tracking.h

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   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
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   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
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   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef mrpt_vision_tracking_H
#define mrpt_vision_tracking_H

#include <mrpt/vision/types.h>
#include <mrpt/vision/link_pragmas.h>

#include <mrpt/vision/CFeature.h>
#include <mrpt/vision/TSimpleFeature.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/CTimeLogger.h>
#include <mrpt/utils/TParameters.h>

#include <mrpt/utils/metaprogramming.h>

#include <memory>       // for auto_ptr, unique_ptr

namespace mrpt
{
        namespace vision
        {
                /** \addtogroup vision_tracking Feature detection and tracking
                  *  \ingroup mrpt_vision_grp
                  *   @{  */

                /** A virtual interface for all feature trackers, implementing the part of feature tracking that is common to any specific tracker implementation.
                  *   This class provides a quite robust tracking of features, avoiding as many outliers as possible but not all of them:
                  *    more robust tracking would require application-specific information and could be done in a number of very different approaches,
                  *    so this class will not try to do any kind of RANSAC or any other advanced outlier rejection; instead, it should
                  *    be done by the users or the classes that employ this class.
                  *
                  *   The basic usage of this class is as follows:
                  *    \code
                  *       CFeatureTracker_KL    tracker;  // Note: CFeatureTracker_KL is the most robust implementation for now.
                  *       tracker.extra_params["add_new_features"] = 1;  // Enable detection of new features, not only tracking
                  *       tracker.extra_params[...] = ...
                  *       // ....
                  *       CFeatureList  theFeats;  // The list of features
                  *       mrpt::utils::CImage  previous_img, current_img;
                  *
                  *       while (true) {
                  *           current_img = ... // Grab new image.
                  *           if ( previous_img_is_ok )
                  *               tracker.trackFeatures(previous_img, current_img, theFeats);
                  *           previous_img = current_img;
                  *       }
                  *    \endcode
                  *
                  *  Below follows the list of optional parameters for "extra_params" which can be set
                  *  and will be understood by this base class for any specific tracker implementation.
                  *  Note that all parameters are double's, but boolean flags are emulated by the values 0.0 (false) and 1.0 (true).
                  *
                  *  List of parameters:
                  * <table border="1" >
                  *   <tr><td align="center" > <b>Parameter name</b>  </td>  <td align="center" > <b>Default value</b> </td> <td align="center" > <b>Comments</b> </td> </tr>
                  *   <tr><td align="center" > add_new_features  </td>  <td align="center" > 0 </td>
                  *      <td> If set to "1", the class will not only track existing features, but will also perform (after doing the actual tracking) an efficient
                  *            search for new features with the FAST detector, and will add them to the passed "CFeatureList" if they fulfill a set of restrictions,
                  *            as stablished by the other parameters (see <i>add_new_feat_min_separation</i>,<i>add_new_feat_max_features</i>,<i>minimum_KLT_response_to_add</i>).
                  *        </td> </tr>
                  *   <tr><td align="center" > add_new_feat_min_separation  </td>  <td align="center" > 15 </td>
                  *      <td> If <i>add_new_features</i>==1,  this is the minimum separation (in pixels) to any other (old, or new) feature for it
                  *             being considered a candidate to be added.
                  *         </td> </tr>
                  *   <tr><td align="center" > desired_num_features_adapt  </td>  <td align="center" > (img_width*img_height)/512 </td>
                  *      <td> If <i>add_new_features</i>==1, the threshold of the FAST(ER) feature detector is dynamically adapted such as the number of
                  *        raw FAST keypoints is around this number. This number should be much higher than the real desired numbre of features, since this
                  *        one includes many features concentrated in space which are later discarded for the minimum distance.
                  *         </td> </tr>
                  *   <tr><td align="center" > desired_num_features </td>  <td align="center" > 100 </td>
                  *      <td> If <i>add_new_features</i>==1, the target number of the patch associated to each feature will be updated with every N'th frame. </td> </tr>
                  *   <tr><td align="center" > add_new_feat_patch_size  </td>  <td align="center" > 11 </td>
                  *      <td> If <i>add_new_features</i>==1,  for each new added feature, this is the size of the patch to be extracted around the keypoint (set to 0 if patches are not required at all).
                  *          </td> </tr>
                  *   <tr><td align="center" > minimum_KLT_response_to_add  </td>  <td align="center" > 10 </td>
                  *      <td> If <i>add_new_features</i>==1, this sets the minimum KLT response of candidate FAST features to be added in each frame, if they also fulfil the other restrictions (e.g. min.distance).
                  *         </td> </tr>
                  *   <tr><td align="center" > check_KLT_response_every  </td>  <td align="center" > 0 </td>
                  *      <td> If >0, it will compute the KLT response at each feature point every <i>N</i> frames
                  *            and those below <i>minimum_KLT_response</i> will be marked as "lost" in their "track_status" field.
                  *        </td> </tr>
                  *   <tr><td align="center" > minimum_KLT_response  </td>  <td align="center" > 5 </td>
                  *      <td> See explanation of <i>check_KLT_response_every</i>.
                  *        </td> </tr>
                  *   <tr><td align="center" > KLT_response_half_win  </td>  <td align="center" > 4 </td>
                  *      <td> When computing the KLT response of features (see <i>minimum_KLT_response</i> and <i>minimum_KLT_response_to_add</i>),
                  *            the window centered at the point for its estimation will be of size (2*W+1)x(2*W+1), with <i>W</i> being this parameter value.
                  *       </td> </tr>
                  *   <tr><td align="center" > update_patches_every  </td>  <td align="center" > 0 </td>
                  *      <td> If !=0, the patch associated to each feature will be updated with every N'th frame. </td> </tr>
                  *   <tr><td align="center" > remove_lost_features  </td>  <td align="center" > 0 </td>
                  *      <td> If !=0, out-of-bound features or those lost while tracking, will be automatically removed from the list of features.
                  *            Otherwise, the user will have to manually remove them by checking the track_status field. </td> </tr>
                  * </table>
                  *
                  *  This class also offers a time profiler, disabled by default (see getProfiler and enableTimeLogger).
                  *
                  * \sa CFeatureTracker_KL, the example application "track-video-features".
                  */
                struct VISION_IMPEXP  CGenericFeatureTracker
                {
                        /** Optional list of extra parameters to the algorithm. */
                        mrpt::utils::TParametersDouble extra_params;

