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deleted file mode 100644
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+++ /dev/null
@@ -1,120 +0,0 @@
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diff --git a/src/algorithms/activesearch/alg_activesearch.cpp b/src/algorithms/activesearch/alg_activesearch.cpp
index 243d15e9449458c628dfb11fa11c6b1ae34d7c77..9cd752a4cb9f7f3ae24cb420f5e413f972ae69ca 100644
--- a/src/algorithms/activesearch/alg_activesearch.cpp
+++ b/src/algorithms/activesearch/alg_activesearch.cpp
@@ -4,13 +4,13 @@ namespace vision_utils {
AlgorithmACTIVESEARCH::AlgorithmACTIVESEARCH(void)
{
- initialized_=false;
+ initialized_=false;
}
AlgorithmACTIVESEARCH::~AlgorithmACTIVESEARCH(void)
{
if (params_ptr_->draw_results)
- cv::destroyAllWindows();
+ cv::destroyAllWindows();
}
void AlgorithmACTIVESEARCH::initAlg(const int& _img_width, const int& _img_height, const int& _margin)
@@ -20,12 +20,12 @@ void AlgorithmACTIVESEARCH::initAlg(const int& _img_width, const int& _img_heigh
margin_ = _margin;
- if (img_size_(0) == 0 || img_size_(1) == 0)
- std::cerr << "[Algorithm ACTIVESEARCH]: Image size not set. Current values [" << img_size_(0) << "x" << img_size_(1) << "]" << std::endl;
- if (params_ptr_->n_cells_h == 0 || params_ptr_->n_cells_v == 0)
- std::cerr << "[Algorithm ACTIVESEARCH]: number of cells not set. Current values [" << params_ptr_->n_cells_h << "," << params_ptr_->n_cells_v << "]" << std::endl;
+ if (img_size_(0) == 0 || img_size_(1) == 0)
+ std::cerr << "[Algorithm ACTIVESEARCH]: Image size not set. Current values [" << img_size_(0) << "x" << img_size_(1) << "]" << std::endl;
+ if (params_ptr_->n_cells_h == 0 || params_ptr_->n_cells_v == 0)
+ std::cerr << "[Algorithm ACTIVESEARCH]: number of cells not set. Current values [" << params_ptr_->n_cells_h << "," << params_ptr_->n_cells_v << "]" << std::endl;
- // Set internal variables
+ // Set internal variables
projections_count_.resize(params_ptr_->n_cells_h + 1, params_ptr_->n_cells_v + 1);
empty_cells_tile_tmp_.resize(2, (params_ptr_->n_cells_h + 1) * (params_ptr_->n_cells_v + 1));
grid_size_(0) = params_ptr_->n_cells_h + 1;
@@ -37,18 +37,18 @@ void AlgorithmACTIVESEARCH::initAlg(const int& _img_width, const int& _img_heigh
// set all ready to start clean
this->clear();
- if (params_ptr_->draw_results)
- {
- cv::startWindowThread();
- cv::namedWindow(getName(), cv::WINDOW_NORMAL);
- }
+ if (params_ptr_->draw_results)
+ {
+ cv::startWindowThread();
+ cv::namedWindow(getName(), cv::WINDOW_NORMAL);
+ }
initialized_ = true;
}
void AlgorithmACTIVESEARCH::initAlg(const cv::Mat& _img, const int& _margin)
{
- initAlg(_img.cols, _img.rows, _margin);
+ initAlg(_img.cols, _img.rows, _margin);
}
void AlgorithmACTIVESEARCH::resizeImage(void)
@@ -60,7 +60,8 @@ void AlgorithmACTIVESEARCH::resizeImage(void)
}
// Functions to fill in cells
-bool AlgorithmACTIVESEARCH::pickEmptyCell(Eigen::Vector2i & _cell) {
+bool AlgorithmACTIVESEARCH::pickEmptyCell(Eigen::Vector2i & _cell)
+{
int k = 0;
Eigen::Vector2i cell0;
for (int i = 1; i < grid_size_(0) - 1; i++) {
@@ -131,63 +132,63 @@ void AlgorithmACTIVESEARCH::blockCell(const cv::Rect & _roi)
void AlgorithmACTIVESEARCH::run(Buffer<FramePtr>& _frame_buff, const DetectorBasePtr& _det_ptr, const DescriptorBasePtr& _des_ptr, const MatcherBasePtr& _mat_ptr)
{
- // Initialize vars if necessary
- if (!initialized_)
