示例#1
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");
            }
        }
示例#2
0
        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");
            }
        }
示例#3
0
        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();
        }
示例#4
0
		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();
		}