From 13fe5c8a5bf2a5f5c9c138355532126c224bb787 Mon Sep 17 00:00:00 2001
From: asantamaria <asantamaria@iri.upc.edu>
Date: Wed, 30 Aug 2017 12:47:58 +0200
Subject: [PATCH] trying to make the active search grid work
---
src/CMakeLists.txt | 1 +
src/detectors/detector_base.cpp | 39 +++++++++-----------
src/detectors/orb/detector_orb.h | 2 +-
src/examples/test_algorithm_activesearch.cpp | 24 ++++++------
src/examples/yaml/ACTIVESEARCH.yaml | 10 ++---
5 files changed, 36 insertions(+), 40 deletions(-)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 494a9a5..c34e454 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -118,6 +118,7 @@ SET(headers
algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.h
algorithms/activesearch/alg_activesearch.h)
+
# locate the necessary dependencies
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(OpenCV REQUIRED)
diff --git a/src/detectors/detector_base.cpp b/src/detectors/detector_base.cpp
index 2b32d1e..33d2415 100644
--- a/src/detectors/detector_base.cpp
+++ b/src/detectors/detector_base.cpp
@@ -30,30 +30,25 @@ KeyPointVector DetectorBase::detect(const cv::Mat& _image, cv::Rect& _roi)
{
// FIX this
KeyPointVector kpts;
- if (!_image.empty() && _roi.height > 2*pattern_radius_ && _roi.width > 2*pattern_radius_)
+ if (!_image.empty())
{
cv::Mat _image_roi;
- //adaptRoi(getPatternRadius(), _image, _roi, _image_roi);
-
- std::cout << "radii: " << getPatternRadius() << " ROI: " << _roi.x << " " << _roi.y << " " << _roi.width << " " << _roi.height << std::endl;
-
-
- adaptRoi(100, _image, _roi, _image_roi);
-
-std::cout << "radii: " << getPatternRadius() << " ROI: " << _roi.x << " " << _roi.y << " " << _roi.width << " " << _roi.height << std::endl;
-
-//cv::imshow("ACTIVESEARCH algorithm", _image_roi);
-//cv::waitKey(1);
-//
-// sleep(2);
-
- kpts = detect(_image_roi);
-
- for (int ii = 0; ii < kpts.size(); ++ii)
- {
- kpts[ii].pt.x = kpts[ii].pt.x + _roi.x;
- kpts[ii].pt.y = kpts[ii].pt.y + _roi.y;
- }
+ adaptRoi(getPatternRadius(), _image, _roi, _image_roi);
+
+ try
+ {
+ kpts = detect(_image_roi);
+
+ for (int ii = 0; ii < kpts.size(); ++ii)
+ {
+ kpts[ii].pt.x = kpts[ii].pt.x + _roi.x;
+ kpts[ii].pt.y = kpts[ii].pt.y + _roi.y;
+ }
+ }
+ catch( cv::Exception& e )
+ {
+ std::cerr << "exception caught: " << e.what() << std::endl;
+ }
}
return kpts;
}
diff --git a/src/detectors/orb/detector_orb.h b/src/detectors/orb/detector_orb.h
index 94b9090..062e149 100644
--- a/src/detectors/orb/detector_orb.h
+++ b/src/detectors/orb/detector_orb.h
@@ -63,7 +63,7 @@ inline void DetectorORB::defineDetector(const ParamsBasePtr _params)
params_ptr->scoreType,
params_ptr->patchSize);
- pattern_radius_ = params_ptr->edgeThreshold;
+ pattern_radius_ = params_ptr->patchSize;
}
/*
diff --git a/src/examples/test_algorithm_activesearch.cpp b/src/examples/test_algorithm_activesearch.cpp
index 95035db..43e2d10 100644
--- a/src/examples/test_algorithm_activesearch.cpp