- initAlg(_frame_buff.back()->getImage(), _det_ptr->getPatternRadius());
-
- switch (_frame_buff.size())
- {
- case 0:
- VU_ERROR("Trying to track an empty buffer. Please, at least insert one image in the buffer.");
- break;
- case 1:
- detectNewFeatures(_frame_buff.back(), _det_ptr, _des_ptr, params_ptr_->max_new_features);
- break;
- default:
- trackFrame(_frame_buff[_frame_buff.size()-2], _frame_buff.back(), _det_ptr, _des_ptr, _mat_ptr);
- break;
- }
+ // Initialize vars if necessary
+ if (!initialized_)
+ initAlg(_frame_buff.back()->getImage(), _det_ptr->getPatternRadius());
+
+ switch (_frame_buff.size())
+ {
+ case 0:
+ VU_ERROR("Trying to track an empty buffer. Please, at least insert one image in the buffer.");
+ break;
+ case 1:
+ detectNewFeatures(_frame_buff.back(), _det_ptr, _des_ptr, params_ptr_->max_new_features);
+ break;
+ default:
+ trackFrame(_frame_buff[_frame_buff.size()-2], _frame_buff.back(), _det_ptr, _des_ptr, _mat_ptr);
+ break;
+ }
}
void AlgorithmACTIVESEARCH::detectNewFeatures(FramePtr& _frame, const DetectorBasePtr& _det_ptr, const DescriptorBasePtr& _des_ptr, const int& max_new_features)
{
- KeyPointVector kps;
- cv::Mat desc;
- cv::Rect roi;
+ KeyPointVector kps;
+ cv::Mat desc;
+ cv::Rect roi;
if (params_ptr_->draw_results)
- image_draw_ = _frame->getImage().clone();
-
- for (unsigned int n_iterations = 0; max_new_features == 0 || n_iterations < max_new_features; n_iterations++)
- {
- // Pick a ROI to look for a feature in it
- if (pickEmptyRoi(roi))
- {
- // draw ROI
-// if (params_ptr_->draw_results)
-// drawRoi(image_draw_, roi, getName(), cv::Scalar(255,255,255));
-
- // Detect features in ROI
- kps = _det_ptr->detect(_frame->getImage(), roi);
- desc = _des_ptr->getDescriptor(_frame->getImage(), kps);
-
- if (kps.size() > 0)
- {
- // Keep best in cell
- KeyPointVector list_keypoints = kps;
-
- // cv::KeyPointsFilter keypoint_filter;
- // keypoint_filter.retainBest(kps,1);
- retainBest(kps,1);
-
- // Check if point exist in list
- int index = existsInKPVec(kps[0], list_keypoints, 1.0);
-
- if(kps[0].response > params_ptr_->min_response_new_feature)
- {
- // Keep feature
- _frame->addKeyPoint(kps[0]);
- _frame->addDescriptor(desc.row(index));
+ image_draw_ = _frame->getImage().clone();
+
+ for (unsigned int n_iterations = 0; max_new_features == 0 || n_iterations < max_new_features; n_iterations++)
+ {
+ // Pick a ROI to look for a feature in it
+ if (pickEmptyRoi(roi))
+ {
+ // draw ROI
+ // if (params_ptr_->draw_results)
+ // drawRoi(image_draw_, roi, getName(), cv::Scalar(255,255,255));
+
+ // Detect features in ROI
+ kps = _det_ptr->detect(_frame->getImage(), roi);
+ desc = _des_ptr->getDescriptor(_frame->getImage(), kps);
+
+ if (kps.size() > 0)
+ {
+ // Keep best in cell
+ KeyPointVector list_keypoints = kps;
+
+ // cv::KeyPointsFilter keypoint_filter;
+ // keypoint_filter.retainBest(kps,1);
+ retainBest(kps,1);
+
+ // Check if point exist in list
+ int index = existsInKPVec(kps[0], list_keypoints, 1.0);
+
+ if(kps[0].response > params_ptr_->min_response_new_feature)
+ {
+ // Keep feature
+ _frame->addKeyPoint(kps[0]);
+ _frame->addDescriptor(desc.row(index));
// Hit cell
hitCell(kps[0]);
@@ -195,64 +196,64 @@ void AlgorithmACTIVESEARCH::detectNewFeatures(FramePtr& _frame, const DetectorBa
// Debug
if (params_ptr_->draw_results)
{
- drawRoi(image_draw_, roi, getName(), cv::Scalar(50,255,0), 1, 0.1);
