gfmTracker.tcl

package require image
package require datareader
package require gfm


set imaPath "/tmp/msanfour"
set imaPrefix "scr_"
set imaSuffix ".png"
set nbDigits  3
set firstnum 0
set lastnum 20
set pasIma  1

set tracksListFileName "/home/msanfour/pistesGFM_PNG2.feat"
set minTrackLength 5

# Initialisation du sequence loader
#===================================
set seqReader  [::datareader::new_ImageReader]
::datareader::ImageReader_setup $seqReader $imaPath $imaPrefix $imaSuffix $nbDigits

# Initialisation de l'extracteur de Harris
#==========================================
set scale 1
set threshold 3.0
set desiredNb 3000
set harrisdetector [gfm::new_HarrisDetector $scale 1.0 2.0 1 $threshold "true" $desiredNb]

# Initialisation de l'objet de mise en correspondance
#=====================================================
set groupsize 10
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 ]

# Tracker
#=========

set my_engine [::gfm::new_EngineOfflineTracking $harrisdetector $groupsmatcher]

#  First load the first image
set cptima 0;
set anImage [::datareader::ImageReader_loadImage $seqReader $firstnum]
set cptima 1;

# Then initialize the EngineTracking
::gfm::EngineOfflineTracking_initTracking $my_engine $anImage

# Get extracted point ...
set extractedPoints [::gfm::EngineOfflineTracking_currentPoints $my_engine]

# ... and put them in list of Tracks
set list_of_tracks [::gfm::new_tracks $extractedPoints]

for {set cpt [expr $firstnum+$pasIma]} {$cpt<=$lastnum} {set cpt [expr $cpt+$pasIma]} {

    # Load the next image in the sequence
    unset anImage;
    set anImage [::datareader::ImageReader_loadImage $seqReader $cpt]

    # Extact Harris points and match
    ::gfm::EngineOfflineTracking_nextImage $my_engine $anImage $cptima   

    # Get extracted points and puts in tracks list
    unset extractedPoints
    set extractedPoints [::gfm::EngineOfflineTracking_currentPoints $my_engine]
    ::gfm::tracks_add $list_of_tracks $extractedPoints

    set cptima [expr $cptima +1]
}

# ==================
#  End of process
#

gfm::tracks_makeStatistics $list_of_tracks
gfm::tracks_exportBinaryFile  $list_of_tracks $tracksListFileName $minTrackLength
gfm::tracks_makeStatistics $list_of_tracks

unset list_of_tracks
unset groupsmatcher
unset harrisdetector
unset seqReader