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Merge pull request #6118 from Emoters:hotfix/planar_tutorial_fixes

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This commit is contained in:
Alexander Alekhin 2016-03-03 17:24:08 +00:00
commit 05a68fd82b
1 changed files with 66 additions and 22 deletions
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88
samples/cpp/tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp
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@ -1,6 +1,8 @@
#include <opencv2/features2d.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/opencv.hpp>
#include <opencv2/tracking.hpp> //for ROI
#include <opencv2/highgui.hpp> //for imshow
#include <vector>
#include <iostream>
#include <iomanip>
@ -17,6 +19,7 @@ const double nn_match_ratio = 0.8f; // Nearest-neighbour matching ratio
const int bb_min_inliers = 100; // Minimal number of inliers to draw bounding box
const int stats_update_period = 10; // On-screen statistics are updated every 10 frames
namespace example {
class Tracker
{
public:
@ -40,12 +43,22 @@ protected:
void Tracker::setFirstFrame(const Mat frame, vector<Point2f> bb, string title, Stats& stats)
{
cv::Point *ptMask = new cv::Point[bb.size()];
const Point* ptContain = { &ptMask[0] };
int iSize = static_cast<int>(bb.size());
for (size_t i=0; i<bb.size(); i++) {
ptMask[i].x = static_cast<int>(bb[i].x);
ptMask[i].y = static_cast<int>(bb[i].y);
}
first_frame = frame.clone();
detector->detectAndCompute(first_frame, noArray(), first_kp, first_desc);
cv::Mat matMask = cv::Mat::zeros(frame.size(), CV_8UC1);
cv::fillPoly(matMask, &ptContain, &iSize, 1, cv::Scalar::all(255));
detector->detectAndCompute(first_frame, matMask, first_kp, first_desc);
stats.keypoints = (int)first_kp.size();
drawBoundingBox(first_frame, bb);
putText(first_frame, title, Point(0, 60), FONT_HERSHEY_PLAIN, 5, Scalar::all(0), 4);
object_bb = bb;
delete ptMask;
}
Mat Tracker::process(const Mat frame, Stats& stats)
@ -104,17 +117,35 @@ Mat Tracker::process(const Mat frame, Stats& stats)
Scalar(255, 0, 0), Scalar(255, 0, 0));
return res;
}
}
int main(int argc, char **argv)
{
if(argc < 4) {
cerr << "Usage: " << endl <<
"akaze_track input_path output_path bounding_box" << endl;
if(argc < 3) {
cerr << "Usage: " << endl
<< "akaze_track input_path output_path [bounding_box_path]" << endl
<< " (for camera input_path=N for camera N)" << endl;
return 1;
}
VideoCapture video_in(argv[1]);
VideoWriter video_out(argv[2],
(int)video_in.get(CAP_PROP_FOURCC),
std::string video_name = argv[1];
std::stringstream ssFormat;
ssFormat << atoi(argv[1]);
VideoCapture video_in;
int iFourCC = 0, frame_count = 0;
if (video_name.compare(ssFormat.str())==0) { //test str==str(num)
video_in.open(atoi(argv[1]));
cerr << "Capturing for 10 seconds from camera..." << endl;
iFourCC = CV_FOURCC('D', 'I', 'V', 'X'); //default to mp4 (sample)
frame_count = 10*static_cast<int>(video_in.get(CAP_PROP_FPS));
}
else {
video_in.open(video_name);
iFourCC = static_cast<int>(video_in.get(CAP_PROP_FOURCC));
frame_count = static_cast<int>(video_in.get(CAP_PROP_FRAME_COUNT));
}
VideoWriter video_out(argv[2], iFourCC,
(int)video_in.get(CAP_PROP_FPS),
Size(2 * (int)video_in.get(CAP_PROP_FRAME_WIDTH),
2 * (int)video_in.get(CAP_PROP_FRAME_HEIGHT)));
@ -128,34 +159,43 @@ int main(int argc, char **argv)
return 1;
}
vector<Point2f> bb;
FileStorage fs(argv[3], FileStorage::READ);
if(fs["bounding_box"].empty()) {
cerr << "Couldn't read bounding_box from " << argv[3] << endl;
return 1;
}
fs["bounding_box"] >> bb;
Stats stats, akaze_stats, orb_stats;
Ptr<AKAZE> akaze = AKAZE::create();
akaze->setThreshold(akaze_thresh);
Ptr<ORB> orb = ORB::create();
orb->setMaxFeatures(stats.keypoints);
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");
Tracker akaze_tracker(akaze, matcher);
Tracker orb_tracker(orb, matcher);
example::Tracker akaze_tracker(akaze, matcher);
example::Tracker orb_tracker(orb, matcher);
Mat frame;
video_in >> frame;
vector<Point2f> bb;
if (argc < 4) { //attempt to alow GUI selection
cv::Rect2d uBox = selectROI(video_name, frame);
bb.push_back(cv::Point2f(static_cast<float>(uBox.x), static_cast<float>(uBox.y)));
bb.push_back(cv::Point2f(static_cast<float>(uBox.x+uBox.width), static_cast<float>(uBox.y)));
bb.push_back(cv::Point2f(static_cast<float>(uBox.x+uBox.width), static_cast<float>(uBox.y+uBox.height)));
bb.push_back(cv::Point2f(static_cast<float>(uBox.x), static_cast<float>(uBox.y+uBox.height)));
}
else {
FileStorage fs(argv[3], FileStorage::READ);
if(fs["bounding_box"].empty()) {
cerr << "Couldn't read bounding_box from " << argv[3] << endl;
return 1;
}
fs["bounding_box"] >> bb;
}
akaze_tracker.setFirstFrame(frame, bb, "AKAZE", stats);
orb_tracker.setFirstFrame(frame, bb, "ORB", stats);
Stats akaze_draw_stats, orb_draw_stats;
int frame_count = (int)video_in.get(CAP_PROP_FRAME_COUNT);
Mat akaze_res, orb_res, res_frame;
for(int i = 1; i < frame_count; i++) {
int i = 1;
for(i = 1; i < frame_count; i++) {
bool update_stats = (i % stats_update_period == 0);
video_in >> frame;
// stop the program if no more images
if(frame.rows==0 || frame.cols==0) break;
akaze_res = akaze_tracker.process(frame, stats);
akaze_stats += stats;
@ -174,10 +214,14 @@ int main(int argc, char **argv)
drawStatistics(orb_res, orb_draw_stats);
vconcat(akaze_res, orb_res, res_frame);
video_out << res_frame;
cv::imshow(video_name, res_frame);
if (i==1) //resize for easier display
cv::resizeWindow(video_name, frame.cols, frame.rows);
if(cv::waitKey(1)==27)break; //quit on ESC button
cout << i << "/" << frame_count - 1 << endl;
}
akaze_stats /= frame_count - 1;
orb_stats /= frame_count - 1;
akaze_stats /= i - 1;
orb_stats /= i - 1;
printStatistics("AKAZE", akaze_stats);
printStatistics("ORB", orb_stats);
return 0;