# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1313537707 14400
# Node ID 28907fde9855f3c6bf12a2e3dd82135f0f667fc7
# Parent  1e68e18b1aa5f6a850d2e69875fa1aaff2909e7d
work on klt tracker (problem on computer at poly)

diff -r 1e68e18b1aa5 -r 28907fde9855 c/feature-based-tracking.cpp
--- a/c/feature-based-tracking.cpp	Tue Aug 16 12:31:22 2011 -0400
+++ b/c/feature-based-tracking.cpp	Tue Aug 16 19:35:07 2011 -0400
@@ -8,16 +8,15 @@
 //#include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/features2d/features2d.hpp"
 
+#include <boost/shared_ptr.hpp>
+
 #include <iostream>
 //#include <list>
 #include <vector>
 
 using namespace std;
 using namespace cv;
-
-//#include "cv.h"
-
-using namespace std;
+using namespace boost;
 
 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
   for (int i = 0; i < (int)matches.size(); i++)
@@ -33,19 +32,26 @@
 }
 
 int main(int argc, char *argv[]) {
-  vector<TrajectoryPoint2f> features;
+  //vector<TrajectoryPoint2f> features;
+
   BriefDescriptorExtractor brief(32);
-  
+  const int DESIRED_FTRS = 500;
+  //shared_ptr<FeatureDetector> detector = shared_ptr<FeatureDetector>(new GridAdaptedFeatureDetector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4));
+  GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
+
   VideoCapture capture;
+  Mat frame, display;
 
-  Mat frame, display;
   KLTFeatureTrackingParameters params;
   params.frame1 = 0;
   params.nFrames = -1;
-  // TODO ajouter klt paremeters, reprendre code de 
-  // GoodFeaturesToTrackDetector feature_detector(Params.max_nfeatures, Params.feature_quality, Params.min_feature_distance_klt, Params.window_size, Params.useHarrisDetector_GoodFeaturesToTrackDetector, Params.k_GoodFeaturesToTrackDetector);
+  // TODO ajouter klt paremeters, reprendre code de opencvfeaturetracker
+  //GoodFeaturesToTrackDetector detector(Params.max_nfeatures, Params.feature_quality, Params.min_feature_distance_klt, Params.window_size, Params.useHarrisDetector_GoodFeaturesToTrackDetector, Params.k_GoodFeaturesToTrackDetector);
   // search descriptor_match.h
 
+  BruteForceMatcher<Hamming> descMatcher;
+  vector<DMatch> matches;
+
   if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
     capture.open(argc == 2 ? argv[1][0] - '0' : 0);
   else if( argc >= 2 )
@@ -74,27 +80,16 @@
       return 1;
     }
   
-  vector<DMatch> matches;
-  
-  BruteForceMatcher<Hamming> desc_matcher;
-  
   vector<KeyPoint> prevKpts, currKpts;
-  vector<unsigned char> match_mask;
   
   Mat gray;
   
   Mat prevDesc, currDesc;
-  const int DESIRED_FTRS = 500;
-  GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
-
   // TODO structure de donnee paires pointeur trajectory, numero de keypoint
-  
-  for (int frameNum = 0; (params.frame1+frameNum < params.nFrames) || (params.nFrames < 0); frameNum++) {
-      frameNum++;
-      //capture.set(CV_CAP_PROP_POS_FRAMES, frameNum);
-      //capture.grab();capture.grab();capture.retrieve(frame);
+  int key = '?'; 
+  for (int frameNum = 0; ((params.frame1+frameNum < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
       capture >> frame;
-      //cout << capture.get(CV_CAP_PROP_POS_FRAMES) << endl;
+      cout << capture.get(CV_CAP_PROP_POS_FRAMES) << endl;
       while (frame.empty())
 	capture >> frame;//break;
       
@@ -106,20 +101,18 @@
       brief.compute(gray, currKpts, currDesc); //Compute brief descriptors at each keypoint location
       
       //display = frame.clone();
-      if (!prevKpts.empty())
-        {
-	  desc_matcher.match(currDesc, prevDesc, matches);
-	  cout << "matches:" << matches.size() << endl;
-	  drawMatchesRelative(prevKpts, currKpts, matches, frame);
-	  //drawMatches(frame, prevKpts, frame, currKpts, matches, display);//, Scalar::all(-1), Scalar::all(-1), vector<vector<char> >(), DrawMatchesFlags::DRAW_OVER_OUTIMG);
-	}
-
+      if (!prevKpts.empty()) {
+	cout << matches.size() << " matches" << endl;
+	descMatcher.match(currDesc, prevDesc, matches);
+	cout << matches.size() << " matches" << endl;
+	drawMatchesRelative(prevKpts, currKpts, matches, frame);
+	//drawMatches(frame, prevKpts, frame, currKpts, matches, display);//, Scalar::all(-1), Scalar::all(-1), vector<vector<char> >(), DrawMatchesFlags::DRAW_OVER_OUTIMG);
+      }
+      
       imshow("frame", frame);
       prevKpts = currKpts;
       currDesc.copyTo(prevDesc);
-      int key = waitKey(0);
-      if (::interruptionKey(key))
-	break;
+      key = waitKey(0);
     }  
   
   return 0;