Merge pull request #6118 from Emoters:hotfix/planar_tutorial_fixes

samples/cpp/tutorial_code/features2D/AKAZE_tracking/planar_tracking.cpp

@@ -1,6 +1,8 @@
 #include <opencv2/features2d.hpp>
 #include <opencv2/videoio.hpp>
 #include <opencv2/opencv.hpp>
+#include <opencv2/tracking.hpp>     //for ROI
+#include <opencv2/highgui.hpp>      //for imshow
 #include <vector>
 #include <iostream>
 #include <iomanip>
@@ -17,6 +19,7 @@ const double nn_match_ratio = 0.8f; // Nearest-neighbour matching ratio
 const int bb_min_inliers = 100; // Minimal number of inliers to draw bounding box
 const int stats_update_period = 10; // On-screen statistics are updated every 10 frames
 
+namespace example {
 class Tracker
 {
 public:
@@ -40,12 +43,22 @@ protected:
 
 void Tracker::setFirstFrame(const Mat frame, vector<Point2f> bb, string title, Stats& stats)
 {
+    cv::Point *ptMask = new cv::Point[bb.size()];
+    const Point* ptContain = { &ptMask[0] };
+    int iSize = static_cast<int>(bb.size());
+    for (size_t i=0; i<bb.size(); i++) {
+        ptMask[i].x = static_cast<int>(bb[i].x);
+        ptMask[i].y = static_cast<int>(bb[i].y);
+    }
     first_frame = frame.clone();
-    detector->detectAndCompute(first_frame, noArray(), first_kp, first_desc);
+    cv::Mat matMask = cv::Mat::zeros(frame.size(), CV_8UC1);
+    cv::fillPoly(matMask, &ptContain, &iSize, 1, cv::Scalar::all(255));
+    detector->detectAndCompute(first_frame, matMask, first_kp, first_desc);
     stats.keypoints = (int)first_kp.size();
     drawBoundingBox(first_frame, bb);
     putText(first_frame, title, Point(0, 60), FONT_HERSHEY_PLAIN, 5, Scalar::all(0), 4);
     object_bb = bb;
+    delete ptMask;
 }
 
 Mat Tracker::process(const Mat frame, Stats& stats)
@@ -104,17 +117,35 @@ Mat Tracker::process(const Mat frame, Stats& stats)
                 Scalar(255, 0, 0), Scalar(255, 0, 0));
     return res;
 }
+}
 
 int main(int argc, char **argv)
 {
-    if(argc < 4) {
+    if(argc < 3) {
-        cerr << "Usage: " << endl <<
+        cerr << "Usage: " << endl
-                "akaze_track input_path output_path bounding_box" << endl;
+             << "akaze_track input_path output_path [bounding_box_path]" << endl
+             << "  (for camera input_path=N for camera N)" << endl;
         return 1;
     }
-    VideoCapture video_in(argv[1]);
+
-    VideoWriter  video_out(argv[2],
+    std::string video_name = argv[1];
-                           (int)video_in.get(CAP_PROP_FOURCC),
+    std::stringstream ssFormat;
+    ssFormat << atoi(argv[1]);
+    VideoCapture video_in;
+    int iFourCC = 0, frame_count = 0;
+    if (video_name.compare(ssFormat.str())==0) {      //test str==str(num)
+        video_in.open(atoi(argv[1]));
+        cerr << "Capturing for 10 seconds from camera..." << endl;
+        iFourCC = CV_FOURCC('D', 'I', 'V', 'X');    //default to mp4 (sample)
+        frame_count = 10*static_cast<int>(video_in.get(CAP_PROP_FPS));
+    }
+    else {
+        video_in.open(video_name);
+        iFourCC = static_cast<int>(video_in.get(CAP_PROP_FOURCC));
+        frame_count = static_cast<int>(video_in.get(CAP_PROP_FRAME_COUNT));
+    }
+
+    VideoWriter  video_out(argv[2], iFourCC,
                            (int)video_in.get(CAP_PROP_FPS),
                            Size(2 * (int)video_in.get(CAP_PROP_FRAME_WIDTH),
                                 2 * (int)video_in.get(CAP_PROP_FRAME_HEIGHT)));
@@ -128,34 +159,43 @@ int main(int argc, char **argv)
         return 1;
     }
 
-    vector<Point2f> bb;
-    FileStorage fs(argv[3], FileStorage::READ);
-    if(fs["bounding_box"].empty()) {
-        cerr << "Couldn't read bounding_box from " << argv[3] << endl;
-        return 1;
-    }
-    fs["bounding_box"] >> bb;
-
     Stats stats, akaze_stats, orb_stats;
     Ptr<AKAZE> akaze = AKAZE::create();
     akaze->setThreshold(akaze_thresh);
     Ptr<ORB> orb = ORB::create();
-    orb->setMaxFeatures(stats.keypoints);
     Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");
-    Tracker akaze_tracker(akaze, matcher);
+    example::Tracker akaze_tracker(akaze, matcher);
-    Tracker orb_tracker(orb, matcher);
+    example::Tracker orb_tracker(orb, matcher);
 
     Mat frame;
     video_in >> frame;
+    vector<Point2f> bb;
+    if (argc < 4) {             //attempt to alow GUI selection
+        cv::Rect2d uBox = selectROI(video_name, frame);
+        bb.push_back(cv::Point2f(static_cast<float>(uBox.x), static_cast<float>(uBox.y)));
+        bb.push_back(cv::Point2f(static_cast<float>(uBox.x+uBox.width), static_cast<float>(uBox.y)));
+        bb.push_back(cv::Point2f(static_cast<float>(uBox.x+uBox.width), static_cast<float>(uBox.y+uBox.height)));
+        bb.push_back(cv::Point2f(static_cast<float>(uBox.x), static_cast<float>(uBox.y+uBox.height)));
+    }
+    else {
+        FileStorage fs(argv[3], FileStorage::READ);
+        if(fs["bounding_box"].empty()) {
+            cerr << "Couldn't read bounding_box from " << argv[3] << endl;
+            return 1;
+        }
+        fs["bounding_box"] >> bb;
+    }
     akaze_tracker.setFirstFrame(frame, bb, "AKAZE", stats);
     orb_tracker.setFirstFrame(frame, bb, "ORB", stats);
 
     Stats akaze_draw_stats, orb_draw_stats;
-    int frame_count = (int)video_in.get(CAP_PROP_FRAME_COUNT);
     Mat akaze_res, orb_res, res_frame;
-    for(int i = 1; i < frame_count; i++) {
+    int i = 1;
+    for(i = 1; i < frame_count; i++) {
         bool update_stats = (i % stats_update_period == 0);
         video_in >> frame;
+        // stop the program if no more images
+        if(frame.rows==0 || frame.cols==0) break;
 
         akaze_res = akaze_tracker.process(frame, stats);
         akaze_stats += stats;
@@ -174,10 +214,14 @@ int main(int argc, char **argv)
         drawStatistics(orb_res, orb_draw_stats);
         vconcat(akaze_res, orb_res, res_frame);
         video_out << res_frame;
+        cv::imshow(video_name, res_frame);
+        if (i==1)                  //resize for easier display
+            cv::resizeWindow(video_name, frame.cols, frame.rows);
+        if(cv::waitKey(1)==27)break; //quit on ESC button
         cout << i << "/" << frame_count - 1 << endl;
     }
-    akaze_stats /= frame_count - 1;
+    akaze_stats /= i - 1;
-    orb_stats /= frame_count - 1;
+    orb_stats /= i - 1;
     printStatistics("AKAZE", akaze_stats);
     printStatistics("ORB", orb_stats);
     return 0;