private void RepopulateFeaturePoints()
{
System.Drawing.PointF[] newRawTrackedFeaturePoints = this.OpticalFlow.FindFeaturesToTrack(
m_CurrentGrayImage,
m_TrackedFeatures,
m_SkyRegionBottom,
m_GroundRegionTop);
if (newRawTrackedFeaturePoints.Length == 0)
{
return;
}
m_RawTrackedFeaturePoints.AddRange(newRawTrackedFeaturePoints);
System.Drawing.PointF[] undistortedNewFeaturePoints = m_CameraParameters.IntrinsicCameraParameters.Undistort(
newRawTrackedFeaturePoints, m_CameraParameters.IntrinsicCameraParameters.IntrinsicMatrix, null);
for (int i = 0; i < undistortedNewFeaturePoints.Length; i++)
{
TrackedFeature trackedFeature = new TrackedFeature();
trackedFeature.Add(undistortedNewFeaturePoints[i]);
m_TrackedFeatures.Add(trackedFeature);
}
this.InitialFeaturesCount = m_TrackedFeatures.Count;
m_ThresholdForFeatureRepopulation = this.InitialFeaturesCount * 9 / 10;
if (m_ThresholdForFeatureRepopulation < 100)
{
m_ThresholdForFeatureRepopulation = 100;
}
m_NotTrackedFeaturesCount = 0;
}
private void RepopulateFeaturePoints()
{
System.Drawing.PointF[] newTrackedFeaturePoints = this.OpticalFlow.FindFeaturesToTrack(
m_CurrentGrayImage,
m_TrackedFeatures,
m_SkyRegionBottom,
m_GroundRegionTop);
for (int i = 0; i < newTrackedFeaturePoints.Length; i++)
{
TrackedFeature trackedFeature = new TrackedFeature();
trackedFeature.Add(newTrackedFeaturePoints[i]);
m_TrackedFeatures.Add(trackedFeature);
}
this.InitialFeaturesCount = m_TrackedFeatures.Count;
m_ThresholdForFeatureRepopulation = this.InitialFeaturesCount * 9 / 10;
// We ensure that we don't drop below a fixed limit
if (m_ThresholdForFeatureRepopulation < 100)
{
m_ThresholdForFeatureRepopulation = 100;
}
m_NotTrackedFeaturesCount = 0;
}
private void TrackFeatures(Image <Gray, Byte> previousGrayImage)
{
if (m_RawTrackedFeaturePoints.Count == 0)
{
return;
}
OpticalFlowResult opticalFlowResult = this.OpticalFlow.CalculateOpticalFlow(previousGrayImage, m_CurrentGrayImage, m_RawTrackedFeaturePoints.ToArray());
System.Drawing.PointF[] rawTrackedFeaturePoints = opticalFlowResult.TrackedFeaturePoints;
m_RawTrackedFeaturePoints.Clear();
m_RawTrackedFeaturePoints.AddRange(rawTrackedFeaturePoints);
System.Drawing.PointF[] undistortedNewFeaturePoints = m_CameraParameters.IntrinsicCameraParameters.Undistort(
rawTrackedFeaturePoints, m_CameraParameters.IntrinsicCameraParameters.IntrinsicMatrix, null);
int fullHistoryFeaturesCount = 0;
int unsmoothFeaturesCount = 0;
for (int i = undistortedNewFeaturePoints.Length - 1; i >= 0; i--)
{
bool isTracked = opticalFlowResult.TrackingStatusIndicators[i] == 1;
if (isTracked)
{
TrackedFeature trackedFeature = m_TrackedFeatures[i];
trackedFeature.Add(undistortedNewFeaturePoints[i]);
if (trackedFeature.IsFull)
{
fullHistoryFeaturesCount++;
if (!trackedFeature.IsSmooth)
{
unsmoothFeaturesCount++;
}
}
}
else
{
RemoveTrackedFeature(i);
}
}
if (unsmoothFeaturesCount < fullHistoryFeaturesCount / 2)
{
// The majority of features is smooth. We downgrade unsmooth features
//Debug.WriteLine("Consensus: Is smooth");
ApplyUnsmoothGrades();
}
else
{
// Consensus not smooth; not downgrading unsmooth features.
//Debug.WriteLine("Consensus: Is not smooth");
}
}
private void TrackFeatures(Image <Gray, Byte> previousGrayImage)
{
System.Drawing.PointF[] trackedFeaturePoints = new System.Drawing.PointF[m_TrackedFeatures.Count];
for (int i = 0; i < trackedFeaturePoints.Length; i++)
{
trackedFeaturePoints[i] = m_TrackedFeatures[i][0];
}
OpticalFlowResult opticalFlowResult = this.OpticalFlow.CalculateOpticalFlow(previousGrayImage, m_CurrentGrayImage, trackedFeaturePoints);
trackedFeaturePoints = opticalFlowResult.TrackedFeaturePoints;
int fullHistoryFeaturesCount = 0;
int unsmoothFeaturesCount = 0;
for (int i = trackedFeaturePoints.Length - 1; i >= 0; i--)
{
bool isTracked = opticalFlowResult.TrackingStatusIndicators[i] == 1;
if (isTracked)
{
TrackedFeature trackedFeature = m_TrackedFeatures[i];
trackedFeature.Add(trackedFeaturePoints[i]);
if (trackedFeature.IsFull)
{
fullHistoryFeaturesCount++;
if (!trackedFeature.IsSmooth)
{
unsmoothFeaturesCount++;
}
}
}
else
{
RemoveTrackedFeature(i);
}
}
if (unsmoothFeaturesCount < fullHistoryFeaturesCount / 2)
{
// The majority of features is smooth. We downgrade unsmooth features
//Debug.WriteLine("Consensus: Is smooth");
ApplyUnsmoothGrades();
}
else
{
// Consensus not smooth; not downgrading unsmooth features.
//Debug.WriteLine("Consensus: Is not smooth");
}
}
