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AKAZE fixes and tracking tutorial

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This commit is contained in:
f-morozov
2014-08-19 16:35:20 +04:00
parent 1a1097ab23
commit 886319c81d
12 changed files with 489 additions and 20 deletions
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183
samples/cpp/tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp Executable file
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#include <opencv2/features2d.hpp>
#include <opencv2/videoio.hpp>
#include <opencv2/opencv.hpp>
#include <vector>
#include <iostream>
#include <iomanip>
#include "stats.h" // Stats structure definition
#include "utils.h" // Drawing and printing functions
using namespace std;
using namespace cv;
const double akaze_thresh = 3e-4; // AKAZE detection threshold set to locate about 1000 keypoints
const double ransac_thresh = 2.5f; // RANSAC inlier threshold
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
class Tracker
{
public:
Tracker(Ptr<Feature2D> _detector, Ptr<DescriptorMatcher> _matcher) :
detector(_detector),
matcher(_matcher)
{}
void setFirstFrame(const Mat frame, vector<Point2f> bb, string title, Stats& stats);
Mat process(const Mat frame, Stats& stats);
Ptr<Feature2D> getDetector() {
return detector;
}
protected:
Ptr<Feature2D> detector;
Ptr<DescriptorMatcher> matcher;
Mat first_frame, first_desc;
vector<KeyPoint> first_kp;
vector<Point2f> object_bb;
};
void Tracker::setFirstFrame(const Mat frame, vector<Point2f> bb, string title, Stats& stats)
{
first_frame = frame.clone();
(*detector)(first_frame, noArray(), 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;
}
Mat Tracker::process(const Mat frame, Stats& stats)
{
vector<KeyPoint> kp;
Mat desc;
(*detector)(frame, noArray(), kp, desc);
stats.keypoints = (int)kp.size();
vector< vector<DMatch> > matches;
vector<KeyPoint> matched1, matched2;
matcher->knnMatch(first_desc, desc, matches, 2);
for(unsigned i = 0; i < matches.size(); i++) {
if(matches[i][0].distance < nn_match_ratio * matches[i][1].distance) {
matched1.push_back(first_kp[matches[i][0].queryIdx]);
matched2.push_back( kp[matches[i][0].trainIdx]);
}
}
stats.matches = (int)matched1.size();
Mat inlier_mask, homography;
vector<KeyPoint> inliers1, inliers2;
vector<DMatch> inlier_matches;
if(matched1.size() >= 4) {
homography = findHomography(Points(matched1), Points(matched2),
RANSAC, ransac_thresh, inlier_mask);
}
if(matched1.size() < 4 || homography.empty()) {
Mat res;
hconcat(first_frame, frame, res);
stats.inliers = 0;
stats.ratio = 0;
return res;
}
for(unsigned i = 0; i < matched1.size(); i++) {
if(inlier_mask.at<uchar>(i)) {
int new_i = static_cast<int>(inliers1.size());
inliers1.push_back(matched1[i]);
inliers2.push_back(matched2[i]);
inlier_matches.push_back(DMatch(new_i, new_i, 0));
}
}
stats.inliers = (int)inliers1.size();
stats.ratio = stats.inliers * 1.0 / stats.matches;
vector<Point2f> new_bb;
perspectiveTransform(object_bb, new_bb, homography);
Mat frame_with_bb = frame.clone();
if(stats.inliers >= bb_min_inliers) {
drawBoundingBox(frame_with_bb, new_bb);
}
Mat res;
drawMatches(first_frame, inliers1, frame_with_bb, inliers2,
inlier_matches, res,
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;
return 1;
}
VideoCapture video_in(argv[1]);
VideoWriter video_out(argv[2],
(int)video_in.get(CAP_PROP_FOURCC),
(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)));
if(!video_in.isOpened()) {
cerr << "Couldn't open " << argv[1] << endl;
return 1;
}
if(!video_out.isOpened()) {
cerr << "Couldn't open " << argv[2] << endl;
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;
Ptr<Feature2D> akaze = Feature2D::create("AKAZE");
akaze->set("threshold", akaze_thresh);
Ptr<Feature2D> orb = Feature2D::create("ORB");
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");
Tracker akaze_tracker(akaze, matcher);
Tracker orb_tracker(orb, matcher);
Stats stats, akaze_stats, orb_stats;
Mat frame;
video_in >> frame;
akaze_tracker.setFirstFrame(frame, bb, "AKAZE", stats);
orb_tracker.getDetector()->set("nFeatures", stats.keypoints);
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++) {
bool update_stats = (i % stats_update_period == 0);
video_in >> frame;
akaze_res = akaze_tracker.process(frame, stats);
akaze_stats += stats;
if(update_stats) {
akaze_draw_stats = stats;
}
orb_tracker.getDetector()->set("nFeatures", stats.keypoints);
orb_res = orb_tracker.process(frame, stats);
orb_stats += stats;
if(update_stats) {
orb_draw_stats = stats;
}
drawStatistics(akaze_res, akaze_draw_stats);
drawStatistics(orb_res, orb_draw_stats);
vconcat(akaze_res, orb_res, res_frame);
video_out << res_frame;
cout << i << "/" << frame_count - 1 << endl;
}
akaze_stats /= frame_count - 1;
orb_stats /= frame_count - 1;
printStatistics("AKAZE", akaze_stats);
printStatistics("ORB", orb_stats);
return 0;
}

