From 568146ea58e96cb546d11cd70cd1630dd18a882a Mon Sep 17 00:00:00 2001 From: Walter Perdan Date: Wed, 5 Jun 2024 15:06:07 +0200 Subject: [PATCH] using pyrDown utility - increasing akaze threshold to locate about 1000 kpts --- .../WebARKitConfig.cpp | 1 + .../WebARKitTracker.cpp | 57 +++++++++++++++---- .../WebARKitOpticalTracking/WebARKitConfig.h | 1 + 3 files changed, 48 insertions(+), 11 deletions(-) diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp index 14e4dcc..a06b027 100644 --- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp +++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp @@ -13,6 +13,7 @@ extern const cv::Size winSize(31, 31); extern const cv::TermCriteria termcrit(cv::TermCriteria::COUNT | cv::TermCriteria::EPS, 20, 0.03); extern const int searchRadius = 15; extern const int match_method = cv::TM_SQDIFF_NORMED; +extern const cv::Size featureImageMinSize(640, 480); ///< Minimum size when downscaling incoming images used for feature tracking. extern const double featureDetectPyramidLevel = 1.05f; ///> Scale factor applied to image pyramid to determine image to perform feature matching upon. extern const int featureBorder = 8; diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp index 4046b3d..0c338e1 100644 --- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp +++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp @@ -14,9 +14,13 @@ class WebARKitTracker::WebARKitTrackerImpl { WebARKitTrackerImpl() : corners(4), initialized(false), output(17, 0.0), _valid(false), _maxNumberOfMarkersToTrack(1), - _currentlyTrackedMarkers(0), _frameCount(0), _isDetected(false), _isTracking(false), numMatches(0), + _currentlyTrackedMarkers(0), _frameCount(0), _frameSizeX(0), + _frameSizeY(0), + _featureDetectPyrLevel(0), + _featureDetectScaleFactor(cv::Vec2f(1.0f, 1.0f)), + _isDetected(false), _isTracking(false), numMatches(0), minNumMatches(MIN_NUM_MATCHES), _nn_match_ratio(0.7f), _trackVizActive(false), - _trackViz(TrackerVisualization()) { + _trackViz(TrackerVisualization()) { m_camMatrix = cv::Matx33d::zeros(); m_distortionCoeff = cv::Mat::zeros(4, 1, cv::DataType::type); }; @@ -24,6 +28,23 @@ class WebARKitTracker::WebARKitTrackerImpl { ~WebARKitTrackerImpl() = default; void initialize(webarkit::TRACKER_TYPE trackerType, int frameWidth, int frameHeight) { + _frameSizeX = frameWidth; + _frameSizeY = frameHeight; + + // Calculate image downsamping factor. 0 = no size change, 1 = half width and height, 2 = quarter width and height etc. + double xmin_log2 = std::log2(static_cast(featureImageMinSize.width)); + double ymin_log2 = std::log2(static_cast(featureImageMinSize.height)); + _featureDetectPyrLevel = std::min(std::floor(std::log2(static_cast(_frameSizeX)) - xmin_log2), std::floor(std::log2(static_cast(_frameSizeY)) - ymin_log2)); + + // Calculate the exact scale factor using the same calculation pyrDown uses. + int xScaled = _frameSizeX; + int yScaled = _frameSizeY; + for (int i = 1; i <= _featureDetectPyrLevel; i++) { + xScaled = (xScaled + 1) / 2; + yScaled = (yScaled + 1) / 2; + _featureDetectScaleFactor = cv::Vec2f((float)_frameSizeX / (float)xScaled, (float)_frameSizeY / (float)yScaled); + } + setDetectorType(trackerType); if (trackerType == webarkit::TEBLID_TRACKER) { _nn_match_ratio = TEBLID_NN_MATCH_RATIO; @@ -34,7 +55,7 @@ class WebARKitTracker::WebARKitTrackerImpl { _nn_match_ratio = DEFAULT_NN_MATCH_RATIO; minNumMatches = 15; } - WEBARKIT_LOGi("Min Num Matches: %d\n", minNumMatches); + WEBARKIT_LOGd("Min Num Matches: %d\n", minNumMatches); _camera->setupCamera(frameWidth, frameHeight); _camera->printSettings(); @@ -430,10 +451,10 @@ class WebARKitTracker::WebARKitTrackerImpl { // } // end for cycle if (maxMatches > 0) { - /*for (int i = 0; i < finalMatched1.size(); i++) { + for (int i = 0; i < finalMatched1.size(); i++) { finalMatched1[i].pt.x *= _featureDetectScaleFactor[0]; finalMatched1[i].pt.y *= _featureDetectScaleFactor[1]; - }*/ + } homography::WebARKitHomographyInfo homoInfo = getHomographyInliers(Points(finalMatched2), Points(finalMatched1)); @@ -642,9 +663,9 @@ class WebARKitTracker::WebARKitTrackerImpl { } std::vector> contours(1); for (int j = 0; j < 4; j++) { - contours[0].push_back(cv::Point(_bBoxTransformed[j].x / featureDetectPyramidLevel, - _bBoxTransformed[j].y / featureDetectPyramidLevel)); - } + // contours[0].push_back(cv::Point(_trackables[i]._bBoxTransformed[j].x/_featureDetectScaleFactor[0],_trackables[i]._bBoxTransformed[j].y/_featureDetectScaleFactor[1])); + contours[0].push_back(cv::Point(_bBoxTransformed[j].x/_featureDetectScaleFactor[0],_bBoxTransformed[j].y/_featureDetectScaleFactor[1])); + } drawContours(featureMask, contours, 0, cv::Scalar(0), -1, 8); } return featureMask; @@ -656,6 +677,13 @@ class WebARKitTracker::WebARKitTrackerImpl { int _frameCount; + int _frameSizeX; + int _frameSizeY; + /// Pyramid level used in downsampling incoming image for feature matching. 0 = no size change, 1 = half width/height, 2 = quarter width/heigh etc. + int _featureDetectPyrLevel; + /// Scale factor applied to images used for feature matching. Will be 2^_featureDetectPyrLevel. + cv::Vec2f _featureDetectScaleFactor; + bool _valid; bool _isDetected; @@ -717,8 +745,11 @@ class WebARKitTracker::WebARKitTrackerImpl { void setDetectorType(webarkit::TRACKER_TYPE trackerType) { _trackerType = trackerType; if (trackerType == webarkit::TRACKER_TYPE::AKAZE_TRACKER) { - this->_featureDetector = cv::AKAZE::create(); - this->_featureDescriptor = cv::AKAZE::create(); + const double akaze_thresh = 3e-4; // AKAZE detection threshold set to locate about 1000 keypoints + cv::Ptr akaze = cv::AKAZE::create(); + akaze->setThreshold(akaze_thresh); + this->_featureDetector = akaze; + this->_featureDescriptor = akaze; } else if (trackerType == webarkit::TRACKER_TYPE::ORB_TRACKER) { this->_featureDetector = cv::ORB::create(DEFAULT_MAX_FEATURES); this->_featureDescriptor = cv::ORB::create(DEFAULT_MAX_FEATURES); @@ -729,7 +760,11 @@ class WebARKitTracker::WebARKitTrackerImpl { this->_featureDetector = cv::ORB::create(TEBLID_MAX_FEATURES); this->_featureDescriptor = cv::xfeatures2d::TEBLID::create(1.00f); } - _matcher = cv::BFMatcher::create(cv::NORM_HAMMING); + if (trackerType == webarkit::TRACKER_TYPE::AKAZE_TRACKER) { + _matcher = cv::BFMatcher::create(); + } else { + _matcher = cv::BFMatcher::create(cv::NORM_HAMMING); + } }; }; diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h index c159c4f..d038a64 100644 --- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h +++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h @@ -21,6 +21,7 @@ extern const cv::Size winSize; extern const cv::TermCriteria termcrit; extern const int searchRadius; extern const int match_method; +extern const cv::Size featureImageMinSize; ///< Minimum size when downscaling incoming images used for feature tracking. extern const double featureDetectPyramidLevel; ///> Scale factor applied to image pyramid to determine image to perform feature matching upon. extern const int featureBorder; extern const cv::Size blurSize;