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");
}
}
public OpticalFlow(int maxFeatureCount, int blockSize, double qualityLevel, double minDistance)
{
m_MaxFeatureCount = maxFeatureCount;
m_BlockSize = blockSize;
m_QualityLevel = qualityLevel;
m_MinDistance = minDistance;
m_SubCornerTerminationCriteria.max_iter = 20;
m_SubCornerTerminationCriteria.epsilon = 0.1;
m_SubCornerTerminationCriteria.type = Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_EPS | Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_ITER;
m_OpticalFlowTerminationCriteria.max_iter = 20;
m_OpticalFlowTerminationCriteria.epsilon = 0.3;
m_OpticalFlowTerminationCriteria.type = Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_EPS | Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_ITER;
this.OpticalFlowResult = new OpticalFlowResult();
}
public OpticalFlow(int maxFeatureCount, int blockSize, double qualityLevel, double minDistance)
{
m_MaxFeatureCount = maxFeatureCount;
m_BlockSize = blockSize;
m_QualityLevel = qualityLevel;
m_MinDistance = minDistance;
m_SubCornerTerminationCriteria.max_iter = 20;
m_SubCornerTerminationCriteria.epsilon = 0.1;
m_SubCornerTerminationCriteria.type = Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_EPS | Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_ITER;
m_OpticalFlowTerminationCriteria.max_iter = 20;
m_OpticalFlowTerminationCriteria.epsilon = 0.3;
m_OpticalFlowTerminationCriteria.type = Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_EPS | Emgu.CV.CvEnum.TERMCRIT.CV_TERMCRIT_ITER;
this.OpticalFlowResult = new OpticalFlowResult();
}
