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comparison c/feature-based-tracking.cpp @ 174:ec9734015d53

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tested loading trajectory by id numbers
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 26 Oct 2011 17:46:11 -0400
parents e508bb0cbb64
children a234a5e818f3
comparison
equal deleted inserted replaced
173:319a04ba9033 174:ec9734015d53
16 #include <boost/shared_ptr.hpp> 16 #include <boost/shared_ptr.hpp>
17 #include <boost/foreach.hpp> 17 #include <boost/foreach.hpp>
18 18
19 #include <iostream> 19 #include <iostream>
20 #include <vector> 20 #include <vector>
21 #include <ctime>
21 22
22 using namespace std; 23 using namespace std;
23 using namespace cv; 24 using namespace cv;
24 25
25 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) { 26 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
59 features.clear(); 60 features.clear();
60 } 61 }
61 } 62 }
62 63
63 void trackFeatures(const KLTFeatureTrackingParameters& params) { 64 void trackFeatures(const KLTFeatureTrackingParameters& params) {
65 // BriefDescriptorExtractor brief(32);
66 // const int DESIRED_FTRS = 500;
67 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
68
64 Mat homography = ::loadMat(params.homographyFilename, " "); 69 Mat homography = ::loadMat(params.homographyFilename, " ");
65 Mat invHomography; 70 Mat invHomography;
66 if (params.display && !homography.empty()) 71 if (params.display && !homography.empty())
67 invHomography = homography.inv(); 72 invHomography = homography.inv();
68 73
243 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); 248 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
244 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>(); 249 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
245 bool success = trajectoryDB->connect(params.databaseFilename.c_str()); 250 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
246 vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories; 251 vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
247 cout << trajectories.size() << endl; 252 cout << trajectories.size() << endl;
248 success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant 253 // std::clock_t c_start = std::clock();
249 cout << "Loaded " << trajectories.size() << " trajectories" << endl; 254 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
250 // for (int i=0; i<5; ++i) { 255 // std::clock_t c_end = std::clock();
251 // stringstream ss; 256 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
252 // ss << *trajectories[i]; 257
253 // cout << ss.str() << endl; 258 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
259 // c_start = std::clock();
260 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
261 // success = trajectoryDB->read(trajectory, i, "positions");
254 // } 262 // }
263 // c_end = std::clock();
264 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
255 265
256 trajectoryDB->createViewInstants("first"); 266 trajectoryDB->createViewInstants("first");
257 trajectoryDB->createViewInstants("last"); 267 trajectoryDB->createViewInstants("last");
258 268
259 // main loop 269 // main loop
260 // TODO version que l'on peut interrompre ? 270 // TODO version que l'on peut interrompre ?
261 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) { 271 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) {
262 vector<int> ids; 272 vector<int> trajectoryIds;
263 cout << "frame " << frameNum << " " << trajectoryDB->trajectoryIdStartingAt(ids, frameNum) << endl; 273 success = trajectoryDB->trajectoryIdStartingAt(trajectoryIds, frameNum);
264 cout << ids.size() << ": "; 274 cout << "frame " << frameNum << " " << success << endl;
265 BOOST_FOREACH(int i, ids) 275 cout << trajectoryIds.size() << " trajectories " << endl;
266 cout << i << " "; 276 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
267 cout << endl; 277 //cout << trajectoryId << " " << endl;
278 boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
279 success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
280 stringstream ss;ss << *trajectory; cout << ss.str() << endl;
281 }
268 282
269 // should the trajectory be loaded one by one? yes 283 // should the trajectory be loaded one by one? yes
270 284
271 } 285 }
272 286
273 trajectoryDB->endTransaction(); 287 trajectoryDB->endTransaction();
274 trajectoryDB->disconnect(); 288 trajectoryDB->disconnect();
275 } 289 }
276 290
277 int main(int argc, char *argv[]) { 291 int main(int argc, char *argv[]) {
278 // BriefDescriptorExtractor brief(32);
279 // const int DESIRED_FTRS = 500;
280 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
281
282 KLTFeatureTrackingParameters params(argc, argv); 292 KLTFeatureTrackingParameters params(argc, argv);
283 cout << params.parameterDescription << endl; 293 cout << params.parameterDescription << endl;
284 294
285 if (params.trackFeatures) 295 if (params.trackFeatures)
286 trackFeatures(params); 296 trackFeatures(params);