demo_OfflineTracker.tcl

package require image
package require gfm
package require display

set imaPath   "/net/pelican/data1/robots/dala/data/2006_03_stereoPano/serie007/images"
set imaPrefix "image."
set imaSuffix ".o.tiff"
set nbDigits  4
set firstnum 1
set lastnum  15
set pasIma  1

set minTrackLength 7

set doDisplay "true" 

# Initialisation du sequence loader
#===================================
set seqReader  [::image::new_ImageSequenceReader]
::image::ImageSequenceReader_setup $seqReader $imaPath $imaPrefix $imaSuffix $nbDigits

# Initialisation de l'extracteur de Harris
#==========================================
set scale 1
set threshold 3.0
set desiredNb 500
set harrisdetector [gfm::new_HarrisDetector $scale 1.0 2.0 1 $threshold "true" $desiredNb]

# Initialisation de l'objet de mise en correspondance
#=====================================================
set groupsize 5
set minimalgroupsize 2
set distance 20.0
set closeness 0.6
set weakcloseness 0.6
set distinguability 0.1
set rotationTolerance 0.2
set scaleTolerance 10000.0
set distanceTolerance 10.0
set rotationDifferenceWithMedian 0.4
set thresholdofenoughtgroup 0.333
set groupsmatcher [gfm::new_GroupsMatcher 100000 100000 $groupsize $minimalgroupsize $distance $closeness $weakcloseness $distinguability $rotationTolerance $scaleTolerance $distanceTolerance $rotationDifferenceWithMedian $thresholdofenoughtgroup ]

# Lancement du tracker
#======================
set listOfTracks [gfm::offlineGfmTracker $seqReader $firstnum $pasIma $lastnum $harrisdetector $groupsmatcher];

gfm::tracks_makeStatistics $listOfTracks
gfm::tracks_exportBinaryFile  $listOfTracks "/tmp/obsFEAT_serie007_GFM.feat" $minTrackLength
gfm::tracks_makeStatistics $listOfTracks

# unset listOfTracks
# unset groupsmatcher
# unset harrisdetector
# unset seqReader

# Affichage 
#===========

if {$doDisplay} {
    
    set cptima 0;
    for {set cpt $firstnum} {$cpt<=$lastnum} {incr cpt} {
  
  # Get Features
  set Liste [::gfm::tracks_featuresInView $listOfTracks $cptima ]
  
  # display image
  set imageName [format "%s/%s%04d%s" $imaPath $imaPrefix $cpt $imaSuffix]
  set imageVar [image::JfrImage_loadImage $imageName];
  display::show $imageVar $imageName
  
  # puts harris corner on image
  gfm::displayTrackedHarrisPoints $imageVar $Liste

  # On dump en tiff
  set outputName [format "/tmp/%s%04d_tracks.png" $imaPrefix $cpt]
  display::dumpAny $imageVar $outputName
  
  # Temporisation
  after 1500 incr cptima     
  vwait cptima     
  display::destroy $imageVar
  
  unset Liste
    }
}