Allow control of minimum required features and RANSAC threshold in feature detector.

Author: philip-lamb

Source/ARX/ARTracker2d.cpp

@@ -428,5 +428,25 @@ PlanarTracker::FeatureDetectorType ARTracker2d::getDetectorType(void)
     return m_2DTracker->GetFeatureDetector();
 }
 
+void ARTracker2d::setMinRequiredDetectedFeatures(int num)
+{
+    m_2DTracker->SetMinRequiredDetectedFeatures(num);
+}
+
+int ARTracker2d::getMinRequiredDetectedFeatures(void)
+{
+    return m_2DTracker->GetMinRequiredDetectedFeatures();
+}
+
+void ARTracker2d::setHomographyEstimationRANSACThreshold(double thresh)
+{
+    m_2DTracker->SetHomographyEstimationRANSACThreshold(thresh);
+}
+
+double ARTracker2d::getHomographyEstimationRANSACThreshold(void)
+{
+    return m_2DTracker->GetHomographyEstimationRANSACThreshold();
+}
+
 #endif // HAVE_2D
 

Source/ARX/OCVT/OCVConfig.cpp

@@ -37,17 +37,17 @@
 #include "OCVConfig.h"
 
 int minRequiredDetectedFeatures = 50; ///< Minimum number of detected features required to consider a target matched.
-int markerTemplateWidth = 15;
-int maxLevel = 3; ///< Maximum number of levels in optical flow image pyramid.
+const int markerTemplateWidth = 15; ///< Width in pixels of image patches used in template matching.
+const int maxLevel = 3; ///< Maximum number of levels in optical flow image pyramid.
 const cv::Size subPixWinSize(10,10);
 const cv::Size winSize(31,31); ///< Window size to use in optical flow search.
 cv::TermCriteria termcrit(cv::TermCriteria::COUNT|cv::TermCriteria::EPS,20,0.03);
 const int featureDetectMaxFeatures = 300;
-int searchRadius = 15;
-int match_method = cv::TM_SQDIFF_NORMED;
+const int searchRadius = 15;
+const int match_method = cv::TM_SQDIFF_NORMED;
 const cv::Size featureImageMinSize(640, 480); ///< Minimum size when downscaling incoming images used for feature tracking.
 PlanarTracker::FeatureDetectorType defaultDetectorType = PlanarTracker::FeatureDetectorType::Akaze;
 const double nn_match_ratio = 0.8f; ///< Nearest-neighbour matching ratio
-const double ransac_thresh = 2.5f; ///< RANSAC inlier threshold
+double ransac_thresh = 2.5f; ///< RANSAC inlier threshold
 cv::RNG rng( 0xFFFFFFFF );
-int harrisBorder = 10;
+const int harrisBorder = 10; ///< Harris corners within this many pixels of the border of the image will be ignored.

Source/ARX/OCVT/OCVConfig.h

@@ -62,19 +62,19 @@
 #include <ARX/OCVT/PlanarTracker.h>
 
 OCV_EXTERN extern int minRequiredDetectedFeatures; ///< Minimum number of detected features required to consider a target matched.
-OCV_EXTERN extern int markerTemplateWidth;
-OCV_EXTERN extern int maxLevel;  ///< Maximum number of levels in optical flow image pyramid.
+OCV_EXTERN extern const int markerTemplateWidth; ///< Width in pixels of image patches used in template matching.
+OCV_EXTERN extern const int maxLevel;  ///< Maximum number of levels in optical flow image pyramid.
 OCV_EXTERN extern const cv::Size subPixWinSize;
-OCV_EXTERN extern const cv::Size winSize;
+OCV_EXTERN extern const cv::Size winSize; ///< Window size to use in optical flow search.
 OCV_EXTERN extern cv::TermCriteria termcrit;
 OCV_EXTERN extern const int featureDetectMaxFeatures;
-OCV_EXTERN extern int searchRadius;
-OCV_EXTERN extern int match_method;
+OCV_EXTERN extern const int searchRadius;
+OCV_EXTERN extern const int match_method;
 OCV_EXTERN extern const cv::Size featureImageMinSize; ///< Minimum size when downscaling incoming images used for feature tracking.
 OCV_EXTERN extern PlanarTracker::FeatureDetectorType defaultDetectorType;
 OCV_EXTERN extern const double nn_match_ratio; ///< Nearest-neighbour matching ratio
-OCV_EXTERN extern const double ransac_thresh; ///< RANSAC inlier threshold
+OCV_EXTERN extern double ransac_thresh; ///< RANSAC inlier threshold
 OCV_EXTERN extern cv::RNG rng;
-OCV_EXTERN extern int harrisBorder; ///< Harris corners within this many pixels of the border of the image will be ignored.
+OCV_EXTERN extern const int harrisBorder; ///< Harris corners within this many pixels of the border of the image will be ignored.
 
 #endif // OCV_CONFIG_H

Source/ARX/OCVT/PlanarTracker.cpp

@@ -793,6 +793,26 @@ PlanarTracker::FeatureDetectorType PlanarTracker::GetFeatureDetector(void)
     return _trackerImpl->GetFeatureDetector();
 }
 
+void PlanarTracker::SetMinRequiredDetectedFeatures(int num)
+{
+    minRequiredDetectedFeatures = num; // OCVConfig
+}
+
+int PlanarTracker::GetMinRequiredDetectedFeatures(void)
+{
+    return minRequiredDetectedFeatures; // OCVConfig
+}
+
+void PlanarTracker::SetHomographyEstimationRANSACThreshold(double thresh)
+{
+    ransac_thresh = thresh; // OCVConfig
+}
+
+double PlanarTracker::GetHomographyEstimationRANSACThreshold(void)
+{
+    return ransac_thresh; // OCVConfig
+}
+
 void PlanarTracker::SetMaximumNumberOfMarkersToTrack(int maximumNumberOfMarkersToTrack)
 {
     _trackerImpl->SetMaximumNumberOfMarkersToTrack(maximumNumberOfMarkersToTrack);

Source/ARX/OCVT/include/ARX/OCVT/PlanarTracker.h

@@ -102,6 +102,10 @@ class PlanarTracker
     };
     void SetFeatureDetector(FeatureDetectorType detectorType);
     FeatureDetectorType GetFeatureDetector(void);
+    void SetMinRequiredDetectedFeatures(int num);
+    int GetMinRequiredDetectedFeatures(void);
+    void SetHomographyEstimationRANSACThreshold(double thresh);
+    double GetHomographyEstimationRANSACThreshold(void);
 
     void SetMaximumNumberOfMarkersToTrack(int maximumNumberOfMarkersToTrack);
     int GetMaximumNumberOfMarkersToTrack(void);

Source/ARX/include/ARX/ARTracker2d.h

@@ -91,6 +91,10 @@ class ARTracker2d : public ARTrackerVideo {
 
     void setDetectorType(PlanarTracker::FeatureDetectorType detectorType);
     PlanarTracker::FeatureDetectorType getDetectorType(void);
+    void setMinRequiredDetectedFeatures(int num);
+    int getMinRequiredDetectedFeatures(void);
+    void setHomographyEstimationRANSACThreshold(double thresh);
+    double getHomographyEstimationRANSACThreshold(void);
 
     bool threaded(void) const;
     /// \brief Enable or disable running the 2D tracking task in a separate thread. See caveats in detailed description.