diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index e8a9b1c1cc28ffa72076acd3b2e52c634e825676..ea7baea0f03707fbc6f6f31520490e5cf2c319ee 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -127,8 +127,8 @@ IF(OpenCV_FOUND)
TARGET_LINK_LIBRARIES(test_constraint_AHP ${PROJECT_NAME})
# ORB tracker test
-# ADD_EXECUTABLE(test_tracker_ORB test_tracker_ORB.cpp)
-# TARGET_LINK_LIBRARIES(test_tracker_ORB ${PROJECT_NAME})
+ ADD_EXECUTABLE(test_tracker_ORB test_tracker_ORB.cpp)
+ TARGET_LINK_LIBRARIES(test_tracker_ORB ${PROJECT_NAME})
# ORB tracker test
ADD_EXECUTABLE(test_ROI_ORB test_ROI_ORB.cpp)
diff --git a/src/examples/test_tracker_ORB.cpp b/src/examples/test_tracker_ORB.cpp
index 34bd60a87e2565afe50e7484a669ee8be451730f..e37dda2b630b6c20f03de73e0e2913ab4896bf17 100644
--- a/src/examples/test_tracker_ORB.cpp
+++ b/src/examples/test_tracker_ORB.cpp
@@ -16,8 +16,8 @@ int main(int argc, char** argv)
const char * filename;
if (argc == 1)
{
-// filename = "/home/jtarraso/VÃdeos/gray.mp4";
- filename = "/home/jtarraso/Imágenes/Test_ORB.png";
+ std::string video_path = "/src/examples/Test_ORB.mp4";
+ filename = (_WOLF_ROOT_DIR + video_path).c_str();
capture.open(filename);
}
else if (std::string(argv[1]) == "0")
@@ -33,19 +33,24 @@ int main(int argc, char** argv)
}
std::cout << "Input video file: " << filename << std::endl;
if(!capture.isOpened()) std::cout << "failed" << std::endl; else std::cout << "succeded" << std::endl;
- capture.set(CV_CAP_PROP_POS_MSEC, 3000);
+ //capture.set(CV_CAP_PROP_POS_MSEC, 3000);
unsigned int img_width = capture.get(CV_CAP_PROP_FRAME_WIDTH);
unsigned int img_height = capture.get(CV_CAP_PROP_FRAME_HEIGHT);
std::cout << "Image size: " << img_width << "x" << img_height << std::endl;
+ //=====================================================
+ // Environment variable for configuration files
+ std::string wolf_root = _WOLF_ROOT_DIR;
+ //=====================================================
-
- cv::Feature2D* detector_descriptor_ptr_;
- cv::DescriptorMatcher* matcher_ptr_;
+ //=====================================================
+ // Detector, descriptor and matcher
+ cv::Ptr<cv::FeatureDetector> detector_descriptor_ptr_;
+ cv::Ptr<cv::DescriptorMatcher> matcher_ptr_;
unsigned int nfeatures = 500;
- float scaleFactor = 1.2;
+ float scaleFactor = 2;
unsigned int nlevels = 8;
unsigned int edgeThreshold = 16;
unsigned int firstLevel = 0;
@@ -58,33 +63,21 @@ int main(int argc, char** argv)
unsigned int roi_width = 200;
unsigned int roi_heigth = 200;
- detector_descriptor_ptr_ = new cv::ORB(nfeatures, //
+ detector_descriptor_ptr_ = cv::ORB::create(nfeatures, //
scaleFactor, //
nlevels, //
edgeThreshold, //
firstLevel, //
WTA_K, //
scoreType, //
- patchSize);//,
-// fastThreshold);
-
- //unsigned int nominal_pattern_radius = 0;
- //unsigned int pattern_radius = (unsigned int)( (nominal_pattern_radius) * pow(scaleFactor, nlevels-1));
+ patchSize);//
-// std::cout << "nominal pattern radius: " << _dd_params->nominal_pattern_radius << std::endl;
-// std::cout << "scale factor: " << params_orb->scaleFactor << std::endl;
-// std::cout << "nlevels: " << params_orb->nlevels << std::endl;
+ unsigned int pattern_radius = (unsigned int)(patchSize);
unsigned int size_bits = detector_descriptor_ptr_->descriptorSize() * 8;
- matcher_ptr_ = new cv::BFMatcher(6);
-
-
-
- // CAPTURES
-// SensorCamera* camera_ptr_;
-// CaptureImage* image_ptr;
- TimeStamp t = 1;
+ matcher_ptr_ = cv::DescriptorMatcher::create("BruteForce-Hamming(2)");
+ //=====================================================
unsigned int buffer_size = 20;
std::vector<cv::Mat> frame(buffer_size);
@@ -94,10 +87,8 @@ int main(int argc, char** argv)
cv::namedWindow("Feature tracker"); // Creates a window for display.
