Feature Tracking in 2D

The idea of the camera course is to build a collision detection system - that's the overall goal for the Final Project. As a preparation for this, you will now build the feature tracking part and test various detector / descriptor combinations to see which ones perform best. This project consists of four parts:

• First, images are loaded, setting up data structures and putting everything into a ring buffer to optimize memory load.
• Then, several keypoint detectors such as HARRIS, FAST, BRISK and SIFT are integrated and compared with regard to number of keypoints and speed.
• In the next part, I focus on descriptor extraction and matching using brute force and also the FLANN approach.
• In the last part I test the various algorithms in different combinations and compare them with regard to some performance measures.

Dependencies for Running Locally

• cmake >= 2.8
  • All OSes: click here for installation instructions
  • See below for the special CMake command to build the non-free openCV libraries required to use the SIFT algorithm
• make >= 4.1 (Linux, Mac), 3.81 (Windows)
  • Linux: make is installed by default on most Linux distros
  • Mac: install Xcode command line tools to get make
  • Windows: Click here for installation instructions
• OpenCV >= 4.1
  • This must be compiled from source using the -D OPENCV_ENABLE_NONFREE=ON cmake flag for testing the SIFT and SURF detectors.
  • The OpenCV 4.1.0 source code can be found here
• gcc/g++ >= 5.4
  • Linux: gcc / g++ is installed by default on most Linux distros
  • Mac: same deal as make - install Xcode command line tools
  • Windows: recommend using MinGW

cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.1.0/modules \
-D WITH_TBB=OFF \
-D WITH_IPP=OFF \
-D WITH_1394=OFF \
-D BUILD_WITH_DEBUG_INFO=OFF \
-D BUILD_DOCS=OFF \
-D INSTALL_C_EXAMPLES=ON \
-D INSTALL_PYTHON_EXAMPLES=ON \
-D BUILD_EXAMPLES=ON \
-D BUILD_TESTS=OFF \
-D BUILD_PERF_TESTS=OFF \
-D WITH_QT=ON \
-D WITH_GTK=ON \
-D WITH_OPENGL=ON \
-D WITH_OPENCL=ON	\
-D WITH_CUDA=ON	\
-D WITH_V4L=ON  \
-D WITH_FFMPEG=ON \
-D WITH_XINE=ON \
-D BUILD_NEW_PYTHON_SUPPORT=ON \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D OPENCV_ENABLE_NONFREE=ON ../ 

Basic Build Instructions

1. Clone this repo.
2. Make a build directory in the top level directory: mkdir build && cd build
3. Compile: cmake .. && make
4. Run it: ./2D_feature_tracking.