- cv::circle(image_draw_, kps[0].pt, 5, cv::Scalar(255, 0, 100), -1, 8, 0);
+ drawRoi(image_draw_, roi, getName(), cv::Scalar(50,255,0), 1, 0.1);
+ cv::circle(image_draw_, kps[0].pt, 5, cv::Scalar(255, 0, 100), -1, 8, 0);
}
- }
- }
- else
- {
- // Block cell
- blockCell(roi);
-
- // Debug
+ }
+ }
+ else
+ {
+ // Block cell
+ blockCell(roi);
+
+ // Debug
if (params_ptr_->draw_results)
- drawRoi(image_draw_, roi, getName(), cv::Scalar(255,0,0), 1, 0.1);
- }
- }
+ drawRoi(image_draw_, roi, getName(), cv::Scalar(255,0,0), 1, 0.1);
+ }
+ }
else
break;
- }
+ }
if (params_ptr_->draw_results)
{
- cv::imshow(getName(), image_draw_);
- cv::waitKey(1);
+ cv::imshow(getName(), image_draw_);
+ cv::waitKey(1);
}
}
void AlgorithmACTIVESEARCH::trackFrame(const FramePtr& _frame_old, FramePtr& _tracked_frame, const DetectorBasePtr& _det_ptr, const DescriptorBasePtr& _des_ptr, const MatcherBasePtr& _mat_ptr)
{
- // Start timer
- clock_t tStart = clock();
+ // Start timer
+ clock_t tStart = clock();
if (params_ptr_->draw_results)
- image_draw_ = _tracked_frame->getImage().clone();
+ image_draw_ = _tracked_frame->getImage().clone();
- // Renew active ROI
- renew();
+ // Renew active ROI
+ renew();
- KeyPointVector target_feature = _frame_old->getKeyPoints();
- cv::Mat target_desc = _frame_old->getDescriptors();
+ KeyPointVector target_feature = _frame_old->getKeyPoints();
+ cv::Mat target_desc = _frame_old->getDescriptors();
- // Try to track all previous features
- for(int ii=0; ii<target_feature.size(); ++ii)
+ // Try to track all previous features
+ for(int ii=0; ii<target_feature.size(); ++ii)
{
- // Hit cell in the position of the targeted kp
- hitCell(target_feature[ii]);
+ // Hit cell in the position of the targeted kp
+ hitCell(target_feature[ii]);
- // Set ROI
- cv::Rect roi = setRoi(target_feature[ii].pt.x,target_feature[ii].pt.y, cell_size_(0), cell_size_(1));
+ // Set ROI
+ cv::Rect roi = setRoi(target_feature[ii].pt.x,target_feature[ii].pt.y, cell_size_(0), cell_size_(1));
-// // draw ROI
-// if (params_ptr_->draw_results)
-// drawRoi(image_draw_, roi, getName(), cv::Scalar(0,255,255));
+ // // draw ROI
+ // if (params_ptr_->draw_results)
+ // drawRoi(image_draw_, roi, getName(), cv::Scalar(0,255,255));
// Detect features in ROI
- KeyPointVector kps = _det_ptr->detect(_tracked_frame->getImage(), roi);
- cv::Mat desc = _des_ptr->getDescriptor(_tracked_frame->getImage(), kps);
+ KeyPointVector kps = _det_ptr->detect(_tracked_frame->getImage(), roi);
+ cv::Mat desc = _des_ptr->getDescriptor(_tracked_frame->getImage(), kps);
- // If there are keypoints around the candidate ROI
+ // If there are keypoints around the candidate ROI
if(kps.size() > 0)
{
// Match
@@ -262,8 +263,8 @@ void AlgorithmACTIVESEARCH::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
// If good match, keep feature
if (normalized_score > _mat_ptr->getParams()->min_norm_score)
{
- // introduce in list of tracked features
- cv::KeyPoint tracked_kp = kps[match_data.trainIdx];
+ // introduce in list of tracked features
+ cv::KeyPoint tracked_kp = kps[match_data.trainIdx];
cv::Mat tracked_desc = desc(cv::Rect(0,match_data.trainIdx,desc.cols,1));
_tracked_frame->addKeyPoint(tracked_kp);
_tracked_frame->addDescriptor(tracked_desc);
@@ -271,28 +272,28 @@ void AlgorithmACTIVESEARCH::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
// Draw
if (params_ptr_->draw_results)
{