cv::moveWindow("Feature tracker", 0, 0);
-// image_ptr = new CaptureImage(t, camera_ptr_, frame[f % buffer_size]);
-
cv::imshow("Feature tracker", frame[f % buffer_size]);
- cv::waitKey(0);
+ cv::waitKey(1);
std::vector<cv::KeyPoint> target_keypoints;
std::vector<cv::KeyPoint> tracked_keypoints_;
@@ -121,8 +112,6 @@ int main(int argc, char** argv)
detector_descriptor_ptr_->detect(image_original, target_keypoints);
detector_descriptor_ptr_->compute(image_original, target_keypoints, target_descriptors);
-
-
while(!(frame[f % buffer_size].empty()))
{
f++;
@@ -152,10 +141,10 @@ int main(int argc, char** argv)
roi_up_left_corner.y = roi.y;
//inflate
-// roi.x = roi.x - pattern_radius;
-// roi.y = roi.y - pattern_radius;
-// roi.width = roi.width + 2*pattern_radius;
-// roi.height = roi.height + 2*pattern_radius;
+ roi.x = roi.x - pattern_radius;
+ roi.y = roi.y - pattern_radius;
+ roi.width = roi.width + 2*pattern_radius;
+ roi.height = roi.height + 2*pattern_radius;
//trim
if(roi.x < 0)
@@ -191,8 +180,6 @@ int main(int argc, char** argv)
detector_descriptor_ptr_->detect(image_roi, keypoints);
detector_descriptor_ptr_->compute(image_roi, keypoints, descriptors);
-
-
cv::Mat target_descriptor; //B(cv::Rect(0,0,vec_length,1));
target_descriptor = target_descriptors(cv::Rect(0,j,target_descriptors.cols,1));
@@ -205,14 +192,12 @@ int main(int argc, char** argv)
if(normalized_score < 0.8)
{
std::cout << "not tracked" << std::endl;
-// std::cout << "choosen_descriptor:\n" << descriptors.row(cv_matches[0].trainIdx) << std::endl;
}
else
{
std::cout << "tracked" << std::endl;
-// std::cout << "choosen_descriptor:\n" << descriptors.row(cv_matches[0].trainIdx) << std::endl;
- matched = true;
+ matched = true;
cv::Point2f point,t_point;
point.x = keypoints[cv_matches[0].trainIdx].pt.x + roi.x;
@@ -220,11 +205,6 @@ int main(int argc, char** argv)
t_point.x = target_keypoints[j].pt.x;
t_point.y = target_keypoints[j].pt.y;
-
-
-
-
-
cv::circle(image_graphics, t_point, 4, cv::Scalar(51.0, 51.0, 255.0), -1, 3, 0);
cv::circle(image_graphics, point, 2, cv::Scalar(255.0, 255.0, 0.0), -1, 8, 0);
cv::putText(image_graphics, std::to_string(j), point, cv:: FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255.0, 255.0, 0.0));
@@ -330,7 +310,7 @@ int main(int argc, char** argv)
tracked_keypoints = 0;
cv::imshow("Feature tracker", image_graphics);
- cv::waitKey(0);
+ cv::waitKey(1);
// f++;
// capture >> frame[f % buffer_size];