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Header1.h
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#include "opencv2/video/tracking.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include <iostream>
#include <ctype.h>
#include <algorithm> // for copy
#include <iterator> // for ostream_iterator
#include <vector>
#include <ctime>
#include <sstream>
#include <fstream>
#include <string>
using namespace cv;
using namespace std;
void featureTracking(Mat img_1, Mat img_2, vector<Point2f>& points1, vector<Point2f>& points2, vector<uchar>& status) {
//this function automatically gets rid of points for which tracking fails
vector<float> err;
Size winSize = Size(21, 21);
TermCriteria termcrit = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, 0.01);
calcOpticalFlowPyrLK(img_1, img_2, points1, points2, status, err, winSize, 3, termcrit, 0, 0.001);
//getting rid of points for which the KLT tracking failed or those who have gone outside the frame
int indexCorrection = 0;
for (int i = 0; i < status.size(); i++)
{
Point2f pt = points2.at(i - indexCorrection);
if ((status.at(i) == 0) || (pt.x < 0) || (pt.y < 0)) {
if ((pt.x < 0) || (pt.y < 0)) {
status.at(i) = 0;
}
points1.erase(points1.begin() + (i - indexCorrection));
points2.erase(points2.begin() + (i - indexCorrection));
indexCorrection++;
}
}
}
void featureDetection(Mat img_1, vector<Point2f>& points1) { //uses FAST as of now, modify parameters as necessary
vector<KeyPoint> keypoints_1;
int fast_threshold = 20;
bool nonmaxSuppression = true;
FAST(img_1, keypoints_1, fast_threshold, nonmaxSuppression);
KeyPoint::convert(keypoints_1, points1, vector<int>());
}