基于图结构的平面目标追踪算法亮风台

Gracker: A Graph-based Planar Object Tracker(基于图结构的平面目标追踪算法)的源码比较详尽的注解。本文件下含有一份代码和对应论文。

#include “stdafx.h“

#include “Brisker.h“


const float Brisker::basicSize_ = 12.0;
const unsigned int Brisker::scales_ = 64;
const float Brisker::scalerange_ = 30;        // 40->4 Octaves - else this needs to be adjusted...
const unsigned int Brisker::n_rot_ = 1024;	 // discretization of the rotation look-up

//const float BriskScaleSpace::safetyFactor_ = 1.0;
//const float BriskScaleSpace::basicSize_ = 12.0;


Brisker::Brisker（bool rotationInvariant bool scaleInvariant float patternScale）
{
	std::vector rList;
	std::vector nList;

	// this is the standard pattern found to be suitable also
	rList.resize（5）;
	nList.resize（5）;
	const double f = 0.85*patternScale;

	rList[0] = f * 0;
	rList[1] = f*2.9;
	rList[2] = f*4.9;
	rList[3] = f*7.4;
	rList[4] = f*10.8;

	nList[0] = 1;
	nList[1] = 10;
	nList[2] = 14;
	nList[3] = 15;
	nList[4] = 20;

	rotationInvariance = rotationInvariant;
	scaleInvariance = scaleInvariant;
	generateKernel（rList nList 5.85*patternScale 8.2*patternScale）;

}


Brisker::~Brisker（）
{
	delete[] patternPoints_;
	delete[] shortPairs_;
	delete[] longPairs_;
	delete[] scaleList_;
	delete[] sizeList_;
}

bool Brisker::RoiPredicate（const float minX const float minY
	const float maxX const float maxY const KeyPoint& keyPt）
{
	const Point2f& pt = keyPt.pt;
	return （pt.x < minX） || （pt.x >= maxX） || （pt.y < minY） || （pt.y >= maxY）;
}


void Brisker::generateKernel（std::vector &radiusList std::vector &numberList 
	float dMax float dMin	std::vector indexChange）
{

	dMax_ = dMax;
	dMin_ = dMin;

	// get the total number of points
	const int rings = radiusList.size（）;
	assert（radiusList.size（） != 0 && radiusList.size（） == numberList.size（））;
	points_ = 0; // remember the total number of points
	for （int ring = 0; ring		points_ += numberList[ring];
	}
	// set up the patterns
	patternPoints_ = new BriskPatternPoint[points_*scales_*n_rot_];
	BriskPatternPoint* patternIterator = patternPoints_;

	// define the scale discretization:
	static const float lb_scale = log（scalerange_） / log（2.0）;
	static const float lb_scale_step = lb_scale / （scales_）;

	scaleList_ = new float[scales_];
	sizeList_ = new unsigned int[scales_];

	const float sigma_scale = 1.3;

	for （unsigned int scale = 0; scale 		scaleList_[scale] = pow（（double）2.0 （double）（scale*lb_scale_step））;
		sizeList_[scale] = 0;

		// generate the pattern points look-up
		double alpha theta;
		for （size_t rot = 0; rot			theta = double（rot） * 2 * CV_PI / double（n_rot_）; // this is the rotation of the feature
			for （int ring = 0; ring				for （int num = 0; num					// the actual coordinates on the circle
					alpha = （double（num）） * 2 * CV_PI / double（numberList[ring]）;
					patternIterator->x = scaleList_[scale] * radiusList[ring] * cos（alpha + theta）; // fe

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件    2949120  2017-07-29 10:01  OpenCV49R_GraphTracker\ipch\opencv49r_graphtracker-3badaabe\opencv49r_graphtracker-473cadad.ipch

     文件    3080192  2017-07-29 09:51  OpenCV49R_GraphTracker\ipch\opencv49r_graphtracker-3badaabe\opencv49r_graphtracker-96d0f4f3.ipch

     文件      19275  2017-07-28 18:06  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Brisker.cpp

     文件       4270  2017-03-28 21:47  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Brisker.h

     文件       1808  2017-07-29 09:55  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\common.h

     文件      64009  2013-09-15 11:58  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\data\nl_newspaper.txt

     文件      11462  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\OpenCV49.5153248E.tlog\cl.command.1.tlog

     文件     122762  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\OpenCV49.5153248E.tlog\CL.read.1.tlog

     文件       8594  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\OpenCV49.5153248E.tlog\CL.write.1.tlog

     文件        202  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\OpenCV49.5153248E.tlog\OpenCV49R_GraphTracker.lastbuildstate

     文件          0  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\OpenCV49.5153248E.tlog\unsuccessfulbuild

     文件       3994  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\OpenCV49R_GraphTracker.log

     文件    1638400  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\OpenCV49R_GraphTracker.pch

     文件      12137  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\stdafx.obj

     文件     150528  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\vc120.idb

     文件     274432  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Debug\vc120.pdb

     文件      21209  2017-08-08 18:47  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\GMA.cpp

     文件       1785  2017-08-08 18:48  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\GMA.h

     文件      24289  2017-08-09 11:04  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Gracker.cpp

     文件       4642  2017-08-09 11:02  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Gracker.h

     文件       5522  2017-08-09 12:10  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\GraphModel.cpp

     文件       1866  2017-08-09 11:18  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\GraphModel.h

     文件      13394  2017-08-09 12:15  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\GraphTracker.cpp

     文件      17478  2017-08-04 14:48  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\ObjDetector.cpp

     文件       2645  2017-06-21 10:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\ObjDetector.h

     文件        800  2017-07-29 09:47  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\OpenCV49R.cpp

     文件       6436  2017-07-29 10:01  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\OpenCV49R_GraphTracker.vcxproj

     文件       3293  2017-07-29 09:52  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\OpenCV49R_GraphTracker.vcxproj.filters

     文件        165  2017-07-29 10:00  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\OpenCV49R_GraphTracker.vcxproj.user

     文件       2822  2017-07-28 18:08  OpenCV49R_GraphTracker\OpenCV49R_GraphTracker\Polygon.cpp

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