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comparison c/feature-based-tracking.cpp @ 480:f43bc0b0ba74

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cleaning code
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 01 Apr 2014 17:42:40 -0400
parents ca5784652d57
children b6ad86ee7033
comparison
equal deleted inserted replaced
479:7828fec8bbd2 480:f43bc0b0ba74
57 57
58 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum): 58 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
59 feature(_feature), pointNum(_pointNum) {} 59 feature(_feature), pointNum(_pointNum) {}
60 }; 60 };
61 61
62 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) { 62 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
63 /// \todo smoothing 63 /// \todo smoothing
64 if (features.size() >= minNFeatures) { 64 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
65 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName); 65 features.clear();
66 features.clear();
67 }
68 } 66 }
69 67
70 void trackFeatures(const KLTFeatureTrackingParameters& params) { 68 void trackFeatures(const KLTFeatureTrackingParameters& params) {
71 // BriefDescriptorExtractor brief(32); 69 // BriefDescriptorExtractor brief(32);
72 // const int DESIRED_FTRS = 500; 70 // const int DESIRED_FTRS = 500;
143 if (!success || frame.empty() || frame.size() != videoSize) 141 if (!success || frame.empty() || frame.size() != videoSize)
144 break; 142 break;
145 143
146 if (frameNum%50 ==0) 144 if (frameNum%50 ==0)
147 cout << "frame " << frameNum << endl; 145 cout << "frame " << frameNum << endl;
148
149 //capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
150
151 // int emptyFrameNum = 0;
152 // while (frame.empty()) {
153 // cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
154 // capture >> frame;//break;
155 // emptyFrameNum++;
156 // if (emptyFrameNum>=3000)
157 // exit(0);
158 // }
159 146
160 cvtColor(frame, currentFrameBW, CV_RGB2GRAY); 147 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
161 // "normal" feature detectors: detect features here
162 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
163 148
164 if (!prevPts.empty()) { 149 if (!prevPts.empty()) {
165 //::keyPoints2Points(prevKpts, prevPts);
166 currPts.clear(); 150 currPts.clear();
167 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold); 151 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
168 /// \todo try calcOpticalFlowFarneback 152 /// \todo try calcOpticalFlowFarneback
169 153
170 std::vector<Point2f> trackedPts; 154 std::vector<Point2f> trackedPts;
173 bool deleteFeature = false; 157 bool deleteFeature = false;
174 158
175 if (status[iter->pointNum]) { 159 if (status[iter->pointNum]) {
176 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography); 160 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
177 161
178 deleteFeature |= iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement) 162 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
179 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound); 163 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
180 if (deleteFeature) 164 if (deleteFeature)
181 iter->feature->shorten(); 165 iter->feature->shorten();
182 } else 166 } else
183 deleteFeature = true; 167 deleteFeature = true;
206 // vector<Rect> locations; 190 // vector<Rect> locations;
207 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2); 191 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
208 // BOOST_FOREACH(Rect r, locations) 192 // BOOST_FOREACH(Rect r, locations)
209 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3); 193 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
210 } 194 }
211 //drawOpticalFlow(prevPts, currPts, status, frame);
212
213 // cout << matches.size() << " matches" << endl;
214 // descMatcher.match(currDesc, prevDesc, matches);
215 // cout << matches.size() << " matches" << endl;
216 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
217 } 195 }
218 196
219 // adding new features, using mask around existing feature positions 197 // adding new features, using mask around existing feature positions
220 Mat featureMask = mask.clone(); 198 Mat featureMask = mask.clone();
221 for (unsigned int n=0;n<currPts.size(); n++) 199 for (unsigned int n=0;n<currPts.size(); n++)
226 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) { 204 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
227 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography)); 205 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
228 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size())); 206 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
229 currPts.push_back(p); 207 currPts.push_back(p);
230 } 208 }
231 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
232 //::keyPoints2Points(currKpts, currPts, false);
233
234 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
235 209
236 if (params.display) { 210 if (params.display) {
237 imshow("mask", featureMask*256); 211 imshow("mask", featureMask*256);
238 imshow("frame", frame); 212 imshow("frame", frame);
239 key = waitKey(2); 213 key = waitKey(2);
240 } 214 }
241 previousFrameBW = currentFrameBW.clone(); 215 previousFrameBW = currentFrameBW.clone();
242 prevPts = currPts; 216 prevPts = currPts;
243 //prevKpts = currKpts; 217 }
244 //currDesc.copyTo(prevDesc); 218
245 } 219 // save the remaining currently tracked features
220 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
221 while (iter != featurePointMatches.end()) {
222 if (iter->feature->length() >= params.minFeatureTime) {
223 iter->feature->setId(savedFeatureId);
224 savedFeatureId++;
225 f->write(*trajectoryDB, "positions", "velocities")
226 }
227 iter++;
228 }
246 229
247 trajectoryDB->endTransaction(); 230 trajectoryDB->endTransaction();
248 trajectoryDB->disconnect(); 231 trajectoryDB->disconnect();
249 } 232 }
250 233