PARP Research Group

Universidad de Murcia

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src/qvgpukltflow/qvklttracker.cpp Go to the documentation of this file. /* * Copyright (C) 2011, 2012. PARP Research Group. * <http://perception.inf.um.es> * University of Murcia, Spain. * * This file is part of the QVision library. * * QVision is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as * published by the Free Software Foundation, version 3 of the License. * * QVision is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with QVision. If not, see <http://www.gnu.org/licenses/>. */ #include <QVKLTTracker> QVKLTTracker::QVKLTTracker(int width, int height, bool trackWithGain, int featuresWidth , int featuresHeight, int nIterations, int nLevels, int levelSkip,int windowWidth, float trackBorderMargin, float detectBorderMargin, float convergenceThreshold, float SSD_Threshold, int minDistance, float minCornerness) { KLT_SequenceTrackerConfig cfg; cfg.nIterations = nIterations; cfg.nLevels = nLevels; cfg.levelSkip = levelSkip; cfg.trackBorderMargin = trackBorderMargin; cfg.convergenceThreshold = convergenceThreshold; cfg.SSD_Threshold = SSD_Threshold; cfg.trackWithGain = trackWithGain; cfg.minDistance = minDistance; cfg.minCornerness = minCornerness; cfg.detectBorderMargin = detectBorderMargin; cfg.windowWidth = windowWidth; tracker = new KLT_SequenceTracker(cfg); tracker->allocate(width, height, nLevels, featuresWidth, featuresHeight); nFeatures = featuresHeight * featuresWidth; feat = new KLT_TrackedFeature[nFeatures]; trackID = new int [nFeatures]; for(int i=0; i<nFeatures; i++) { trackID[i] = 0; } lastID = 1; } QVKLTTracker::~QVKLTTracker() { tracker->deallocate(); delete tracker; delete feat; delete trackID; } void QVKLTTracker::updateHashTable(QHash<int,QVKLTTrackerFeature> &features,int width,int height) { // features->clear(); // Really not needed. // std::cout << "features->size() before = " << features->size() << std::endl; // int sum0 = 0,sum1 = 0,sum2 = 0; for(int i=0; i<nFeatures; i++) { if(feat[i].status == 0) { // Succesfully tracked feature. // We update the corresponding feature in the hash: features.insert(trackID[i], QVKLTTrackerFeature(feat[i].pos[0]*width, feat[i].pos[1]*height, feat[i].gain)); // sum0++; } else if (feat[i].status > 0) { // New detected feature. // First, remove old feature from hash if new feature substitutes an old one which was // not successfully tracked: if(trackID[i] != 0) features.remove(trackID[i]); // Now we add the new feature to the hash: trackID[i] = lastID; lastID++; features.insert(trackID[i], QVKLTTrackerFeature(feat[i].pos[0]*width, feat[i].pos[1]*height, feat[i].gain)); // sum1++; } else { // feat[i].status < 0 -> lost feature. // Remove old feature from hash (if it really existed in the hash): if(trackID[i] != 0) features.remove(trackID[i]); // sum2++; } } //std::cout << "sum0 = " << sum0 << " sum1 = " << sum1 << " sum2 = " << sum2 << std::endl; //std::cout << "features->size() after = " << features->size() << std::endl; //std::cout << "lastID = " << lastID << std::endl; } void QVKLTTracker::detect(const QVImage<uChar,1> &image, QHash<int,QVKLTTrackerFeature> &features) { int nDetectedFeatures = 0; int width = image.getCols(), height = image.getRows(); tracker->detect((V3D_GPU::uchar *)image.getReadData(), nDetectedFeatures, feat); // std::cout << "nDetectedFeatures = " << nDetectedFeatures << std::endl; updateHashTable(features,width,height); tracker->advanceFrame(); } void QVKLTTracker::redetect(const QVImage<uChar,1> &image, QHash<int,QVKLTTrackerFeature> &features) { int nNewFeatures; int width = image.getCols(), height = image.getRows(); tracker->redetect((V3D_GPU::uchar *)image.getReadData(), nNewFeatures, feat); // std::cout << "nNewFeatures = " << nNewFeatures << std::endl; updateHashTable(features,width,height); tracker->advanceFrame(); } void QVKLTTracker::track(const QVImage<uChar,1> &image, QHash<int,QVKLTTrackerFeature> &features) { int nPresentFeatures; int width = image.getCols(), height = image.getRows(); tracker->track((V3D_GPU::uchar *)image.getReadData(), nPresentFeatures, feat); // std::cout << "nPresentFeatures = " << nPresentFeatures << std::endl; updateHashTable(features,width,height); tracker->advanceFrame(); }

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