void main()
{
unsigned char *img1, *img2;
KLT_TrackingContext tc;
KLT_FeatureList fl;
int nFeatures = 100;
int ncols, nrows;
int i;
tc = KLTCreateTrackingContext();
KLTPrintTrackingContext(tc);
fl = KLTCreateFeatureList(nFeatures);
img1 = pgmReadFile("img0.pgm", NULL, &ncols, &nrows);
img2 = pgmReadFile("img1.pgm", NULL, &ncols, &nrows);
KLTSelectGoodFeatures(tc, img1, ncols, nrows, fl);
printf("\nIn first image:\n");
for (i = 0 ; i < fl->nFeatures ; i++) {
printf("Feature #%d: (%f,%f) with value of %d\n",
i, fl->feature[i]->x, fl->feature[i]->y,
fl->feature[i]->val);
}
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, "feat1.ppm");
KLTWriteFeatureList(fl, "feat1.txt", "%3d");
KLTTrackFeatures(tc, img1, img2, ncols, nrows, fl);
printf("\nIn second image:\n");
for (i = 0 ; i < fl->nFeatures ; i++) {
printf("Feature #%d: (%f,%f) with value of %d\n",
i, fl->feature[i]->x, fl->feature[i]->y,
fl->feature[i]->val);
}
KLTWriteFeatureListToPPM(fl, img2, ncols, nrows, "feat2.ppm");
KLTWriteFeatureList(fl, "feat2.fl", NULL); /* binary file */
KLTWriteFeatureList(fl, "feat2.txt", "%5.1f"); /* text file */
}
int main( int argc, const char* argv[] )
{
unsigned char *img1, *img2;
KLT_TrackingContext tc;
KLT_FeatureList fl;
//KLT_FeatureTable ft;
int ncols, nrows;
int i, j;
FILE *fp;
int nFeatures = 430;
int sFrame = 0;
int eFrame = 0;
char *fmt = "%d";
char *base;
char fname[1024];
char ffmt[1024];
if( argc == 1 ) {
printf( "Usage: %s <basename_of_pgm_files>"
" [-fmt <pgm_sequence_format = %s>]"
" [-ef <index_of_end_frame = %d>]"
" [-np <#_of_tracking_points = %d>]"
" [-sf <index_of_start_frame = %d>]\n"
"Ex) %s ../hotel/hotel.seq -fmt %%d -ef 100 -np 430 -sf 0\n"
"Ex) %s ../castle/castle. -fmt %%03d -ef 27 -np 110 -sf 0\n"
"Ex) %s ../medusa/medusa -fmt %%03d -sf 110 -ef 180 -np 830\n",
argv[0], fmt, eFrame, nFeatures, sFrame, argv[0], argv[0], argv[0] );
return 0;
}
for( i = 1; i < argc; ++i ) {
if( !strcmp( argv[i], "-sf" ) ) {
sFrame = atoi( argv[++i] );
}
else if( !strcmp( argv[i], "-ef" ) ) {
eFrame = atoi( argv[++i] );
}
else if( !strcmp( argv[i], "-np" ) ) {
nFeatures = atoi( argv[++i] );
}
else if( !strcmp( argv[i], "-fmt" ) ) {
fmt = (char *)argv[++i];
}
else {
base = (char *)argv[i];
}
}
sprintf(ffmt, "%%s%s%%s\0", fmt);
tc = KLTCreateTrackingContext();
tc->mindist = 15; // See klt.c for default values
tc->window_width = 50;
tc->window_height = 50;
tc->max_residue = 30;
tc->min_determinant = 0.001;
//tc->min_eigenvalue = 3;
//tc->borderx = 50;
//tc->bordery = 50;
//tc->affine_window_width = 51;
//tc->affine_window_height = 51;
KLTChangeTCPyramid(tc, 15);
KLTUpdateTCBorder(tc);
KLTPrintTrackingContext(tc);
fl = KLTCreateFeatureList(nFeatures);
//ft = KLTCreateFeatureTable(nFrames, nFeatures);
tc->sequentialMode = TRUE;
tc->writeInternalImages = FALSE;
tc->affineConsistencyCheck = -1; /* set this to 2 to turn on affine consistency check */
i = sFrame;
sprintf(fname, ffmt, base, i, ".pgm");