- cv::line(image_draw_, tracked_kp.pt, target_feature[ii].pt, cv::Scalar(0, 0, 255), 3);
- cv::circle(image_draw_, tracked_kp.pt, 5, cv::Scalar(255.0, 255.0, 0.0), -1, 8, 0);
- cv::putText(image_draw_, std::to_string(ii), tracked_kp.pt, cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
+ cv::line(image_draw_, tracked_kp.pt, target_feature[ii].pt, cv::Scalar(0, 0, 255), 3);
+ cv::circle(image_draw_, tracked_kp.pt, 5, cv::Scalar(255.0, 255.0, 0.0), -1, 8, 0);
+ cv::putText(image_draw_, std::to_string(ii), tracked_kp.pt, cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
}
}
}
}
- // If not enough tracked features, add new ones
- if (_tracked_frame->getNumFeatures() < params_ptr_->min_feat_track)
- detectNewFeatures(_tracked_frame, _det_ptr, _des_ptr, params_ptr_->max_new_features - _tracked_frame->getNumFeatures());
- else
- {
- if (params_ptr_->draw_results)
- {
- cv::imshow(getName(), image_draw_);
- cv::waitKey(1);
- }
- }
-
- // Get computation time
- comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
+ // If not enough tracked features, add new ones
+ if (_tracked_frame->getNumFeatures() < params_ptr_->min_feat_track)
+ detectNewFeatures(_tracked_frame, _det_ptr, _des_ptr, params_ptr_->max_new_features - _tracked_frame->getNumFeatures());
+ else
+ {
+ if (params_ptr_->draw_results)
+ {
+ cv::imshow(getName(), image_draw_);
+ cv::waitKey(1);
+ }
+ }
+
+ // Get computation time
+ comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
}
diff --git a/src/algorithms/anms/anms.cpp b/src/algorithms/anms/anms.cpp
index bcd28d40dad592936f2abce10800480eddd0c34b..0bf1c59124d234ecd342853bd2d9aa2588996085 100644
--- a/src/algorithms/anms/anms.cpp
+++ b/src/algorithms/anms/anms.cpp
@@ -197,17 +197,20 @@ vector<cv::KeyPoint> RangeTree(vector<cv::KeyPoint> keyPoints, int numRetPoints,
result.push_back(i);
int minx = keyPoints[i].pt.x-width; int maxx = keyPoints[i].pt.x+width; //defining square boundaries around the point
int miny= keyPoints[i].pt.y-width; int maxy= keyPoints[i].pt.y+width;
- if (minx<0) minx = 0; if (miny<0) miny = 0;
+ if (minx<0) minx = 0;
+ if (miny<0) miny = 0;
std::vector<u16 *> *he = treeANMS.search(minx, maxx, miny, maxy);
- for (unsigned int j=0; j<he->size();j++) if (Included[(u64) (*he)[j]]) Included[(u64) (*he)[j]] = false;
+ for (unsigned int j=0; j<he->size();j++)
+ if (Included[(u64) (*he)[j]])
+ Included[(u64) (*he)[j]] = false;
delete he;
he = NULL;
}
}
if (result.size()>=Kmin && result.size()<=Kmax){ //solution found
- ResultVec = result;
- complete = true;
+ ResultVec = result;
+ complete = true;
}
else if (result.size()<Kmin) high = width-1; //update binary search range
else low = width+1;
@@ -215,7 +218,8 @@ vector<cv::KeyPoint> RangeTree(vector<cv::KeyPoint> keyPoints, int numRetPoints,
}
// retrieve final keypoints
vector<cv::KeyPoint> kp;
- for (unsigned int i = 0; i<ResultVec.size(); i++) kp.push_back(keyPoints[ResultVec[i]]);
+ for (unsigned int i = 0; i<ResultVec.size(); i++)
+ kp.push_back(keyPoints[ResultVec[i]]);
return kp;
}
@@ -260,7 +264,7 @@ vector<int> Ssc(const vector<cv::KeyPoint>& keyPoints, const int& numRetPoints,
for (unsigned int i=0;i<keyPoints.size();++i){
- int row = floor(keyPoints[i].pt.y/c); //get position of the cell current point is located at
+ int row = floor(keyPoints[i].pt.y/c); //get position of the cell current point is located at
int col = floor(keyPoints[i].pt.x/c);
