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changeset 140:8de5e8256224

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added function to save vectors of features
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 23 Aug 2011 19:04:41 -0400
parents 47329bd16cc0
children 6f10a227486c
files c/feature-based-tracking.cpp
diffstat 1 files changed, 12 insertions(+), 4 deletions(-) [+]
line wrap: on
line diff
--- a/c/feature-based-tracking.cpp	Tue Aug 23 13:14:47 2011 -0400
+++ b/c/feature-based-tracking.cpp	Tue Aug 23 19:04:41 2011 -0400
@@ -52,6 +52,13 @@
     feature(_feature), pointNum(_pointNum) {}
 };
 
+inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const unsigned int& minNFeatures = 0) {
+  if (features.size() >= minNFeatures) {
+    BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db);
+    features.clear();
+  }
+}
+
 int main(int argc, char *argv[]) {
   // BriefDescriptorExtractor brief(32);
   // const int DESIRED_FTRS = 500;
@@ -110,7 +117,7 @@
   //   }
   
   // database
-  TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessList<Point2f>();
+  boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
   //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
   trajectoryDB->connect(params.databaseFilename.c_str());
   trajectoryDB->createTable();
@@ -121,7 +128,7 @@
   vector<float> errors;
   Mat prevDesc, currDesc;
 
-  vector<FeatureTrajectoryPtr> features;
+  vector<FeatureTrajectoryPtr> lostFeatures;
   vector<FeaturePointMatch> featurePointMatches;
     
   int key = '?';
@@ -162,7 +169,8 @@
 	      iter->feature->setId(savedFeatureId);
 	      savedFeatureId++;
 	      /// \todo smoothing
-	      iter->feature->write(*trajectoryDB);
+	      //iter->feature->write(*trajectoryDB);
+	      lostFeatures.push_back(iter->feature);
 	    }
 	    iter = featurePointMatches.erase(iter);
 	  } else {
@@ -173,6 +181,7 @@
 	}
 	currPts = trackedPts;
 	assert(currPts.size() == featurePointMatches.size());
+	saveFeatures(lostFeatures, *trajectoryDB);
 	
 	if (params.display) {
 	  BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
@@ -195,7 +204,6 @@
       goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
       BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
 	FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p));
-	//features.push_back(f);
 	featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
 	currPts.push_back(p);
       }