/*****************************************************************************
* @brief : surfFeatureDetect
* @author : Zhangle
* @date : 2014/9/8 11:18
* @version : ver 1.0
* @inparam :
* @outparam :
*****************************************************************************/
void FeatureDetect::surfFeatureDetect(string inputImageName, string outputImageName,string outputTxtName) {
Mat image = imread(inputImageName);
Mat descriptors;
vector<KeyPoint> keypoints;
SURF surf;
time_t beginTime = time(NULL);
surf.detect(image,keypoints);
time_t endTime = time(NULL);
time_t runTime = endTime - beginTime;
drawKeypoints(image,keypoints,image,Scalar(255,0,0));
imwrite(outputImageName,image);
ofstream outTxt(outputTxtName);
outTxt << "SURF" << endl;
outTxt << "影像尺寸:" << image.cols<<" * "<<image.rows<<endl;
outTxt << "特征点数目：" << keypoints.size() <<"个"<< endl;
outTxt << "提取特征点耗费时间：" << runTime << "s"<< endl;
outTxt << "默认参数设置" << endl;
outTxt.close();
}
int main(int argc, char* argv[])
{
//video input
string videoName("A_kind_of_a_Show.avi");
VideoCapture capture(videoName);
if (!capture.isOpened())
{
cout << "!capture.isOpened()";
return -1;
}
//path list
vector<vector<Point2f>> pathList;
vector<int> kpIdx2pathListIdx;
vector<KeyPoint> kpTrackedPrev;
Mat desTrackedPrev;
vector<KeyPoint> kpEdgePrev;
Mat desEdgePrev;
//firstFrame init
Mat firstFrame;
Mat frame, framePrev;
capture.read(firstFrame);
keypointDetectorAnddescriptor.detect(firstFrame, kpTrackedPrev);
keypointDetectorAnddescriptor.compute(firstFrame, kpTrackedPrev, desTrackedPrev);
getEdgeKeypoint(firstFrame.cols, firstFrame.rows, 0.25,
kpTrackedPrev, desTrackedPrev,
kpEdgePrev, desEdgePrev);
for (int i = 0; i < kpTrackedPrev.size(); ++i)
{
pathList.push_back(vector<Point2f>());
pathList[i].push_back(kpTrackedPrev[i].pt);
kpIdx2pathListIdx.push_back(i);
}
firstFrame.copyTo(framePrev);
//video writer
VideoWriter vw("result.avi", CV_FOURCC('M', 'J', 'P', 'G'), 12, Size(firstFrame.cols, firstFrame.rows));
if (!vw.isOpened())
return -1;
//frame
vector<KeyPoint> kpCur;
Mat desCur;
int frameIdx = 0;
//processing
while (capture.read(frame))
{
++frameIdx;
keypointDetectorAnddescriptor.detect(frame, kpCur);
keypointDetectorAnddescriptor.compute(frame, kpCur, desCur);
//edge keypoint matching for homography
vector<Point2f> ptEdgeCurMatched;
vector<Point2f> ptEdgePrevMatched;
vector<vector<DMatch>> vvmatchs;
matcher.knnMatch(desEdgePrev, desCur, vvmatchs, 2);
for (int i = 0; i < vvmatchs.size(); ++i)
{
if (vvmatchs[i][0].distance < vvmatchs[i][1].distance * 0.8)
{
ptEdgeCurMatched.push_back(kpCur[vvmatchs[i][0].trainIdx].pt);
ptEdgePrevMatched.push_back(kpEdgePrev[vvmatchs[i][0].queryIdx].pt);
}
}
//findHomography
Mat h = findHomography(ptEdgePrevMatched,ptEdgeCurMatched, RANSAC);
cout << h << endl;
// camera movement compensation
for (vector<Point2f>& path : pathList){
perspectiveTransform(path, path, h);
}
Mat warpedframe;
warpPerspective(framePrev, warpedframe, h, frame.size());
imshow("frame", frame);
imshow("prev", framePrev);
imshow("warpedframe", warpedframe);
getEdgeKeypoint(frame.cols, frame.rows, 0.25,
kpCur, desCur,
kpEdgePrev, desEdgePrev);
frame.copyTo(framePrev);
//keypoint tracking for pathlist
vector<int> kpIdx2pathListIdxTemp;
vector<KeyPoint> kpTrackedCur;
Mat desTrackedCur;
set<int> curMatchedKpIdxSet;
matcher.knnMatch(desTrackedPrev, desCur, vvmatchs, 2);
for (int i = 0; i < vvmatchs.size(); ++i)
{
if (vvmatchs[i][0].distance < vvmatchs[i][1].distance * 0.6)
{
pathList[kpIdx2pathListIdx[i]].push_back(kpCur[vvmatchs[i][0].trainIdx].pt);
kpTrackedCur.push_back(kpCur[vvmatchs[i][0].trainIdx]);
desTrackedCur.push_back(desCur.row(vvmatchs[i][0].trainIdx));
kpIdx2pathListIdxTemp.push_back(kpIdx2pathListIdx[i]);
curMatchedKpIdxSet.insert(vvmatchs[i][0].trainIdx);
}
}
if (frameIdx%5==0)
{
//add new keypoint
for (int i = 0; i < kpCur.size(); ++i)
{
if (curMatchedKpIdxSet.find(i) == curMatchedKpIdxSet.end()){
kpTrackedCur.push_back(kpCur[i]);
desTrackedCur.push_back(desCur.row(i));
pathList.push_back(vector<Point2f>());
pathList.rbegin()->push_back(kpCur[i].pt);
kpIdx2pathListIdxTemp.push_back(pathList.size() - 1);
}
}
}
kpIdx2pathListIdx = kpIdx2pathListIdxTemp;
kpTrackedPrev = kpTrackedCur;
desTrackedCur.copyTo(desTrackedPrev);
Mat show;
drawPathList(frame, show, pathList);
imshow("pathlist", show);
waitKey(1);
vw << show;
}
vw.release();
//uniform
for (vector<Point2f>& path : pathList)
{
for (Point2f& pt : path)
{
pt.x /= firstFrame.cols;
pt.y /= firstFrame.rows;
}
}
vector<double> motionHist;
calMotionHist(pathList, motionHist);
cout << "h : " << endl;
for (double h : motionHist)
cout << h << " ";
cout << endl;
return 1;
}