if (coveredVec[row][col]==false){ // if the cell is not covered
result.push_back(i);
@@ -316,7 +320,6 @@ void Ssc(const vector<cv::KeyPoint>& keyPoints, vector<cv::KeyPoint>& keyPointsS
}
}
-
void VisualizeAll(cv::Mat Image, vector<cv::KeyPoint> keyPoints, string figureTitle)
{
cv::Mat resultImg;
diff --git a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
index 7b0885e21190629151d634349f35a3d4615c8805..bcb7ee3adc1408ed843e033282a18c93558a6a61 100644
--- a/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
+++ b/src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp
@@ -7,49 +7,49 @@ namespace vision_utils {
AlgorithmOPTFLOWPYRLK::AlgorithmOPTFLOWPYRLK(void)
{
- initialized_ = false;
+ initialized_ = false;
}
AlgorithmOPTFLOWPYRLK::~AlgorithmOPTFLOWPYRLK(void)
{
if (params_ptr_->draw_results)
- cv::destroyAllWindows();
+ cv::destroyAllWindows();
}
void AlgorithmOPTFLOWPYRLK::initAlg(void)
{
- if (params_ptr_->draw_results)
- {
- cv::startWindowThread();
- cv::namedWindow(getName(), cv::WINDOW_NORMAL);
- }
+ if (params_ptr_->draw_results)
+ {
+ cv::startWindowThread();
+ cv::namedWindow(getName(), cv::WINDOW_NORMAL);
+ }
initialized_ = true;
}
void AlgorithmOPTFLOWPYRLK::run(Buffer<FramePtr>& _frame_buff, const DetectorBasePtr& _det_ptr)
{
- // Initialize vars if necessary
- if (!initialized_)
- initAlg();
-
- switch (_frame_buff.size())
- {
- case 0:
- VU_ERROR("Trying to track an empty buffer. Please, at least insert one image in the buffer.");
- break;
- case 1:
- detectNewFeatures(_frame_buff.back(), _det_ptr);
- break;
- default:
- trackFrame(_frame_buff[_frame_buff.size()-2], _frame_buff.back(), _det_ptr);
- break;
- }
+ // Initialize vars if necessary
+ if (!initialized_)
+ initAlg();
+
+ switch (_frame_buff.size())
+ {
+ case 0:
+ VU_ERROR("Trying to track an empty buffer. Please, at least insert one image in the buffer.");
+ break;
+ case 1:
+ detectNewFeatures(_frame_buff.back(), _det_ptr);
+ break;
+ default:
+ trackFrame(_frame_buff[_frame_buff.size()-2], _frame_buff.back(), _det_ptr);
+ break;
+ }
}
void AlgorithmOPTFLOWPYRLK::detectNewFeatures(FramePtr& _frame, const DetectorBasePtr& _det_ptr)
{
if (params_ptr_->draw_results)
- image_draw_ = _frame->getImage().clone();
+ image_draw_ = _frame->getImage().clone();
// Convert to gray scale if necessary
cv::Mat img_gray;
@@ -58,44 +58,44 @@ void AlgorithmOPTFLOWPYRLK::detectNewFeatures(FramePtr& _frame, const DetectorBa
else
img_gray = _frame->getImage().clone();
- KeyPointVector kps_new;
- cv::Mat desc_new;
-
- if (_frame->getNumFeatures() > 0)
- {
- // Get features again
- KeyPointVector kps = _det_ptr->detect(img_gray);
-
- // Keep only new features
- KeyPointVector tracked_kps = _frame->getKeyPoints();
- std::vector<int> kps_idxs;
- kps_new = differenceKPVec(tracked_kps, kps, kps_idxs);
- }
- else
- {
- // Get full frame detections
- kps_new = _det_ptr->detect(img_gray);
- }
- _frame->setKeyPoints(kps_new);
+ KeyPointVector kps_new;
+ cv::Mat desc_new;
+
+ if (_frame->getNumFeatures() > 0)
+ {
+ // Get features again
+ KeyPointVector kps = _det_ptr->detect(img_gray);
+
+ // Keep only new features
+ KeyPointVector tracked_kps = _frame->getKeyPoints();
+ std::vector<int> kps_idxs;
+ kps_new = differenceKPVec(tracked_kps, kps, kps_idxs);
+ }
+ else
+ {
+ // Get full frame detections
+ kps_new = _det_ptr->detect(img_gray);
+ }
+ _frame->setKeyPoints(kps_new);
