tutorial-klt-tracker-with-reinit.cpp

#include <visp3/core/vpImageConvert.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/klt/vpKltOpencv.h>
 
int main()
{
#ifdef VISP_HAVE_OPENCV
  try {
    vpVideoReader reader;
    reader.setFileName("video-postcard.mp4");
 
    vpImage<unsigned char> I;
    reader.acquire(I);
 
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
    IplImage *cvI = NULL;
#else
    cv::Mat cvI;
#endif
    vpImageConvert::convert(I, cvI);
 
    // Display initialisation
    vpDisplayOpenCV d(I, 0, 0, "Klt tracking");
    vpDisplay::display(I);
    vpDisplay::flush(I);
 
    vpKltOpencv tracker;
    // Set tracker parameters
    tracker.setMaxFeatures(200);
    tracker.setWindowSize(10);
    tracker.setQuality(0.01);
    tracker.setMinDistance(15);
    tracker.setHarrisFreeParameter(0.04);
    tracker.setBlockSize(9);
    tracker.setUseHarris(1);
    tracker.setPyramidLevels(3);
 
    // Initialise the tracking
    tracker.initTracking(cvI);
 
    while (!reader.end()) {
      reader.acquire(I);
      std::cout << "Process image " << reader.getFrameIndex() << std::endl;
      vpDisplay::display(I);
 
      vpImageConvert::convert(I, cvI);
 
      // Restart the initialization to detect new keypoints
      if (reader.getFrameIndex() == 25) {
        std::cout << "Re initialize the tracker" << std::endl;
#if (VISP_HAVE_OPENCV_VERSION >= 0x020408)
        // Save of previous features
        std::vector<cv::Point2f> prev_features = tracker.getFeatures();
 
        // Start a new feature detection
        tracker.initTracking(cvI);
        std::vector<cv::Point2f> new_features = tracker.getFeatures();
 
        // Add previous features if they are not to close to detected one
        double distance, minDistance_ = tracker.getMinDistance();
        for (size_t i = 0; i < prev_features.size(); i++) {
          // Test if a previous feature is not redundant with one of the newly
          // detected
          bool is_redundant = false;
          for (size_t j = 0; j < new_features.size(); j++) {
            distance = sqrt(vpMath::sqr(new_features[j].x - prev_features[i].x) +
                            vpMath::sqr(new_features[j].y - prev_features[i].y));
            if (distance < minDistance_) {
              is_redundant = true;
              break;
            }
          }
          if (is_redundant) {
            continue;
          }
          // std::cout << "Add previous feature with index " << i <<
          // std::endl;
          tracker.addFeature(prev_features[i]);
        }
#else
        // Save of previous features
        int prev_nfeatures = tracker.getNbFeatures();
        float x, y;
        long id;
        int j = 0;
 
        CvPoint2D32f *prev_features = (CvPoint2D32f *)cvAlloc(prev_nfeatures * sizeof(CvPoint2D32f));
 
        for (int i = 0; i < prev_nfeatures; i++) {
          tracker.getFeature(i, id, x, y);
          prev_features[i].x = x;
          prev_features[i].y = y;
          // printf("prev feature %d: id %d coord: %g %g\n", i, id, x, y);
        }
 
        // Start a new feature detection
        tracker.initTracking(cvI);
        std::cout << "Detection of " << tracker.getNbFeatures() << " new features" << std::endl;
 
        // Add previous features if they are not to close to detected one
        double distance, minDistance_ = tracker.getMinDistance();
        for (int i = tracker.getNbFeatures(); j < prev_nfeatures && i < tracker.getMaxFeatures(); j++) {
          // Test if a previous feature is not redundant with new the one that
          // are newly detected
          bool is_redundant = false;
          for (int k = 0; k < tracker.getNbFeatures(); k++) {
            tracker.getFeature(k, id, x, y);
            // printf("curr feature %d: id %d coord: %g %g\n", k, id, x, y);
            distance = sqrt(vpMath::sqr(x - prev_features[j].x) + vpMath::sqr(y - prev_features[j].y));
            if (distance < minDistance_) {
              is_redundant = true;
              break;
            }
          }
          if (is_redundant) {
            continue;
          }
          // std::cout << "Add previous feature with index " << i <<
          // std::endl;
          tracker.addFeature(i, prev_features[j].x, prev_features[j].y);
          i++;
        }
        cvFree(&prev_features);
#endif
      }
      // Track the features
      tracker.track(cvI);
 
      std::cout << "tracking of " << tracker.getNbFeatures() << " features" << std::endl;
 
      tracker.display(I, vpColor::red);
      vpDisplay::flush(I);
    }
 
    vpDisplay::getClick(I);
 
#if (VISP_HAVE_OPENCV_VERSION < 0x020408)
    cvReleaseImage(&cvI);
#endif
 
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
#endif
  return EXIT_SUCCESS;
}