ExampleTrackerBaseInterface.cpp

/*
This file is part of the BIAS library (Basic ImageAlgorithmS).

Copyright (C) 2003-2009    (see file CONTACT for details)
  Multimediale Systeme der Informationsverarbeitung
  Institut fuer Informatik
  Christian-Albrechts-Universitaet Kiel


BIAS is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2.1 of the License, or
(at your option) any later version.

BIAS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with BIAS; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


/** @example ExampleTrackerBaseInterface.cpp
    @relates TrackerBaseSimple, GradientGaussAsymmetric
    @ingroup g_examples    
    @brief See TestData/affine in cvs for generating test images.
*/

#include <Matcher2D/TrackerBaseSimple.hh>
#include <Base/Image/Image.hh>
#include <Base/ImageUtils/ImageDraw.hh>
#include <Base/Image/ImageIO.hh>
#include <Base/Image/ImageConvert.hh>
#include <Base/Geometry/HomgPoint2D.hh>
#include <Base/Debug/TimeMeasure.hh>
#include <Filter/GradientSobel3x3.hh>
#include <Filter/GradientGauss.hh>
#include <Filter/GradientGaussAsymmetric.hh>
#include <Filter/Binomial.hh>

#include <iostream>
#include <iomanip>

using namespace BIAS;
using namespace std;


// always track using float image, since it is a lot faster
#define StorageType float


// loads an image and converts to single channel float image
int LoadImage(const string& name, Image<StorageType>& im)
{
  ImageBase baseim;

  // load image
  if (ImageIO::Load(name, baseim)!=0){
    BIASERR("error loading image "<<name);
    return -1;
  }
  // convert to float
  if (ImageConvert::ConvertST(baseim, im, ImageBase::ST_float)!=0){
    BIASERR("error converting image "<<name);
    return -2;
  }
  // convert to grey if necessary
  if (im.GetChannelCount()!=1){
    if (ImageConvert::ToGrey(im, im)!=0){
      BIASERR("error converting image to grey "<<name);
      return -3;
    }
  }
  im.SetMetaData(*baseim.GetMetaData());

  return 0;
}

// draws the tracking result and saves to name.tracked
void Draw(Image<StorageType>& im, HomgPoint2D& p, Matrix2x2<KLT_TYPE>& cov,
          const string& name)
{
  Image<unsigned char> dim;
  unsigned uip[2], radius=1;
  unsigned char color[]={255,0,0};
  float cov_scale=1e5;
  bool draw_cov=true;


  // convert to unsigned char
  if (ImageConvert::ConvertST(im, dim, ImageBase::ST_unsignedchar)!=0){
    BIASERR("error converting image to unsigned char "<<name);
    BIASABORT;
  }

  // convert to rgb if necessary
  if (dim.GetColorModel()!=ImageBase::CM_RGB){
    if (ImageConvert::ToRGB(dim, dim)!=0){
      BIASERR("error converting image to RGB "<<name);
      BIASABORT;
    }
  }

  uip[0]=(unsigned int)rint(p[0]);
  uip[1]=(unsigned int)rint(p[1]);

  ImageDraw<unsigned char>::
    CircleCenterFilled(dim, uip[0], uip[1], radius, color);

  if (draw_cov){
    double center[2], a[2], b[2], eva, evb;
    Vector2<double> na, nb;
    center[0]=p[0];
    center[1]=p[1];

    cov.EigenvalueDecomposition(eva, na, evb, nb);
    cout << eva<<", "<<evb<<"\n";
    a[0]=na[0]*eva*cov_scale;
    a[1]=na[1]*eva*cov_scale;
    b[0]=nb[0]*evb*cov_scale;
    b[1]=nb[1]*evb*cov_scale;
    ImageDraw<unsigned char>::
      Ellipse(dim, center, a, b, color);
  }

  //ImageIO::Save(name, dim);
  ImageIO::Save(name, dim);
  cout << "wrote "<<name<<endl;
}

// the main function
int main(int argc, char*argv[])
{
  // choose tracker type
  TrackerBaseSimple<StorageType> tracker;
  //TrackerBaseWeighted<StorageType> tracker;
  //TrackerBaseAffine<StorageType> tracker;

  // read parameters from command line
  int argind = 1;
  if (argc-argind<4 || argind<1)
  {
    cerr << argv[0] << " : <x-coo> <y-coo> <image> <image> ..."<< endl;
    return -1;
  }

  // get the point to track from command line
  HomgPoint2D p[2];
  p[0][2] = p[1][2] = 1.0;
  p[0][0] = atof(argv[argind]);
  p[0][1] = atof(argv[argind+1]);
  cout << "attempt to track point " << p[0] << endl;

  // load first image
  Image<StorageType> im[2];
  if (LoadImage(argv[argind+2], im[0]) != 0)
  {
    BIASERR("error loading image " << argv[argind+2]);
    return -1;
  }

  int oldim = 0;
  int newim = 1;

  // loop through the images
  for (int counter = argind+3; counter < argc-1; counter++)
  {
    // load image
    if (LoadImage(argv[counter], im[newim]) != 0)
    {
      BIASERR("Failed to load image " << argv[counter]);
      return -1;
    }

    // initialize tracker
    Matrix3x3<FM_FLOAT> lowpass(1, 2, 1,
                                2, 4, 2,
                                1, 2, 1);

    Matrix3x3<FM_FLOAT> gradx(-1,  0,  1,
                              -2,  0,  2,
                              -1,  0,  1);

    Matrix3x3<FM_FLOAT> grady(-1, -2, -1,
                               0,  0,  0,
                               1,  2,  1);

    FilterMask fmLowpass((Matrix<float>)lowpass);
    FilterMask fmGradX((Matrix<float>)gradx);
    FilterMask fmGradY((Matrix<float>)grady);

    tracker.Init(im[oldim], im[newim],
                 fmLowpass, fmGradX, fmGradY);

    // do the tracking!
    KLT_TYPE error, residuumMAD, residuumMSD;
    Matrix2x2<KLT_TYPE> cov;
    int iter;
    int result = tracker.Track(p[oldim], p[oldim], p[newim],
                               error, iter, residuumMAD,
                               residuumMSD, cov);

    cout << setw(3)
      << counter-3 << ": "
      << "result: " << result << ", "
      << p[oldim] << " -> " << p[newim] << ", "
      << "residuumMAD: " << residuumMAD << ", "
         << "residuumMSD: " << residuumMSD << endl;

    // draw and save result
    ostringstream name;
    name << "track-"<<setw(4)<<setfill('0')<<counter-argind<<".mip";
    Draw(im[newim], p[newim], cov, name.str());

    swap(newim, oldim);
  }

  return 0;
}