# Init Feature Tracker
#============================================
num_features=2000
tracker_type = FeatureTrackerTypes.DES_BF # descriptor-based, brute force matching with knn
#tracker_type = FeatureTrackerTypes.DES_FLANN # descriptor-based, FLANN-based matching
# select your tracker configuration (see the file feature_tracker_configs.py)
tracker_config = FeatureTrackerConfigs.TEST
tracker_config['num_features'] = num_features
tracker_config['match_ratio_test'] = 0.8 # 0.7 is the default in feature_tracker_configs.py
tracker_config['tracker_type'] = tracker_type
print('feature_manager_config: ',tracker_config)
feature_tracker = feature_tracker_factory(**tracker_config)
#============================================
# Compute keypoints and descriptors
#============================================
# loop for measuring time performance
N=1
for i in range(N):
# Find the keypoints and descriptors in img1
kps1, des1 = feature_tracker.detectAndCompute(img1)
timer.start()
# Find the keypoints and descriptors in img2
kps2, des2 = feature_tracker.detectAndCompute(img2)
cam = PinholeCamera(config.cam_settings['Camera.width'], config.cam_settings['Camera.height'],
config.cam_settings['Camera.fx'], config.cam_settings['Camera.fy'],
config.cam_settings['Camera.cx'], config.cam_settings['Camera.cy'],
config.DistCoef)
num_features=parameters.kNumFeatures
"""
select your feature tracker
N.B.1: here you can use just ORB descriptors! ... at present time
N.B.2: ORB detector (not descriptor) does not work as expected!
"""
tracker_type = TrackerTypes.DES_BF
#tracker_type = TrackerTypes.DES_FLANN
feature_tracker = feature_tracker_factory(min_num_features=num_features, detector_type = FeatureDetectorTypes.SHI_TOMASI, descriptor_type = FeatureDescriptorTypes.ORB, tracker_type = tracker_type)
#feature_tracker = feature_tracker_factory(min_num_features=num_features, num_levels = 1, detector_type = FeatureDetectorTypes.FAST, descriptor_type = FeatureDescriptorTypes.ORB, tracker_type = tracker_type)
#feature_tracker = feature_tracker_factory(min_num_features=num_features, num_levels = 3, detector_type = FeatureDetectorTypes.BRISK, descriptor_type = FeatureDescriptorTypes.ORB, tracker_type = tracker_type)
#feature_tracker = feature_tracker_factory(min_num_features=num_features, detector_type = FeatureDetectorTypes.ORB, descriptor_type = FeatureDescriptorTypes.ORB, tracker_type = tracker_type)
slam = SLAM(cam, feature_tracker, grountruth)
timer = Timer()
#-------------
# N.B.: keep this coherent with the above forced camera settings
img_ref = cv2.imread('kitti06-12.png',cv2.IMREAD_COLOR)
#img_cur = cv2.imread('kitti06-12-01.png',cv2.IMREAD_COLOR)
img_cur = cv2.imread('kitti06-13.png',cv2.IMREAD_COLOR)
