Examples with ConfigSimilarImagesTrackThenMatch boofcv.alg.similar.ConfigSimilarImagesTrackThenMatch used on opensource projects

Example 1 with ConfigSimilarImagesTrackThenMatch

use of boofcv.alg.similar.ConfigSimilarImagesTrackThenMatch in project BoofCV by lessthanoptimal.

the class ExampleMultiViewSparseReconstruction method similarImagesFromSequence.

/**
 * For a pairwise graph to be constructed, image feature relationships between frames are needed. For a video
 * sequence, KLT is an easy and fast way to do this. However, KLT will not "close the loop", and it will
 * not realize you're back at the initial location. Typically this results in a noticeable miss alignment.
 */
private void similarImagesFromSequence() {
    System.out.println("----------------------------------------------------------------------------");
    System.out.println("### Creating Similar Images from an ordered set of images");
    // Configure the KLT tracker
    ConfigPointTracker configTracker = FactorySceneRecognition.createDefaultTrackerConfig();
    PointTracker<GrayU8> tracker = FactoryPointTracker.tracker(configTracker, GrayU8.class, null);
    var activeTracks = new ArrayList<PointTrack>();
    var config = new ConfigSimilarImagesTrackThenMatch();
    final var dbSimilar = FactorySceneReconstruction.createTrackThenMatch(config, ImageType.SB_U8);
    dbSimilar.setVerbose(System.out, BoofMiscOps.hashSet(BoofVerbose.RECURSIVE));
    // Track features across the entire sequence and save the results
    BoofMiscOps.profile(() -> {
        boolean first = true;
        for (int frameId = 0; frameId < imageFiles.size(); frameId++) {
            String filePath = imageFiles.get(frameId);
            GrayU8 frame = UtilImageIO.loadImage(filePath, GrayU8.class);
            Objects.requireNonNull(frame, "Failed to load image");
            if (first) {
                first = false;
                dbSimilar.initialize(frame.width, frame.height);
                dbCams.addCameraCanonical(frame.width, frame.height, 60.0);
            }
            tracker.process(frame);
            int activeCount = tracker.getTotalActive();
            int droppedCount = tracker.getDroppedTracks(null).size();
            tracker.spawnTracks();
            tracker.getActiveTracks(activeTracks);
            dbSimilar.processFrame(frame, activeTracks, tracker.getFrameID());
            String id = frameId + "";
            System.out.println("frame id = " + id + " active=" + activeCount + " dropped=" + droppedCount);
            // Everything maps to the same camera
            dbCams.addView(id, 0);
        }
        dbSimilar.finishedTracking();
    }, "Finding Similar");
    this.dbSimilar = dbSimilar;
}