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make PlaneTracker class more thread-safe

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Ben Hagen 2015-01-19 21:57:23 +01:00
parent 5e92a777ef
commit 5422cbcecb
1 changed files with 4 additions and 4 deletions
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8
samples/python2/plane_tracker.py
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@ -87,10 +87,10 @@ class PlaneTracker:
def track(self, frame):
'''Returns a list of detected TrackedTarget objects'''
self.frame_points, self.frame_descrs = self.detect_features(frame)
if len(self.frame_points) < MIN_MATCH_COUNT:
frame_points, frame_descrs = self.detect_features(frame)
if len(frame_points) < MIN_MATCH_COUNT:
return []
matches = self.matcher.knnMatch(self.frame_descrs, k = 2)
matches = self.matcher.knnMatch(frame_descrs, k = 2)
matches = [m[0] for m in matches if len(m) == 2 and m[0].distance < m[1].distance * 0.75]
if len(matches) < MIN_MATCH_COUNT:
return []
@ -103,7 +103,7 @@ class PlaneTracker:
continue
target = self.targets[imgIdx]
p0 = [target.keypoints[m.trainIdx].pt for m in matches]
p1 = [self.frame_points[m.queryIdx].pt for m in matches]
p1 = [frame_points[m.queryIdx].pt for m in matches]
p0, p1 = np.float32((p0, p1))
H, status = cv2.findHomography(p0, p1, cv2.RANSAC, 3.0)
status = status.ravel() != 0