                        /** Default ctor */
                        inline CGenericFeatureTracker() : m_timlog(false), m_update_patches_counter(0),m_check_KLT_counter(0),m_detector_adaptive_thres(10)
                        { }
                        /** Ctor with extra parameters */
                        inline CGenericFeatureTracker(mrpt::utils::TParametersDouble extraParams) : extra_params(extraParams), m_timlog(false), m_update_patches_counter(0),m_check_KLT_counter(0),m_detector_adaptive_thres(10)
                        { }
                        /** Dtor */
                        virtual ~CGenericFeatureTracker()
                        { }

                        /** Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously tracked features "inout_featureList".
                          *  This is a list of parameters (in "extraParams") accepted by ALL implementations of feature tracker (see each derived class for more specific parameters).
                          *             - "add_new_features" (Default=0). If set to "1", new features will be also added to the existing ones in areas of the image poor of features.
                          * This method does:
                          *    - Convert old and new images to grayscale, if they're in color.
                          *    - Call the pure virtual "trackFeatures_impl" method.
                          *    - Implement the optional detection of new features if "add_new_features"!=0.
                          */
                        void trackFeatures(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,TSimpleFeatureList &inout_featureList );

                        /** overload with subpixel precision */
                        void trackFeatures(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,TSimpleFeaturefList &inout_featureList );

                        /** overload This overload version uses the old (and much slower) CFeatureList  */
                        void trackFeatures(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,CFeatureList &inout_featureList );

                        /** A wrapper around the basic trackFeatures() method, but keeping the original list of features unmodified and returns the tracked ones in a new list. */
                        inline void trackFeaturesNewList(
                                const mrpt::utils::CImage &old_img,
                                const mrpt::utils::CImage &new_img,
                                const vision::CFeatureList &in_featureList,
                                vision::CFeatureList &out_featureList
                                )
                        {
                                out_featureList = in_featureList;
                                std::for_each(
                                        out_featureList.begin(),out_featureList.end(),
                                        mrpt::utils::metaprogramming::ObjectMakeUnique() );
                                this->trackFeatures(old_img, new_img, out_featureList);
                        }

                        /** Returns a read-only reference to the internal time logger */
                        inline const mrpt::utils::CTimeLogger  & getProfiler() const { return m_timlog; }
                        /** Returns a reference to the internal time logger */
                        inline mrpt::utils::CTimeLogger  & getProfiler() { return m_timlog; }

                        /** Returns a read-only reference to the internal time logger */
                        inline void enableTimeLogger(bool enable=true) { m_timlog.enable(enable); }

                        /** Returns the current adaptive threshold used by the FAST(ER) detector to find out new features in empty areas */
                        inline int getDetectorAdaptiveThreshold() const { return m_detector_adaptive_thres; }

                        struct VISION_IMPEXP TExtraOutputInfo
                        {
                                size_t  raw_FAST_feats_detected;  //!< In the new_img with the last adaptive threshold
                                size_t  num_deleted_feats; //!< The number of features which were deleted due to OOB, bad tracking, etc... (only if "remove_lost_features" is enabled)
                        };

