gusucode.com > KLT Tracking源码程序matlab > kltTrackSIMPLE.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% PROJECT:
% KLT Tracker
%
% BY:
% Parthipan Siva
% Assignment for SD 770-7: Topics in Particle Filtering
% Systems Design Engineering
% University of Waterloo
%
% DATE/Version:
% Jan. 2007 - V 1.0
%
% Description: kltTrackSIMPLE.m
% Given the output of the KLT tracker code (feature list of
% tracked and new points) this function will track an object
% within the specified region using only the initial KLT
% features detected by the KLT tracker code. No processing
% is done within this code, it mearly displays the results of
% the KLT tracker code. The center of the object is assumed
% as the centroid of all KLT features.
%
% References:
% http://www.ces.clemson.edu/~stb/klt/
%
% Project file list:
% drawEllipse.m
% InsidePolygon.m
% kltTrack.m
% kltTrackSIMPLE.m
% readKLTFeatureList.m
% Example1.m
% Example2.m
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
% INPUTS:
% dir - the directory location where the KLT features are located
% dir2 - the directory where the pgm image for each frame is
% located
% fileStart1 - the start of a file name (not including the frame
% number) it is assumed that KLT features and image
% files have the same file nume but with extensions
% .txt and .pgm
% h - the spread in row and col directions of the ellipse
% sarounding the object (on the first frame)
% y - the center location of the object on the first frame
% startFrame - the start frame number
% endFrame - the frame number at which to end tracking
% TOL - the tollerance on the KLT featurs to use
% angle - the orientation of the ellipse sarrounding the object
% SHOW_FIG - (optional) 1 to display figures (if movieFileName
% specified regardless of this state figure is shown)
% movieFileName - (optional) if a movie is needed specify file
% name with .avi extension
% framesPerSec - (optional) the fps for the avi, if not specified
% set to 5
%
% OUTPUTS:
% frameInfo - struct containing the info for each frame
% INDEX_OF_KEY_PTS - the key points used for
% tracking
% y - the center location of object ellipse
% h - the row col spread of object ellipse
% ellipse - cordinates along the ellipse boundar
% used for ploting
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function [frameInfo] = kltTrackSIMPLE(dir, dir2, fileStart1, h, y, startFrame, ...
endFrame, TOL, angle, SHOW_FIG, movieFileName, framesPerSec)
if nargin < 9
disp('Warning not enough parameters');
pause;
elseif nargin == 9
SHOW_FIG = 0;
makeMovie = 0;
elseif nargin == 10
makeMovie = 0;
elseif nargin == 11
framesPerSec = 5;
makeMovie = 1;
elseif nargin == 12
makeMovie = 1;
end
fileEnd1 = '.ppm';
fileEnd2 = '.txt';
fileEnd3 = '.pgm';
% TOL has to be 0 or greater
if (TOL < 0)
TOL = 0;
end
if (SHOW_FIG == 1 || makeMovie == 1)
fig = figure;
end
if (makeMovie == 1)
set(fig,'DoubleBuffer','on');
mov = avifile(movieFileName,'compression','none');
end
INDEX_OF_KEY_PTS = [];
% load the first frame KLT features
PointList = readKLTFeatureList([dir fileStart1 num2str(startFrame) fileEnd2]);
% get the ellipse sarrounding the object of interest
ellipse = drawEllipse(y,h/2,angle);
% find all KLT features inside the ellipse
polygon = [ellipse(2,:)' ellipse(1,:)'];
for j = 1:size(PointList,1)
if (PointList(j,4)>TOL)
pt = [PointList(j,2) PointList(j,3)];
[Inside] = InsidePolygon(polygon, pt);
if (Inside == 1)
INDEX_OF_KEY_PTS(end+1) = j;
end
end
end
% show/add to movie the first frame
if (SHOW_FIG == 1 || makeMovie == 1)
% read the first image
I = imread([dir2 fileStart1 num2str(startFrame) fileEnd3]);
imshow(I); hold on;
plot(PointList(INDEX_OF_KEY_PTS,2),PointList(INDEX_OF_KEY_PTS,3),'gx');
plot(ellipse(2,:),ellipse(1,:));
if (makeMovie == 0)
pause(0.1);
else
F = getframe(gca);
mov = addframe(mov,F);
end
end
frameInfoIndex = 1;
frameInfo(frameInfoIndex).INDEX_OF_KEY_PTS = INDEX_OF_KEY_PTS;
frameInfo(frameInfoIndex).y = y;
frameInfo(frameInfoIndex).h = h;
frameInfo(frameInfoIndex).ellipse = ellipse;
frameInfoIndex = frameInfoIndex + 1;
for i = startFrame+1:endFrame
% load the KLT features for the current frame
PointList = readKLTFeatureList([dir fileStart1 num2str(i) fileEnd2]);
% Get rid of points not sucessfully tracked
j = 1;
while j<=numel(INDEX_OF_KEY_PTS)
if (PointList(INDEX_OF_KEY_PTS(j),4)~=0)
if j == 1
INDEX_OF_KEY_PTS = INDEX_OF_KEY_PTS(2:end);
elseif j == numel(INDEX_OF_KEY_PTS)
INDEX_OF_KEY_PTS = INDEX_OF_KEY_PTS(1:end-1);
else
INDEX_OF_KEY_PTS = [INDEX_OF_KEY_PTS(1:j-1) INDEX_OF_KEY_PTS(j+1:end)];
end
else
j = j + 1;
end
end
% get the current center of the ellipse as the centroid of all the KLT
% features associated with the object in the current frame.
currCenter = [sum(PointList(INDEX_OF_KEY_PTS,2))/numel(INDEX_OF_KEY_PTS) ...
sum(PointList(INDEX_OF_KEY_PTS,3))/numel(INDEX_OF_KEY_PTS)];
% get the new ellipse boundary coordinates
ellipse = drawEllipse([currCenter(2) currCenter(1)],h/2,angle);
% show all points that were successfully tracked
if (SHOW_FIG == 1 || makeMovie == 1)
I = imread([dir2 fileStart1 num2str(i) fileEnd3]);
imshow(I); hold on;
plot(PointList(INDEX_OF_KEY_PTS,2),PointList(INDEX_OF_KEY_PTS,3),'g.');
% Plot the ellipse
plot(ellipse(2,:),ellipse(1,:));
% Plot the center of the ellipse
plot(currCenter(1),currCenter(2),'b.');
if (makeMovie == 0)
pause(0.1);
else
F = getframe(gca);
mov = addframe(mov,F);
end
end
frameInfo(frameInfoIndex).INDEX_OF_KEY_PTS = INDEX_OF_KEY_PTS;
frameInfo(frameInfoIndex).y = [currCenter(2) currCenter(1)];
frameInfo(frameInfoIndex).h = h;
frameInfo(frameInfoIndex).ellipse = ellipse;
frameInfoIndex = frameInfoIndex + 1;
if (numel(INDEX_OF_KEY_PTS) == 0)
break;
end
end
if (makeMovie == 1)
mov = close(mov);
end