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         break;
  63     case CvFeatureTrackerParams::SURF:
  64         dd = Algorithm::create<Feature2D>("Feature2D.SURF");
  65         if( dd.empty() )
  66             CV_Error(CV_StsNotImplemented, "OpenCV has been compiled without SURF support");
  67         dd->set("hessianThreshold", 400);
  68         dd->set("nOctaves", 3);
  69         dd->set("nOctaveLayers", 4);
  70         break;
  71     default:
  72         CV_Error(CV_StsBadArg, "Unknown feature type");
  73         break;
  74     }
  75
  76     matcher = new BFMatcher(NORM_L2);
  77 }
  78
  79 CvFeatureTracker::~CvFeatureTracker()
  80 {
  81 }
  82
  83 void CvFeatureTracker::newTrackingWindow(Mat image, Rect selection)
  84 {
  85     image.copyTo(prev_image);
  86     cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY);
  87     prev_trackwindow = selection;
  88     prev_center.x = selection.x;
  89     prev_center.y = selection.y;
  90     ittr = 0;
  91 }
  92
  93 Rect CvFeatureTracker::updateTrackingWindow(Mat image)
  94 {
  95     if(params.feature_type == CvFeatureTrackerParams::OPTICAL_FLOW)
  96         return updateTrackingWindowWithFlow(image);
  97     else
  98         return updateTrackingWindowWithSIFT(image);
  99 }
 100
 101 Rect CvFeatureTracker::updateTrackingWindowWithSIFT(Mat image)
 102 {
 103     ittr++;
 104     vector<KeyPoint> prev_keypoints, curr_keypoints;
 105     vector<Point2f> prev_keys, curr_keys;
 106     Mat prev_desc, curr_desc;
 107
 108     Rect window = prev_trackwindow;
 109     Mat mask = Mat::zeros(image.size(), CV_8UC1);
 110     rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
 111             window.y + window.height), Scalar(255), CV_FILLED);
 112
 113     dd->operator()(prev_image, mask, prev_keypoints, prev_desc);
 114
 115     window.x -= params.window_size;
 116     window.y -= params.window_size;
 117     window.width += params.window_size;
 118     window.height += params.window_size;
 119     rectangle(mask, Point(window.x, window.y), Point(window.x + window.width,
 120             window.y + window.height), Scalar(255), CV_FILLED);
 121
 122     dd->operator()(image, mask, curr_keypoints, curr_desc);
 123
 124     if (prev_keypoints.size() > 4 && curr_keypoints.size() > 4)
 125     {
 126         //descriptor->compute(prev_image, prev_keypoints, prev_desc);
 127         //descriptor->compute(image, curr_keypoints, curr_desc);
 128
 129         matcher->match(prev_desc, curr_desc, matches);
 130
 131         for (int i = 0; i < (int)matches.size(); i++)
 132         {
 133             prev_keys.push_back(prev_keypoints[matches[i].queryIdx].pt);
 134             curr_keys.push_back(curr_keypoints[matches[i].trainIdx].pt);
 135         }
 136
 137         Mat T = findHomography(prev_keys, curr_keys, CV_LMEDS);
 138
 139         prev_trackwindow.x += cvRound(T.at<double> (0, 2));
 140         prev_trackwindow.y += cvRound(T.at<double> (1, 2));
 141     }
 142
 143     prev_center.x = prev_trackwindow.x;
 144     prev_center.y = prev_trackwindow.y;
 145     prev_image = image;
 146     return prev_trackwindow;
 147 }
 148
 149 Rect CvFeatureTracker::updateTrackingWindowWithFlow(Mat image)
 150 {
 151     ittr++;
 152     Size subPixWinSize(10,10), winSize(31,31);
 153     Mat image_bw;
 154     TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03);
 155     vector<uchar> status;
 156     vector<float> err;
 157
 158     cvtColor(image, image_bw, CV_BGR2GRAY);
 159     cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY);
 160
 161     if (ittr == 1)
 162     {
 163         Mat mask = Mat::zeros(image.size(), CV_8UC1);
 164         rectangle(mask, Point(prev_trackwindow.x, prev_trackwindow.y), Point(
 165                 prev_trackwindow.x + prev_trackwindow.width, prev_trackwindow.y
 166                         + prev_trackwindow.height), Scalar(255), CV_FILLED);
 167         goodFeaturesToTrack(image_bw, features[1], 500, 0.01, 20, mask, 3, 0, 0.04);
 168         cornerSubPix(image_bw, features[1], subPixWinSize, Size(-1, -1), termcrit);
 169     }
 170     else
 171     {
 172         calcOpticalFlowPyrLK(prev_image_bw, image_bw, features[0], features[1],
 173                 status, err, winSize, 3, termcrit);
 174
 175         Point2f feature0_center(0, 0);
 176         Point2f feature1_center(0, 0);
 177         int goodtracks = 0;
 178         for (int i = 0; i < (int)features[1].size(); i++)
 179         {
 180             if (status[i] == 1)
 181             {
 182                 feature0_center.x += features[0][i].x;
 183                 feature0_center.y += features[0][i].y;
 184                 feature1_center.x += features[1][i].x;
 185                 feature1_center.y += features[1][i].y;
 186                 goodtracks++;
 187             }
 188         }
 189
 190         feature0_center.x /= goodtracks;
 191         feature0_center.y /= goodtracks;
 192         feature1_center.x /= goodtracks;
 193         feature1_center.y /= goodtracks;
 194
 195         prev_center.x += (feature1_center.x - feature0_center.x);
 196         prev_center.y += (feature1_center.y - feature0_center.y);
 197
 198         prev_trackwindow.x = (int)prev_center.x;
 199         prev_trackwindow.y = (int)prev_center.y;
 200     }
 201
 202     swap(features[0], features[1]);
 203     image.copyTo(prev_image);
 204     return prev_trackwindow;
 205 }
 206
 207 void CvFeatureTracker::setTrackingWindow(Rect _window)
 208 {
 209     prev_trackwindow = _window;
 210 }
 211
 212 Rect CvFeatureTracker::getTrackingWindow()
 213 {
 214     return prev_trackwindow;
 215 }
 216
 217 Point2f CvFeatureTracker::getTrackingCenter()
 218 {
 219     Point2f center(0, 0);
 220     center.x = (float)(prev_center.x + prev_trackwindow.width/2.0);
 221     center.y = (float)(prev_center.y + prev_trackwindow.height/2.0);
 222     return center;
 223 }
 224