+++ b/src/examples/test_algorithm_activesearch.cpp
@@ -45,7 +45,7 @@
#include "../algorithms/activesearch/alg_activesearch.h"
// TODO: set as user parameters
-#define MAX_NEW_FEATURES 100
+#define MAX_NEW_FEATURES 500
#define MIN_FEATURES_TO_TRACK 10
#define MIN_RESPONSE_NEW_FEATURES 80
#define MATCHER_MIN_NORMALIZED_SCORE 0.85
@@ -109,13 +109,13 @@ void detectNewFeatures(cv::Mat& _frame,
_active_search_grid_ptr->hitCell(new_keypoints[0]);
// Debug
- // drawRoi(_frame,roi,_active_search_grid_ptr->getName(),cv::Scalar(50,255,0), 1, 0.1);
+ drawRoi(_frame,roi,_active_search_grid_ptr->getName(),cv::Scalar(50,255,0), 1, 0.1);
}
}
else
{
_active_search_grid_ptr->blockCell(roi);
- // drawRoi(_frame,roi,_active_search_grid_ptr->getName(),cv::Scalar(255,0,0), 1, 0.1);
+ drawRoi(_frame,roi,_active_search_grid_ptr->getName(),cv::Scalar(255,0,0), 1, 0.1);
}
// Debug
@@ -367,8 +367,8 @@ int main(void)
active_search_grid_ptr->setParams(params_ptr);
// Set main ROI areas depending on ACTIVE SEARCH GRID sizes
- roi_h_ = params_ptr->img_size_v/params_ptr->n_cells_v;
- roi_w_ = params_ptr->img_size_h/params_ptr->n_cells_h;
+ roi_h_ = params_ptr->img_size_v/(params_ptr->n_cells_v);
+ roi_w_ = params_ptr->img_size_h/(params_ptr->n_cells_h);
std::vector<feature> features_last_frame_vec;
@@ -382,16 +382,16 @@ int main(void)
// Process
std::vector<feature> features_tracked_vec;
-// if (features_last_frame_vec.size() < MIN_FEATURES_TO_TRACK)
-// {
+ if (features_last_frame_vec.size() < MIN_FEATURES_TO_TRACK)
+ {
// TODO: When to renew?
active_search_grid_ptr->renew();
detectNewFeatures(frame_cur, det_ptr, des_ptr, active_search_grid_ptr, features_tracked_vec);
-// }
-// else
-// {
-// trackFeatures(frame_cur, det_ptr, des_ptr, mat_ptr, active_search_grid_ptr, features_last_frame_vec,features_tracked_vec);
-// }
+ }
+ else
+ {
+ trackFeatures(frame_cur, det_ptr, des_ptr, mat_ptr, active_search_grid_ptr, features_last_frame_vec,features_tracked_vec);
+ }
features_last_frame_vec.clear();
features_last_frame_vec = features_tracked_vec;
diff --git a/src/examples/yaml/ACTIVESEARCH.yaml b/src/examples/yaml/ACTIVESEARCH.yaml
index 8b5804e..49de716 100644
--- a/src/examples/yaml/ACTIVESEARCH.yaml
+++ b/src/examples/yaml/ACTIVESEARCH.yaml
@@ -8,18 +8,18 @@ detector:
nfeatures: 100
scale factor: 2
nlevels: 8
- edge threshold: 8 # 16
+ edge threshold: 16 # 16
first level: 0
WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
- patch size: 15 # 31
+ patch size: 31 # 31
descriptor:
type: "ORB"
nfeatures: 100
scale factor: 2
nlevels: 8
- edge threshold: 8 # 16
+ edge threshold: 16 # 16
first level: 0
WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
@@ -33,7 +33,7 @@ algorithm:
type: "ACTIVESEARCH"
img size h: 640
img size v: 480
- grid height: 8
- grid width: 12
+ grid height: 10
+ grid width: 10
margin: 0
separation: 10
\ No newline at end of file
--
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