0); 129 Mat mask = imread(params.maskFilename, 0);
104 if (mask.empty()) { 130 if (mask.empty()) {
105 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl; 131 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
106 mask = Mat::ones(videoSize, CV_8UC1); 132 mask = Mat::ones(videoSize, CV_8UC1);
120 Mat prevDesc, currDesc; 146 Mat prevDesc, currDesc;
121 147
122 std::vector<FeatureTrajectoryPtr> lostFeatures; 148 std::vector<FeatureTrajectoryPtr> lostFeatures;
123 std::vector<FeaturePointMatch> featurePointMatches; 149 std::vector<FeaturePointMatch> featurePointMatches;
124 150
125 //HOGDescriptor hog;
126 //hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
127
128 int key = '?'; 151 int key = '?';
129 unsigned int savedFeatureId=0; 152 unsigned int savedFeatureId=0;
130 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW; 153 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame;
131 154
132 unsigned int lastFrameNum = nFrames; 155 unsigned int lastFrameNum = nFrames;
133 if (params.nFrames > 0) 156 if (params.nFrames > 0)
134 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames); 157 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
135 158
136 capture->setFrameNumber(params.frame1); 159 capture->setFrameNumber(params.frame1);
137 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) { 160 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
138 bool success = capture->getNextFrame(frame); 161 bool success = capture->getNextFrame(frame);
139 162 if (params.undistort) {
140 if (!success || frame.empty() || frame.size() != videoSize) 163 remap(frame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
141 break; 164 frame = undistortedFrame;
165 }
166 //if (!success || frame.empty() || frame.size() != videoSize)
167 //break;
142 168
143 if (frameNum%50 ==0) 169 if (frameNum%50 ==0)
144 cout << "frame " << frameNum << endl; 170 cout << "frame " << frameNum << endl;
145 171
146 cvtColor(frame, currentFrameBW, CV_RGB2GRAY); 172 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);