I use calcOpticalFlowPyrLK() to track keypoint in feature ,but the calcOpticalFlowPyrLK() is unstable.
How optimize it?
TrackOpticalFlow function:
static vector currPoints,predictPoints;
void trackingOpticalFlow(const cv::Mat sceneMat, const vector sceneKeyPoint, vector *predictKeyPoint){
if( sceneMat.empty() || sceneKeyPoint.empty()) return;
vector status;
vector err;
vector pt1,pt2;
vector transPt1,transPt2;
cv::Mat sceneMat_gray;
cv::Size winSize = cv::Size(9, 9);
int maxLevel = 21;
cv::TermCriteria terminationCriteria = cv::TermCriteria( CV_TERMCRIT_ITER + CV_TERMCRIT_EPS, 20, 0.03);
this->getGrayMat(sceneMat, sceneMat_gray);
if(m_trackPrev.empty()){
sceneMat_gray.copyTo(m_trackPrev);
return;
}
if(prevPyr.empty()){
cv::buildOpticalFlowPyramid(m_trackPrev, prevPyr, winSize, maxLevel, true);
}
KeyPoint::convert(sceneKeyPoint, pt1);
transPt1.clear();
transPt1 = pt1;
cv::buildOpticalFlowPyramid(sceneMat_gray, nextPyr, winSize, maxLevel, true);
cv::calcOpticalFlowPyrLK(prevPyr, nextPyr, transPt1, transPt2, status, err, winSize, maxLevel, terminationCriteria, CV_LKFLOW_PYR_B_READY, 1e-10);
std::vector trackedPts;
for (size_t i=0; ii && norm(transPt2[i] - transPt1[i]) <= 100)
{
trackedPts.push_back(transPt2[i]);
}
}
pt2.clear();
pt2 = transPt2;
KeyPoint::convert(pt2, *predictKeyPoint);
swap(m_trackPrev, sceneMat_gray);
prevPyr.swap(nextPyr);
}
Input mat in video:
void runTrack(cv::Mat sceneMat){
cv::Mat sceneMatGray;
Mat sceneDescriptor;
this->getGrayMat(sceneMat, sceneMatGray);
if(!m_isTrack){
this->detectFeatures(sceneMatGray, &m_trackPreKeypoints, &sceneDescriptor);
if(m_trackPreKeypoints.empty() || sceneDescriptor.empty()) {
m_isDetectObject = false;
return;
}else{
this->matchByKnn(m_patternDescriptor, sceneDescriptor, &m_trackMatches);
}
if( m_trackMatches.size() < 4){
m_isDetectObject = false;
return;
}
}else{
vector outKeypoints;
outKeypoints.clear();
this->trackingOpticalFlow(sceneMatGray, m_trackPreKeypoints, &outKeypoints);
if(outKeypoints.empty()) return;
for(int i=0;i< m_trackPreKeypoints.size();i++)
cv::circle(sceneMat, m_trackPreKeypoints[i].pt, 2, CV_RGB(255, 0, 0));
for(int i=0;igetHomography(m_patternKeypoints, m_trackPreKeypoints, m_trackMatches, &homography);
}
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