# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1313622205 14400
# Node ID 45c64e68053cb3dd9a0a589e21240e882fb3de3a
# Parent  3a11dba306552a5af0f5255b056b5f4dd912e43b
added drawing function for features

diff -r 3a11dba30655 -r 45c64e68053c c/Feature.cpp
--- a/c/Feature.cpp	Wed Aug 17 19:03:11 2011 -0400
+++ b/c/Feature.cpp	Wed Aug 17 19:03:25 2011 -0400
@@ -1,15 +1,32 @@
 #include "Feature.hpp"
 
 #include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
 
 using namespace std;
 using namespace cv;
 
+FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p) {
+  addPoint(frameNum, p);
+}
+
 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p) {
   positions.add(frameNum, p);
   computeMotionData(frameNum);
 }
 
+#ifdef USE_OPENCV
+/// \todo add option for anti-aliased drawing, thickness
+void FeatureTrajectory::draw(Mat& img, const Scalar& color) const {
+  Point2f p1 = positions[0];
+  for (unsigned int i=1; i<positions.size(); i++) {
+    Point2f p2 = positions[i];
+    line(img, p1, p2, color, 1);
+    p1 = p2;
+  }
+}
+#endif
+
 // protected
 
 void FeatureTrajectory::computeMotionData(const int& frameNum) {
diff -r 3a11dba30655 -r 45c64e68053c c/feature-based-tracking.cpp
--- a/c/feature-based-tracking.cpp	Wed Aug 17 19:03:11 2011 -0400
+++ b/c/feature-based-tracking.cpp	Wed Aug 17 19:03:25 2011 -0400
@@ -11,6 +11,7 @@
 #include "opencv2/features2d/features2d.hpp"
 
 #include <boost/shared_ptr.hpp>
+#include <boost/foreach.hpp>
 
 #include <iostream>
 //#include <list>
@@ -18,7 +19,6 @@
 
 using namespace std;
 using namespace cv;
-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++)
@@ -42,11 +42,18 @@
   }
 }
 
+struct FeaturePointMatch {
+  FeatureTrajectoryPtr feature;
+  int pointNum;
+
+  FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
+    feature(_feature), pointNum(_pointNum) {}
+};
+
 int main(int argc, char *argv[]) {
-  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);
+  // BriefDescriptorExtractor brief(32);
+  // const int DESIRED_FTRS = 500;
+  // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
 
   VideoCapture capture;
   Mat frame, currentFrameBW, previousFrameBW;
@@ -107,7 +114,8 @@
   vector<float> errors;
   Mat prevDesc, currDesc;
 
-  vector<FeatureTrajectory> features;
+  vector<FeatureTrajectoryPtr> features;
+  vector<FeaturePointMatch> featurePointMatches;
     
   // TODO structure de donnee paires pointeur trajectory, numero de keypoint
   int key = '?'; 
@@ -127,14 +135,26 @@
 	currPts.clear();
 	calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), params.derivLambda, 0); // OPTFLOW_USE_INITIAL_FLOW
 
-	drawOpticalFlow(prevPts, currPts, status, frame);
-	
 	vector<Point2f> trackedPts;
-	for (unsigned int i=0; i<status.size(); i++)
-	  if (status[i])
-	    trackedPts.push_back(currPts[i]);
+	vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
+	while (iter != featurePointMatches.end()) {
+	  if (status[iter->pointNum]) {
+	    iter->feature->addPoint(frameNum, currPts[iter->pointNum]);
+	    trackedPts.push_back(currPts[iter->pointNum]);
+	    iter->pointNum = trackedPts.size()-1;
+	    iter++;
+	  } else {
+	    // save feature
+	    iter = featurePointMatches.erase(iter);
+	  }
+	}
 	currPts = trackedPts;
-	
+	assert(currPts.size() == featurePointMatches.size());
+
+	BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
+	  fp.feature->draw(frame, Colors::red());
+	//drawOpticalFlow(prevPts, currPts, status, frame);
+		
 	// cout << matches.size() << " matches" << endl;
 	// descMatcher.match(currDesc, prevDesc, matches);
 	// cout << matches.size() << " matches" << endl;
@@ -148,7 +168,13 @@
 	  for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
 	    featureMask.at<uchar>(i,j)=0;
       goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
-      currPts.insert(currPts.end(), newPts.begin(), newPts.end());
+      BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
+	FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p));
+	//features.push_back(f);
+	featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
+	currPts.push_back(p);
+      }
+      // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
       //::keyPoints2Points(currKpts, currPts, false);
 
       //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
@@ -159,7 +185,7 @@
       prevPts = currPts;
       //prevKpts = currKpts;
       //currDesc.copyTo(prevDesc);
-      key = waitKey(2);
+      key = waitKey(0);
     }  
   
   return 0;
diff -r 3a11dba30655 -r 45c64e68053c include/Feature.hpp
--- a/include/Feature.hpp	Wed Aug 17 19:03:11 2011 -0400
+++ b/include/Feature.hpp	Wed Aug 17 19:03:25 2011 -0400
@@ -1,14 +1,23 @@
 #ifndef FEATURE_HPP
 #define FEATURE_HPP
 
-#include "opencv2/core/core.hpp"
-
 #include "src/Trajectory.h"
 
+#include <boost/shared_ptr.hpp>
+
+/** Class for feature data
+    positions, velocities and other statistics to evaluate their quality
+    before saving. */
 class FeatureTrajectory {
+public:
+  FeatureTrajectory(const int& frameNum, const cv::Point2f& p);
 
   void addPoint(const int& frameNum, const cv::Point2f& p);
 
+#ifdef USE_OPENCV
+  void draw(cv::Mat& img, const cv::Scalar& color) const;
+#endif
+
 protected:
   Trajectory<cv::Point2f> positions;
   Trajectory<cv::Point2f> velocities;
@@ -19,4 +28,6 @@
 
 };
 
+typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
+
 #endif