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samples/cpp/tutorial_code/features2D/AKAZE_tracking/stats.h Normal file
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#ifndef STATS_H
#define STATS_H
struct Stats
{
int matches;
int inliers;
double ratio;
int keypoints;
Stats() : matches(0),
inliers(0),
ratio(0),
keypoints(0)
{}
Stats& operator+=(const Stats& op) {
matches += op.matches;
inliers += op.inliers;
ratio += op.ratio;
keypoints += op.keypoints;
return *this;
}
Stats& operator/=(int num)
{
matches /= num;
inliers /= num;
ratio /= num;
keypoints /= num;
return *this;
}
};
#endif // STATS_H

59
samples/cpp/tutorial_code/features2D/AKAZE_tracking/utils.h Normal file
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#ifndef UTILS_H
#define UTILS_H
#include <opencv2/core.hpp>
#include <vector>
#include "stats.h"
using namespace std;
using namespace cv;
void drawBoundingBox(Mat image, vector<Point2f> bb);
void drawStatistics(Mat image, const Stats& stats);
void printStatistics(string name, Stats stats);
vector<Point2f> Points(vector<KeyPoint> keypoints);
void drawBoundingBox(Mat image, vector<Point2f> bb)
{
for(unsigned i = 0; i < bb.size() - 1; i++) {
line(image, bb[i], bb[i + 1], Scalar(0, 0, 255), 2);
}
line(image, bb[bb.size() - 1], bb[0], Scalar(0, 0, 255), 2);
}
void drawStatistics(Mat image, const Stats& stats)
{
static const int font = FONT_HERSHEY_PLAIN;
stringstream str1, str2, str3;
str1 << "Matches: " << stats.matches;
str2 << "Inliers: " << stats.inliers;
str3 << "Inlier ratio: " << setprecision(2) << stats.ratio;
putText(image, str1.str(), Point(0, image.rows - 90), font, 2, Scalar::all(255), 3);
putText(image, str2.str(), Point(0, image.rows - 60), font, 2, Scalar::all(255), 3);
putText(image, str3.str(), Point(0, image.rows - 30), font, 2, Scalar::all(255), 3);
}
void printStatistics(string name, Stats stats)
{
cout << name << endl;
cout << "----------" << endl;
cout << "Matches " << stats.matches << endl;
cout << "Inliers " << stats.inliers << endl;
cout << "Inlier ratio " << setprecision(2) << stats.ratio << endl;
cout << "Keypoints " << stats.keypoints << endl;
cout << endl;
}
vector<Point2f> Points(vector<KeyPoint> keypoints)
{
vector<Point2f> res;
for(unsigned i = 0; i < keypoints.size(); i++) {
res.push_back(keypoints[i].pt);
}
return res;
}
#endif // UTILS_H