modules/contrib/src/featuretracker.cpp

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  42 #include "precomp.hpp"
  43 #include <stdio.h>
  44 #include <iostream>
  45 #include "opencv2/calib3d/calib3d.hpp"
  46 #include "opencv2/contrib/hybridtracker.hpp"
  47
  48 using namespace cv;
  49
  50 CvFeatureTracker::CvFeatureTracker(CvFeatureTrackerParams _params) :
  51     params(_params)
  52 {
  53     switch (params.feature_type)
  54     {
  55     case CvFeatureTrackerParams::SIFT:
  56         dd = Algorithm::create<Feature2D>("Feature2D.SIFT");
  57         if( dd.empty() )
  58             CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without SIFT support");
  59         dd->set("nOctaveLayers", 5);
  60         dd->set("contrastThreshold", 0.04);
  61         dd->set("edgeThreshold", 10.7);
  62     case CvFeatureTrackerParams::SURF:
  63         dd = Algorithm::create<Feature2D>("Feature2D.SURF");
  64         if( dd.empty() )
  65             CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without SURF support");
  66         dd->set("hessianThreshold", 400);
  67         dd->set("nOctaves", 3);
  68         dd->set("nOctaveLayers", 4);
  69     default:
  70         CV_Error(CV_StsBadArg, "Unknown feature type");
  71     }
  72
  73     matcher = new BFMatcher(NORM_L2);
  74 }
  75
  76 CvFeatureTracker::~CvFeatureTracker()
  77 {
  78 }
  79
  80 void CvFeatureTracker::newTrackingWindow(Mat image, Rect selection)
  81 {
  82     image.copyTo(prev_image);
  83     cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY);
  84     prev_trackwindow = selection;
  85     prev_center.x = selection.x;
  86     prev_center.y = selection.y;
  87     ittr = 0;
  88 }
  89
  90 Rect CvFeatureTracker::updateTrackingWindow(Mat image)
  91 {
  92     if(params.feature_type == CvFeatureTrackerParams::OPTICAL_FLOW)
  93         return updateTrackingWindowWithFlow(image);
  94     else
  95         return updateTrackingWindowWithSIFT(image);
  96 }
  97
  98 Rect CvFeatureTracker::updateTrackingWindowWithSIFT(Mat image)
  99 {
 100     ittr++;
 101     vector<KeyPoint> prev_keypoints, curr_keypoints;
 102     vector<Point2f> prev_keys, curr_keys;
 103     Mat prev_desc, curr_desc;
 104
 105     Rect window = prev_trackwindow;
 106     Mat mask = Mat::zeros(image.size(), CV_8UC1);
 107     rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
 108             window.y + window.height), Scalar(255), CV_FILLED);
 109
 110     dd->operator()(prev_image, mask, prev_keypoints, prev_desc);
 111
 112     window.x -= params.window_size;
 113     window.y -= params.window_size;
 114     window.width += params.window_size;
 115     window.height += params.window_size;
 116     rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
 117             window.y + window.height), Scalar(255), CV_FILLED);
 118
 119     dd->operator()(image, mask, curr_keypoints, curr_desc);
 120
 121     if (prev_keypoints.size() > 4 && curr_keypoints.size() > 4)
 122     {
 123         //descriptor->compute(prev_image, prev_keypoints, prev_desc);
 124         //descriptor->compute(image, curr_keypoints, curr_desc);
 125
 126         matcher->match(prev_desc, curr_desc, matches);
 127
 128         for (int i = 0; i < (int)matches.size(); i++)
 129         {
 130             prev_keys.push_back(prev_keypoints[matches[i].queryIdx].pt);
 131             curr_keys.push_back(curr_keypoints[matches[i].trainIdx].pt);
 132         }
 133
 134         Mat T = findHomography(prev_keys, curr_keys, CV_LMEDS);
 135
 136         prev_trackwindow.x += cvRound(T.at<double> (0, 2));
 137         prev_trackwindow.y += cvRound(T.at<double> (1, 2));
 138     }
 139
 140     prev_center.x = prev_trackwindow.x;
 141     prev_center.y = prev_trackwindow.y;
 142     prev_image = image;
 143     return prev_trackwindow;
 144 }
 145
 146 Rect CvFeatureTracker::updateTrackingWindowWithFlow(Mat image)
 147 {
 148     ittr++;
 149     Size subPixWinSize(10,10), winSize(31,31);
 150     Mat image_bw;
 151     TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03);
 152     vector<uchar> status;
 153     vector<float> err;
 154
 155     cvtColor(image, image_bw, CV_BGR2GRAY);
 156     cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY);
 157
 158     if (ittr == 1)
 159     {
 160         Mat mask = Mat::zeros(image.size(), CV_8UC1);
 161         rectangle(mask, Point(prev_trackwindow.x, prev_trackwindow.y), Point(
 162                 prev_trackwindow.x + prev_trackwindow.width, prev_trackwindow.y
 163                         + prev_trackwindow.height), Scalar(255), CV_FILLED);
 164         goodFeaturesToTrack(image_bw, features[1], 500, 0.01, 20, mask, 3, 0, 0.04);
 165         cornerSubPix(image_bw, features[1], subPixWinSize, Size(-1, -1), termcrit);
 166     }
 167     else
 168     {
 169         calcOpticalFlowPyrLK(prev_image_bw, image_bw, features[0], features[1],
 170                 status, err, winSize, 3, termcrit);
 171
 172         Point2f feature0_center(0, 0);
 173         Point2f feature1_center(0, 0);
 174         int goodtracks = 0;
 175         for (int i = 0; i < (int)features[1].size(); i++)
 176         {
 177             if (status[i] == 1)
 178             {
 179                 feature0_center.x += features[0][i].x;
 180                 feature0_center.y += features[0][i].y;
 181                 feature1_center.x += features[1][i].x;
 182                 feature1_center.y += features[1][i].y;
 183                 goodtracks++;
 184             }
 185         }
 186
 187         feature0_center.x /= goodtracks;
 188         feature0_center.y /= goodtracks;
 189         feature1_center.x /= goodtracks;
 190         feature1_center.y /= goodtracks;
 191
 192         prev_center.x += (feature1_center.x - feature0_center.x);
 193         prev_center.y += (feature1_center.y - feature0_center.y);
 194
 195         prev_trackwindow.x = (int)prev_center.x;
 196         prev_trackwindow.y = (int)prev_center.y;
 197     }
 198
 199     swap(features[0], features[1]);
 200     image.copyTo(prev_image);
 201     return prev_trackwindow;
 202 }
 203
 204 void CvFeatureTracker::setTrackingWindow(Rect _window)
 205 {
 206     prev_trackwindow = _window;
 207 }
 208
 209 Rect CvFeatureTracker::getTrackingWindow()
 210 {
 211     return prev_trackwindow;
 212 }
 213
 214 Point2f CvFeatureTracker::getTrackingCenter()
 215 {
 216     Point2f center(0, 0);
 217     center.x = (float)(prev_center.x + prev_trackwindow.width/2.0);
 218     center.y = (float)(prev_center.y + prev_trackwindow.height/2.0);
 219     return center;
 220 }
 221