img1 = pgmReadFile(fname, NULL, &ncols, &nrows);
KLTSelectGoodFeatures(tc, img1, ncols, nrows, fl);
// write
sprintf(fname, ffmt, base, i, ".feat.ppm"); /* ppm file */
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, fname);
//sprintf(fname, ffmt, base, i, ".feat.fl"); /* binary file */
//KLTWriteFeatureList(fl, fname, NULL);
sprintf(fname, ffmt, base, i, ".feat.txt"); /* text file */
//KLTWriteFeatureList(fl, fname, "%5.1f");
MyKLTWriteFeatureList(fl, fname);
for (i = sFrame+1; i <= eFrame; i++) {
sprintf(fname, ffmt, base, i, ".pgm");
img2 = pgmReadFile(fname, NULL, &ncols, &nrows);
KLTTrackFeatures(tc, img1, img2, ncols, nrows, fl);
#ifdef REPLACE
KLTReplaceLostFeatures(tc, img2, ncols, nrows, fl);
#endif
// write
sprintf(fname, ffmt, base, i, ".feat.ppm"); /* ppm file */
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, fname);
//sprintf(fname, ffmt, base, i, ".feat.fl"); /* binary file */
//KLTWriteFeatureList(fl, fname, NULL);
sprintf(fname, ffmt, base, i, ".feat.txt"); /* text file */
//KLTWriteFeatureList(fl, fname, "%5.1f");
MyKLTWriteFeatureList(fl, fname);
img1 = img2;
}
sprintf(fname, ffmt, base, eFrame, ".feat.ppm");
KLTWriteFeatureListToPPM(fl, img1, ncols, nrows, fname);
//KLTFreeFeatureTable(ft);
KLTFreeFeatureList(fl);
KLTFreeTrackingContext(tc);
free(img1);
//free(img2);
return 0;
}
//-------------------------------------------------------------------
void klt_tracker_t::init(std::string& params)
{
//
core::config_parser_t config;
//
if(config.load(core::ini, params))
{
printf("KLT::OPENED config file\n");
//
nfeatures_ = config.get<int>("kltconf.nFeatures", 150);
//
nrows_ = config.get<int>("kltconf.nrows", 240);
//
ncols_ = config.get<int>("kltconf.ncols", 320);
//
fl_ = KLTCreateFeatureList(nfeatures_);
//
tc_->mindist = config.get<int>("kltconf.mindist", 20);
//
tc_->window_width = config.get<int>("kltconf.window_width", 9);
//
tc_->window_height = config.get<int>("kltconf.window_height", 9);
//
tc_->sequentialMode =
config.get<KLT_BOOL>("kltconf.sequentialMode", 1);
//
tc_->lighting_insensitive =
config.get<KLT_BOOL>("kltconf.lighting_insensitive",0);
//
tc_->writeInternalImages =
config.get<KLT_BOOL>("kltconf.writeInternalImages", 0);
//
tc_->affineConsistencyCheck =
config.get<int>("kltconf.affineConsistencyCheck", 2);
//
KLTSetVerbosity(config.get<int>("kltconf.verbosity", 0));
}
else
{
printf("KLT::cannot find config file %s\n",params);
//
nfeatures_ = 150;
//
nrows_ = 240;
//
ncols_ = 320;
//
fl_ = KLTCreateFeatureList(nfeatures_);
//
tc_->mindist = 20;
//
tc_->window_width = 9;
//
tc_->window_height = 9;
//
tc_->sequentialMode = 1;
//
tc_->writeInternalImages = 0;
//
tc_->affineConsistencyCheck = 2;
//
KLTSetVerbosity(0);
}
//
printf("KLT initialized: %d %d\n", nrows_, ncols_);
KLTPrintTrackingContext(tc_);
//
npixels_ = static_cast<size_t>(nrows_*ncols_);
//allocate images, the raw way
img_pre_ = new core::uint8_t[npixels_];
}
