# HG changeset patch
# User Nicolas Saunier <nicolas.saunier@polymtl.ca>
# Date 1380836595 14400
# Node ID ca5784652d5740c0ae34a244e524897a039a4500
# Parent  a2ff03a52b73190aca1d275312f6d9045fc42661
updated use of calcOpticalFlowPyrLK for new signature, added minEigThreshold parameter in configuration file

diff -r a2ff03a52b73 -r ca5784652d57 c/Parameters.cpp
--- a/c/Parameters.cpp	Thu Sep 26 17:07:44 2013 -0400
+++ b/c/Parameters.cpp	Thu Oct 03 17:43:15 2013 -0400
@@ -52,6 +52,7 @@
     ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window)")
     ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop feature tracking")
     ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop feature tracking")
+    ("min-feature-eig-threshold", po::value<float>(&minFeatureEigThreshold)->default_value(1e-4), "minimum eigen value of a 2x2 normal matrix of optical flow equations")
     ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping")
     ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping")
     ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping")
diff -r a2ff03a52b73 -r ca5784652d57 c/feature-based-tracking.cpp
--- a/c/feature-based-tracking.cpp	Thu Sep 26 17:07:44 2013 -0400
+++ b/c/feature-based-tracking.cpp	Thu Oct 03 17:43:15 2013 -0400
@@ -164,7 +164,7 @@
       if (!prevPts.empty()) {
 	//::keyPoints2Points(prevKpts, prevPts);
 	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), 0.5 /* unused */, 0); // OPTFLOW_USE_INITIAL_FLOW
+	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), /* int flags = */ 0, params.minFeatureEigThreshold);
 	/// \todo try calcOpticalFlowFarneback
 
 	std::vector<Point2f> trackedPts;
diff -r a2ff03a52b73 -r ca5784652d57 include/Parameters.hpp
--- a/include/Parameters.hpp	Thu Sep 26 17:07:44 2013 -0400
+++ b/include/Parameters.hpp	Thu Oct 03 17:43:15 2013 -0400
@@ -47,6 +47,7 @@
   //int nFramesVelocity;
   int maxNumberTrackingIterations;
   float minTrackingError;
+  float minFeatureEigThreshold;
   unsigned int minFeatureTime;
   float mmConnectionDistance;
   float mmSegmentationDistance;
diff -r a2ff03a52b73 -r ca5784652d57 tracking.cfg
--- a/tracking.cfg	Thu Sep 26 17:07:44 2013 -0400
+++ b/tracking.cfg	Thu Oct 03 17:43:15 2013 -0400
@@ -49,6 +49,8 @@
 max-number-iterations = 20
 # minimum error to reach to stop feature tracking
 min-tracking-error = 0.3
+# minimum eigen value of a 2x2 normal matrix of optical flow equations
+min-feature-eig-threshold = 1e-4
 # minimum length of a feature (number of frames) to consider a feature for grouping
 min-feature-time = 20
 # Min Max similarity parameters (Beymer et al. method)