void FuncTest::inout_rectTest()
{
std::vector<cv::KeyPoint> keypoints;
keypoints.push_back(cv::KeyPoint(10, 10, 1));
keypoints.push_back(cv::KeyPoint(21.5, 10, 1));
keypoints.push_back(cv::KeyPoint(50, 10, 1));
keypoints.push_back(cv::KeyPoint(10, 29.3, 1));
keypoints.push_back(cv::KeyPoint(31.1, 55.7, 1));
keypoints.push_back(cv::KeyPoint(50, 38.2, 1));
keypoints.push_back(cv::KeyPoint(10, 70, 1));
keypoints.push_back(cv::KeyPoint(41.12, 70, 1));
keypoints.push_back(cv::KeyPoint(50, 70, 1));
keypoints.push_back(cv::KeyPoint(100.1, 75.58, 1));
cv::Point2f topleft(10.0,10.0);
cv::Point2f bottomright(50.0,70.0);
std::vector<cv::KeyPoint> in;
std::vector<cv::KeyPoint> out;
inout_rect(keypoints, topleft, bottomright, in, out);
std::vector<cv::KeyPoint> in_test;
std::vector<cv::KeyPoint> out_test;
out_test.push_back(cv::KeyPoint(10, 10, 1));
out_test.push_back(cv::KeyPoint(21.5, 10, 1));
out_test.push_back(cv::KeyPoint(50, 10, 1));
out_test.push_back(cv::KeyPoint(10, 29.3, 1));
in_test.push_back(cv::KeyPoint(31.1, 55.7, 1));
out_test.push_back(cv::KeyPoint(50, 38.2, 1));
out_test.push_back(cv::KeyPoint(10, 70, 1));
out_test.push_back(cv::KeyPoint(41.12, 70, 1));
out_test.push_back(cv::KeyPoint(50, 70, 1));
out_test.push_back(cv::KeyPoint(100.1, 75.58, 1));
QCOMPARE(in.size(), in_test.size());
QCOMPARE(out.size(), out_test.size());
}
void CMT::initialise(cv::Mat im_gray0, cv::Point2f topleft, cv::Point2f bottomright)
{
//Initialise detector, descriptor, matcher
detector = cv::Algorithm::create<cv::FeatureDetector>(detectorType.c_str());
descriptorExtractor = cv::Algorithm::create<cv::DescriptorExtractor>(descriptorType.c_str());
descriptorMatcher = cv::DescriptorMatcher::create(matcherType.c_str());
std::vector<std::string> list;
cv::Algorithm::getList(list);
//Get initial keypoints in whole image
std::vector<cv::KeyPoint> keypoints;
detector->detect(im_gray0, keypoints);
//Remember keypoints that are in the rectangle as selected keypoints
std::vector<cv::KeyPoint> selected_keypoints;
std::vector<cv::KeyPoint> background_keypoints;
inout_rect(keypoints, topleft, bottomright, selected_keypoints, background_keypoints);
descriptorExtractor->compute(im_gray0, selected_keypoints, selectedFeatures);
if(selected_keypoints.size() == 0)
{
printf("No keypoints found in selection");
return;
}
//Remember keypoints that are not in the rectangle as background keypoints
cv::Mat background_features;
descriptorExtractor->compute(im_gray0, background_keypoints, background_features);
//Assign each keypoint a class starting from 1, background is 0
selectedClasses = std::vector<int>();
for(int i = 1; i <= selected_keypoints.size(); i++)
selectedClasses.push_back(i);
std::vector<int> backgroundClasses;
for(int i = 0; i < background_keypoints.size(); i++)
backgroundClasses.push_back(0);
//Stack background features and selected features into database
featuresDatabase = cv::Mat(background_features.rows+selectedFeatures.rows, std::max(background_features.cols,selectedFeatures.cols), background_features.type());
if(background_features.cols > 0)
background_features.copyTo(featuresDatabase(cv::Rect(0,0,background_features.cols, background_features.rows)));
if(selectedFeatures.cols > 0)
selectedFeatures.copyTo(featuresDatabase(cv::Rect(0,background_features.rows,selectedFeatures.cols, selectedFeatures.rows)));
//Same for classes
classesDatabase = std::vector<int>();
for(int i = 0; i < backgroundClasses.size(); i++)
classesDatabase.push_back(backgroundClasses[i]);
for(int i = 0; i < selectedClasses.size(); i++)
classesDatabase.push_back(selectedClasses[i]);
//Get all distances between selected keypoints in squareform and get all angles between selected keypoints
squareForm = std::vector<std::vector<float> >();
angles = std::vector<std::vector<float> >();
for(int i = 0; i < selected_keypoints.size(); i++)
{
std::vector<float> lineSquare;
std::vector<float> lineAngle;
for(int j = 0; j < selected_keypoints.size(); j++)
{
float dx = selected_keypoints[j].pt.x-selected_keypoints[i].pt.x;
float dy = selected_keypoints[j].pt.y-selected_keypoints[i].pt.y;
lineSquare.push_back(sqrt(dx*dx+dy*dy));
lineAngle.push_back(atan2(dy, dx));
}
squareForm.push_back(lineSquare);
angles.push_back(lineAngle);
}
//Find the center of selected keypoints
cv::Point2f center(0,0);
for(int i = 0; i < selected_keypoints.size(); i++)
center += selected_keypoints[i].pt;
center *= (1.0/selected_keypoints.size());
//Remember the rectangle coordinates relative to the center
centerToTopLeft = topleft - center;
centerToTopRight = cv::Point2f(bottomright.x, topleft.y) - center;
centerToBottomRight = bottomright - center;
centerToBottomLeft = cv::Point2f(topleft.x, bottomright.y) - center;
//Calculate springs of each keypoint
springs = std::vector<cv::Point2f>();
for(int i = 0; i < selected_keypoints.size(); i++)
springs.push_back(selected_keypoints[i].pt - center);
//Set start image for tracking
im_prev = im_gray0.clone();
//Make keypoints 'active' keypoints
activeKeypoints = std::vector<std::pair<cv::KeyPoint,int> >();
for(int i = 0; i < selected_keypoints.size(); i++)
activeKeypoints.push_back(std::make_pair(selected_keypoints[i], selectedClasses[i]));
//Remember number of initial keypoints
nbInitialKeypoints = selected_keypoints.size();
}
