mirror of
https://gitcode.com/gh_mirrors/es/esp32-opencv.git
synced 2025-08-15 03:01:04 +08:00
initial commit
This commit is contained in:
Joachim
213
samples/cpp/tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp
Executable file
213
samples/cpp/tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp
Executable file
@ -0,0 +1,213 @@
|
||||
#include <opencv2/features2d.hpp>
|
||||
#include <opencv2/videoio.hpp>
|
||||
#include <opencv2/imgproc.hpp>
|
||||
#include <opencv2/calib3d.hpp>
|
||||
#include <opencv2/highgui.hpp> //for imshow
|
||||
#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
|
||||
|
||||
namespace example {
|
||||
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)
|
||||
{
|
||||
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();
|
||||
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)
|
||||
{
|
||||
TickMeter tm;
|
||||
vector<KeyPoint> kp;
|
||||
Mat desc;
|
||||
|
||||
tm.start();
|
||||
detector->detectAndCompute(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);
|
||||
}
|
||||
tm.stop();
|
||||
stats.fps = 1. / tm.getTimeSec();
|
||||
|
||||
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)
|
||||
{
|
||||
CommandLineParser parser(argc, argv, "{@input_path |0|input path can be a camera id, like 0,1,2 or a video filename}");
|
||||
parser.printMessage();
|
||||
string input_path = parser.get<string>(0);
|
||||
string video_name = input_path;
|
||||
|
||||
VideoCapture video_in;
|
||||
|
||||
if ( ( isdigit(input_path[0]) && input_path.size() == 1 ) )
|
||||
{
|
||||
int camera_no = input_path[0] - '0';
|
||||
video_in.open( camera_no );
|
||||
}
|
||||
else {
|
||||
video_in.open(video_name);
|
||||
}
|
||||
|
||||
if(!video_in.isOpened()) {
|
||||
cerr << "Couldn't open " << video_name << endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
Stats stats, akaze_stats, orb_stats;
|
||||
Ptr<AKAZE> akaze = AKAZE::create();
|
||||
akaze->setThreshold(akaze_thresh);
|
||||
Ptr<ORB> orb = ORB::create();
|
||||
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");
|
||||
example::Tracker akaze_tracker(akaze, matcher);
|
||||
example::Tracker orb_tracker(orb, matcher);
|
||||
|
||||
Mat frame;
|
||||
namedWindow(video_name, WINDOW_NORMAL);
|
||||
cout << "\nPress any key to stop the video and select a bounding box" << endl;
|
||||
|
||||
while ( waitKey(1) < 1 )
|
||||
{
|
||||
video_in >> frame;
|
||||
cv::resizeWindow(video_name, frame.size());
|
||||
imshow(video_name, frame);
|
||||
}
|
||||
|
||||
vector<Point2f> bb;
|
||||
cv::Rect uBox = cv::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)));
|
||||
|
||||
akaze_tracker.setFirstFrame(frame, bb, "AKAZE", stats);
|
||||
orb_tracker.setFirstFrame(frame, bb, "ORB", stats);
|
||||
|
||||
Stats akaze_draw_stats, orb_draw_stats;
|
||||
Mat akaze_res, orb_res, res_frame;
|
||||
int i = 0;
|
||||
for(;;) {
|
||||
i++;
|
||||
bool update_stats = (i % stats_update_period == 0);
|
||||
video_in >> frame;
|
||||
// stop the program if no more images
|
||||
if(frame.empty()) break;
|
||||
|
||||
akaze_res = akaze_tracker.process(frame, stats);
|
||||
akaze_stats += stats;
|
||||
if(update_stats) {
|
||||
akaze_draw_stats = stats;
|
||||
}
|
||||
|
||||
orb->setMaxFeatures(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);
|
||||
cv::imshow(video_name, res_frame);
|
||||
if(waitKey(1)==27) break; //quit on ESC button
|
||||
}
|
||||
akaze_stats /= i - 1;
|
||||
orb_stats /= i - 1;
|
||||
printStatistics("AKAZE", akaze_stats);
|
||||
printStatistics("ORB", orb_stats);
|
||||
return 0;
|
||||
}
|
||||
38
samples/cpp/tutorial_code/features2D/AKAZE_tracking/stats.h
Normal file
38
samples/cpp/tutorial_code/features2D/AKAZE_tracking/stats.h
Normal file
@ -0,0 +1,38 @@
|
||||
#ifndef STATS_H
|
||||
#define STATS_H
|
||||
|
||||
struct Stats
|
||||
{
|
||||
int matches;
|
||||
int inliers;
|
||||
double ratio;
|
||||
int keypoints;
|
||||
double fps;
|
||||
|
||||
Stats() : matches(0),
|
||||
inliers(0),
|
||||
ratio(0),
|
||||
keypoints(0),
|
||||
fps(0.)
|
||||
{}
|
||||
|
||||
Stats& operator+=(const Stats& op) {
|
||||
matches += op.matches;
|
||||
inliers += op.inliers;
|
||||
ratio += op.ratio;
|
||||
keypoints += op.keypoints;
|
||||
fps += op.fps;
|
||||
return *this;
|
||||
}
|
||||
Stats& operator/=(int num)
|
||||
{
|
||||
matches /= num;
|
||||
inliers /= num;
|
||||
ratio /= num;
|
||||
keypoints /= num;
|
||||
fps /= num;
|
||||
return *this;
|
||||
}
|
||||
};
|
||||
|
||||
#endif // STATS_H
|
||||
62
samples/cpp/tutorial_code/features2D/AKAZE_tracking/utils.h
Normal file
62
samples/cpp/tutorial_code/features2D/AKAZE_tracking/utils.h
Normal file
@ -0,0 +1,62 @@
|
||||
#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);
|
||||
Rect2d selectROI(const String &video_name, const Mat &frame);
|
||||
|
||||
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, str4;
|
||||
|
||||
str1 << "Matches: " << stats.matches;
|
||||
str2 << "Inliers: " << stats.inliers;
|
||||
str3 << "Inlier ratio: " << setprecision(2) << stats.ratio;
|
||||
str4 << "FPS: " << std::fixed << setprecision(2) << stats.fps;
|
||||
|
||||
putText(image, str1.str(), Point(0, image.rows - 120), font, 2, Scalar::all(255), 3);
|
||||
putText(image, str2.str(), Point(0, image.rows - 90), font, 2, Scalar::all(255), 3);
|
||||
putText(image, str3.str(), Point(0, image.rows - 60), font, 2, Scalar::all(255), 3);
|
||||
putText(image, str4.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 << "FPS " << std::fixed << setprecision(2) << stats.fps << 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
|
||||
Reference in New Issue
Block a user