if (params_ptr_->draw_results)
{
- drawKeyPoints(image_draw_, kps_new, 5, cv::Scalar(255,0,100), -1);
- cv::imshow(getName(), image_draw_);
- cv::waitKey(1);
+ drawKeyPoints(image_draw_, kps_new, 5, cv::Scalar(255,0,100), -1);
+ cv::imshow(getName(), image_draw_);
+ cv::waitKey(1);
}
frame_gray_prev_ = img_gray.clone();
}
void AlgorithmOPTFLOWPYRLK::trackFrame(const FramePtr& _frame_old, FramePtr& _tracked_frame, const DetectorBasePtr& _det_ptr)
{
- // Start timer
- clock_t tStart = clock();
+ // Start timer
+ clock_t tStart = clock();
if (params_ptr_->draw_results)
- image_draw_ = _tracked_frame->getImage().clone();
+ image_draw_ = _tracked_frame->getImage().clone();
- // Convert to gray scale if necessary
+ // Convert to gray scale if necessary
cv::Mat img_gray;
if (_tracked_frame->getImage().channels() == 3)
cv::cvtColor(_tracked_frame->getImage(), img_gray, CV_RGB2GRAY);
@@ -109,41 +109,41 @@ void AlgorithmOPTFLOWPYRLK::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
// Compute optical flow
if (pts_prev.size() > 0)
- cv::calcOpticalFlowPyrLK(frame_gray_prev_, img_gray, pts_prev, pts_matched_in_frame, kpt_is_found, err, params_ptr_->win_size, params_ptr_->max_level, params_ptr_->criteria, params_ptr_->flags, params_ptr_->min_eig_threshold);
+ cv::calcOpticalFlowPyrLK(frame_gray_prev_, img_gray, pts_prev, pts_matched_in_frame, kpt_is_found, err, params_ptr_->win_size, params_ptr_->max_level, params_ptr_->criteria, params_ptr_->flags, params_ptr_->min_eig_threshold);
//Draw lines connecting previous position and current position
KeyPointVector good_kpts;
for(size_t ii=0; ii<pts_matched_in_frame.size(); ii++)
{
- if(kpt_is_found[ii] && err[ii] < params_ptr_->min_err_kpt_match)
- {
- cv::KeyPoint kp(pts_matched_in_frame[ii], CV_32F);
- good_kpts.push_back(kp);
- cv::circle(image_draw_, pts_matched_in_frame[ii], 5, cv::Scalar(255.0, 255.0, 0.0), -1);
- cv::line(image_draw_, pts_prev[ii], pts_matched_in_frame[ii], cv::Scalar(0, 0, 255), 3);
- cv::putText(image_draw_, std::to_string(ii), pts_matched_in_frame[ii], cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
- }
+ if(kpt_is_found[ii] && err[ii] < params_ptr_->min_err_kpt_match)
+ {
+ cv::KeyPoint kp(pts_matched_in_frame[ii], CV_32F);
+ good_kpts.push_back(kp);
+ cv::circle(image_draw_, pts_matched_in_frame[ii], 5, cv::Scalar(255.0, 255.0, 0.0), -1);
+ cv::line(image_draw_, pts_prev[ii], pts_matched_in_frame[ii], cv::Scalar(0, 0, 255), 3);
+ cv::putText(image_draw_, std::to_string(ii), pts_matched_in_frame[ii], cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0, 0, 0));
+ }
}
// Update
_tracked_frame->setKeyPoints(good_kpts);
- // If not enough tracked features, add new ones
+ // If not enough tracked features, add new ones
if (_tracked_frame->getNumFeatures() < params_ptr_->min_feat_track)
- detectNewFeatures(_tracked_frame, _det_ptr);
+ detectNewFeatures(_tracked_frame, _det_ptr);
else
{
- // Draw
- if (params_ptr_->draw_results)
- {
- cv::imshow(getName(), image_draw_);
- cv::waitKey(1);
- }
+ // Draw
+ if (params_ptr_->draw_results)
+ {
+ cv::imshow(getName(), image_draw_);
+ cv::waitKey(1);
+ }
}
- frame_gray_prev_ = img_gray.clone();
+ frame_gray_prev_ = img_gray.clone();
- // Get computation time
- comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
+ // Get computation time
+ comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
}
} /* namespace vision_utils */