Problems with calcOpticalFlowPyrLK [closed]

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I want to use the calcOpticalFlowPyrLK() to track Points I found after a (larger) detection/Matching of a Image. The first recognition works with FAST/SIFT and matches the found Points are stored for the OpticalFlow Tracking.

I tried to eliminate Points where the status is not 1. After that I want calculate the Homography of the old Point set from the recognition and the new Point set from tracking. Afterwards, I want to calculate the perspective Transformation on the Corner Points so I can Mark the detected Object with a rectangle.

Enough talk here the Code and my Output:

std::cout << "****KLT TRACKING ****" << std::endl;


cv::Mat firstImg = cv::imread(imgPathtest7, -1);
cv::Mat firstgry;

cvtColor(firstImg, firstgry, CV_BGR2GRAY);

std::vector<cv::Point2f> estPoints;
std::vector<uchar> stat;
std::vector<float> errs;

cv::calcOpticalFlowPyrLK(gry, firstgry, ransacs, estPoints, stat, errs);

std::vector<cv::Point2f> estCorners;

for(int i = 0; i < estPoints.size(); i++){
    if(stat[i]){
    cv::circle(firstImg, estPoints[i], 5, cv::Scalar(0, 0, 255), 2);
    std::cout << "Estimated Point:" << estPoints[i] << std::endl;
    std::cout << "Status: " << stat[i] << std::endl;
    } else {
        estPoints.erase(estPoints.begin() + i);
        ransacs.erase(ransacs.begin() + i);
    }
    std::cout << "Error: " << errs[i] << std::endl;
}

std::cout << "Size of ransacs/estPoints: " << ransacs.size() << " " << estPoints.size() << std::endl;

cv::Mat f = cv::findHomography(ransacs, estPoints);

std::cout << "Homo: " << f << std::endl;

cv::perspectiveTransform(scene_corners, estCorners, f);

cv::line(firstImg, estCorners[0], estCorners[1], cv::Scalar(0, 255, 0), 4);
cv::line(firstImg, estCorners[1], estCorners[2], cv::Scalar(0, 255, 0), 4);
cv::line(firstImg, estCorners[2], estCorners[3], cv::Scalar(0, 255, 0), 4);
cv::line(firstImg, estCorners[3], estCorners[0], cv::Scalar(0, 255, 0), 4);

cv::imshow("First Iteration", firstImg);

 std::cout << "**** NEXT KLT TRACK ****" << std::endl;

//Second Image
cv::Mat nextMatchImg = cv::imread(imgPathtest6, -1);//STRING)
cv::Mat nextGry;

cvtColor(nextMatchImg, nextGry, CV_BGR2GRAY);

std::vector<cv::Point2f> estimatedPoints;
std::vector<uchar> status;
std::vector<float> err;

cv::calcOpticalFlowPyrLK(firstgry, nextGry, estPoints, estimatedPoints, status, err);

std::vector<cv::Point2f> estimatedCorners;

for(int i = 0; i < estimatedPoints.size(); i++){
    if(status[i]){
    cv::circle(nextMatchImg, estimatedPoints[i], 5, cv::Scalar(0, 0, 255), 2);
    std::cout << "Estimated Point:" << estimatedPoints[i] << std::endl;
    std::cout << "Status: " << status[i] << std::endl;
    }else{
        estimatedPoints.erase(estimatedPoints.begin() + i);
        estPoints.erase(estPoints.begin() + i);
    }
    std::cout << "Error: " << err[i] << std::endl;
}

std::cout << "Size of ransacs/estimatedPoints: " << ransacs.size() << " " << estimatedPoints.size() << std::endl;

cv::Mat f2 = cv::findHomography(estPoints, estimatedPoints);

std::cout << "Homo: " << f2 << std::endl;


cv::perspectiveTransform(estCorners, estimatedCorners, f2);

cv::line(nextMatchImg, estimatedCorners[0], estimatedCorners[1], cv::Scalar(0, 255, 0), 4);
cv::line(nextMatchImg, estimatedCorners[1], estimatedCorners[2], cv::Scalar(0, 255, 0), 4);
cv::line(nextMatchImg, estimatedCorners[2], estimatedCorners[3], cv::Scalar(0, 255, 0), 4);
cv::line(nextMatchImg, estimatedCorners[3], estimatedCorners[0], cv::Scalar(0, 255, 0), 4);

cv::imshow("Example KLT", nextMatchImg);

After that I get this Result:

The left Image is the Result after Recogniton. The next two Images ... (more)