small changes

src/algorithms/activesearch/alg_activesearch.cpp

@@ -152,8 +152,8 @@ void AlgorithmACTIVESEARCH::detectNewFeatures(FramePtr& _frame, const DetectorBa
 		if (pickEmptyRoi(roi))
 		{
 		    // draw ROI
-            if (params_ptr_->draw_results)
-            	drawRoi(image_draw_, roi,  getName(), cv::Scalar(255,255,255));
+//            if (params_ptr_->draw_results)
+//            	drawRoi(image_draw_, roi,  getName(), cv::Scalar(255,255,255));
 
 	    	// Detect features in ROI
 	    	kps = _det_ptr->detect(_frame->image, roi);
@@ -229,9 +229,9 @@ void AlgorithmACTIVESEARCH::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
 		// Set ROI
 		cv::Rect roi = setRoi(target_feature->kp.pt.x,target_feature->kp.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->image, roi);
@@ -266,12 +266,14 @@ void AlgorithmACTIVESEARCH::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
 	// If not enough tracked features, add new ones
 	if (_tracked_frame->features.size() < params_ptr_->min_feat_track)
 		detectNewFeatures(_tracked_frame, _det_ptr, _des_ptr, params_ptr_->max_new_features - _tracked_frame->features.size());
-
-    if (params_ptr_->draw_results)
-    {
-    	cv::imshow(getName(), image_draw_);
-    	cv::waitKey(1);
-    }
+	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;

src/algorithms/opticalflowpyrlk/alg_opticalflowpyrlk.cpp

@@ -111,7 +111,6 @@ void AlgorithmOPTFLOWPYRLK::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
     PointVector pts_matched_in_prev;
     PointVector pts_prev = _frame_old->getPoints();
 
-
     // 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);
@@ -136,13 +135,15 @@ void AlgorithmOPTFLOWPYRLK::trackFrame(const FramePtr& _frame_old, FramePtr& _tr
 	// If not enough tracked features, add new ones
     if (_tracked_frame->features.size() < params_ptr_->min_feat_track)
 		detectNewFeatures(_tracked_frame, _det_ptr);
-
-	// Draw
-	if (params_ptr_->draw_results)
-	{
-	    cv::imshow(getName(), image_draw_);
-	    cv::waitKey(1);
-	}
+    else
+    {
+    	// Draw
+    	if (params_ptr_->draw_results)
+    	{
+    		cv::imshow(getName(), image_draw_);
+    		cv::waitKey(1);
+    	}
+    }
 
 	frame_gray_prev_ = img_gray.clone();
 

src/algorithms/trackfeatures/alg_trackfeatures.cpp

@@ -96,9 +96,9 @@ void AlgorithmTRACKFEATURES::trackFrame(const FramePtr& _frame_old, FramePtr& _t
         // Set a candidate ROI around the target feature
 		cv::Rect roi = setRoi(target_feature->kp.pt.x,target_feature->kp.pt.y, params_ptr_->roi_width, params_ptr_->roi_height);
 
-        // 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->image, roi);
@@ -133,12 +133,14 @@ void AlgorithmTRACKFEATURES::trackFrame(const FramePtr& _frame_old, FramePtr& _t
 	// If not enough tracked features, add new ones
 	if (_tracked_frame->features.size() < params_ptr_->min_feat_track)
 		detectNewFeatures(_tracked_frame, _det_ptr, _des_ptr);
-
-    if (params_ptr_->draw_results)
-    {
-    	cv::imshow(getName(), image_draw_);
-    	cv::waitKey(1);
-    }
+	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;

src/examples/yaml/ACTIVESEARCH.yaml

@@ -2,15 +2,20 @@ sensor:
   type: "USB_CAM"
 
 detector:
-  type: "FAST"         
-  threshold: 10
-  nonmaxSuppression: true
-  neighbor type: 0 #enum { TYPE_9_16=0, TYPE_7_12=1, TYPE_5_8=2 };
+  type: "ORB"         
+  nfeatures: 100
+  scale factor: 1.2
+  nlevels: 8
+  edge threshold: 8   # 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
 
 descriptor:
   type: "ORB"         
   nfeatures: 100
-  scale factor: 1
+  scale factor: 1.2
   nlevels: 8
   edge threshold: 8   # 16
   first level: 0 
@@ -28,7 +33,7 @@ algorithm:
   grid horiz cells: 10
   grid vert cells: 10
   margin: 0
-  separation: 2
+  separation: 5
   min features to track: 20
   max new features: 100
   min response new features: 80