From 9482c52424ef614d547bd1ed137a84dbc186458e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Thu, 28 Oct 2021 15:15:52 +0200
Subject: [PATCH] more tabs converted to spaces
---
.../trackfeatures/alg_trackfeatures.cpp | 164 +++++++++---------
1 file changed, 82 insertions(+), 82 deletions(-)
diff --git a/src/algorithms/trackfeatures/alg_trackfeatures.cpp b/src/algorithms/trackfeatures/alg_trackfeatures.cpp
index add44d8..37078ab 100644
--- a/src/algorithms/trackfeatures/alg_trackfeatures.cpp
+++ b/src/algorithms/trackfeatures/alg_trackfeatures.cpp
@@ -4,109 +4,109 @@ namespace vision_utils {
AlgorithmTRACKFEATURES::AlgorithmTRACKFEATURES(void)
{
- initialized_ = false;
+ initialized_ = false;
}
AlgorithmTRACKFEATURES::~AlgorithmTRACKFEATURES(void)
{
if (params_ptr_->draw_results)
- cv::destroyAllWindows();
+ cv::destroyAllWindows();
}
void AlgorithmTRACKFEATURES::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 AlgorithmTRACKFEATURES::run(Buffer<FramePtr>& _frame_buff, const DetectorBasePtr& _det_ptr, const DescriptorBasePtr& _des_ptr, const MatcherBasePtr& _mat_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, _des_ptr);
- 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();
+
+ 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);
+ break;
+ default:
+ trackFrame(_frame_buff[_frame_buff.size()-2], _frame_buff.back(), _det_ptr, _des_ptr, _mat_ptr);
+ break;
+ }
}
void AlgorithmTRACKFEATURES::detectNewFeatures(FramePtr& _frame, const DetectorBasePtr& _det_ptr, const DescriptorBasePtr& _des_ptr)
{
if (params_ptr_->draw_results)
- image_draw_ = _frame->getImage().clone();
-
- KeyPointVector kps_new;
- cv::Mat desc_new;
-
- if (_frame->getNumFeatures() > 0)
- {
- // Get features again
- KeyPointVector kps = _det_ptr->detect(_frame->getImage());
- cv::Mat desc = _des_ptr->getDescriptor( _frame->getImage(), kps);
-
- // Keep only new features
- std::vector<int> idxs_new;
- KeyPointVector tracked_kps = _frame->getKeyPoints();
- kps_new = differenceKPVec(tracked_kps, kps, idxs_new);
- for (int ii=0;ii<idxs_new.size();++ii)
- desc_new.push_back( desc.row(idxs_new[ii]) );
- }
- else
- {
- // Get full frame detections and descriptors
- kps_new = _det_ptr->detect(_frame->getImage());
- desc_new = _des_ptr->getDescriptor( _frame->getImage(), kps_new);
- }
- _frame->addKeyPoints(kps_new);
- _frame->addDescriptors(desc_new);
+ image_draw_ = _frame->getImage().clone();
+
+ KeyPointVector kps_new;
+ cv::Mat desc_new;
+
+ if (_frame->getNumFeatures() > 0)
+ {
+ // Get features again
+ KeyPointVector kps = _det_ptr->detect(_frame->getImage());
+ cv::Mat desc = _des_ptr->getDescriptor( _frame->getImage(), kps);
+
+ // Keep only new features
+ std::vector<int> idxs_new;
+ KeyPointVector tracked_kps = _frame->getKeyPoints();
+ kps_new = differenceKPVec(tracked_kps, kps, idxs_new);
+ for (int ii=0;ii<idxs_new.size();++ii)
+ desc_new.push_back( desc.row(idxs_new[ii]) );
+ }
+ else
+ {
+ // Get full frame detections and descriptors
+ kps_new = _det_ptr->detect(_frame->getImage());
+ desc_new = _des_ptr->getDescriptor( _frame->getImage(), kps_new);
+ }
+ _frame->addKeyPoints(kps_new);
+ _frame->addDescriptors(desc_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);
}
}
void AlgorithmTRACKFEATURES::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();
KeyPointVector target_kps = _frame_old->getKeyPoints();
cv::Mat target_desc = _frame_old->getDescriptors();
- for(int ii = 1; ii < target_kps.size(); ++ii)
+ for(int ii = 1; ii < target_kps.size(); ++ii)
{
// Set a candidate ROI around the target feature
- cv::Rect roi = setRoi(target_kps[ii].pt.x, target_kps[ii].pt.y, params_ptr_->target_roi_height, params_ptr_->target_roi_width);
+ cv::Rect roi = setRoi(target_kps[ii].pt.x, target_kps[ii].pt.y, params_ptr_->target_roi_height, params_ptr_->target_roi_width);
// // draw ROI
-// if (params_ptr_->draw_results)
-// drawRoi(image_draw_, roi, getName(), cv::Scalar(0,255,255));
+// 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);
+ // Detect features in ROI
+ KeyPointVector kps = _det_ptr->detect(_tracked_frame->getImage(), roi);
+ cv::Mat desc = _des_ptr->getDescriptor(_tracked_frame->getImage(), kps);
- // If there are keypoints aroud the candidate ROI
+ // If there are keypoints aroud the candidate ROI
if(kps.size() > 0)
{
// Match
@@ -116,36 +116,36 @@ void AlgorithmTRACKFEATURES::trackFrame(const FramePtr& _frame_old, FramePtr& _t
// 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);
// Draw
if (params_ptr_->draw_results)
{
- cv::line(image_draw_, tracked_kp.pt, target_kps[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_kps[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);
- 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);
+ 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;
}
} /* namespace vision_utils */
--
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