                        TExtraOutputInfo  last_execution_extra_info; //!< Updated with each call to trackFeatures()

                protected:
                        /** The tracking method implementation, to be implemented in children classes. */
                        virtual void trackFeatures_impl(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,TSimpleFeaturefList  &inout_featureList );

                        /** The tracking method implementation, to be implemented in children classes. */
                        virtual void trackFeatures_impl(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,TSimpleFeatureList  &inout_featureList ) = 0;

                        /** This version falls back to the version with TSimpleFeatureList if the derived class does not implement it. */
                        virtual void trackFeatures_impl(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,CFeatureList &inout_featureList ) = 0;

                        mrpt::utils::CTimeLogger  m_timlog; //!< the internal time logger, disabled by default.

                        /** This field is clared by \a trackFeatures() before calling \a trackFeatures_impl(), and
                          *   can be filled out with newly defected FAST(ER) features in the latter.
                          * If it's not the case, feats will be computed anyway if the user enabled the "add_new_features" option.
                          */
                        mrpt::vision::TSimpleFeatureList   m_newly_detected_feats;

                        /** Adapts the threshold \a m_detector_adaptive_thres according to the real and desired number of features just detected */
                        void updateAdaptiveNewFeatsThreshold(
                                const size_t nNewlyDetectedFeats,
                                const size_t desired_num_features);

                private:
                        size_t          m_update_patches_counter;       //!< for use when "update_patches_every">=1
                        size_t          m_check_KLT_counter;    //!< For use when "check_KLT_response_every">=1
                        int                     m_detector_adaptive_thres;  //!< For use in "add_new_features" == true

                        template <typename FEATLIST>
                        void internal_trackFeatures(
                                const mrpt::utils::CImage &old_img,
                                const mrpt::utils::CImage &new_img,
                                FEATLIST &inout_featureList );
                };

#if MRPT_HAS_CXX11
                typedef std::unique_ptr<CGenericFeatureTracker> CGenericFeatureTrackerAutoPtr;
#else
                typedef std::auto_ptr<CGenericFeatureTracker> CGenericFeatureTrackerAutoPtr;
#endif

                /** Track a set of features from old_img -> new_img using sparse optimal flow (classic KL method).
                  *
                  *  See CGenericFeatureTracker for a more detailed explanation on how to use this class.
                  *
                  *   List of additional parameters in "extra_params" (apart from those in CGenericFeatureTracker) accepted by this class:
                  *             - "window_width"  (Default=15)
                  *             - "window_height" (Default=15)
                  *             - "LK_levels" (Default=3) Number of pyramids to build for LK tracking (this parameter only has effects when tracking with CImage's, not with CImagePyramid's).
                  *             - "LK_max_iters" (Default=10) Max. number of iterations in LK tracking.
                  *             - "LK_epsilon" (Default=0.1) Minimum epsilon step in interations of LK_tracking.
                  *             - "LK_max_tracking_error" (Default=150.0) The maximum "tracking error" of LK tracking such as a feature is marked as "lost".
                  *
                  *  \sa OpenCV's method cvCalcOpticalFlowPyrLK
                  */
                struct VISION_IMPEXP CFeatureTracker_KL : public CGenericFeatureTracker
                {
                        /** Default ctor */
                        inline CFeatureTracker_KL() { }
                        /** Ctor with extra parameters */
                        inline CFeatureTracker_KL(mrpt::utils::TParametersDouble extraParams) : CGenericFeatureTracker(extraParams)     { }

                protected:
                        virtual void trackFeatures_impl(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,vision::CFeatureList &inout_featureList ) MRPT_OVERRIDE;
                        virtual void trackFeatures_impl(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,TSimpleFeatureList  &inout_featureList ) MRPT_OVERRIDE;
                        virtual void trackFeatures_impl(const mrpt::utils::CImage &old_img,const mrpt::utils::CImage &new_img,TSimpleFeaturefList  &inout_featureList ) MRPT_OVERRIDE;

                private:
                        template <typename FEATLIST>
                        void trackFeatures_impl_templ(
                                const mrpt::utils::CImage &old_img,
                                const mrpt::utils::CImage &new_img,
                                FEATLIST  &inout_featureList );

                };


                /** Search for correspondences which are not in the same row and deletes them
                  * ...
                  */
                void VISION_IMPEXP checkTrackedFeatures( CFeatureList &leftList,
                                                        CFeatureList &rightList,
                                                        vision::TMatchingOptions options);


                /** Filter bad correspondences by distance
                  * ...
                  */
                void VISION_IMPEXP filterBadCorrsByDistance( mrpt::utils::TMatchingPairList &list,      // The list of correspondences
                                                                                unsigned int numberOfSigmas );                          // Threshold



                /**  @}  */  // end of grouping
        }
}


#endif