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annotate c/feature-based-tracking.cpp @ 532:018653d1db3c

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corrected bug with empty frames (the program will stop cleanly and store features
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 29 Jun 2014 14:18:17 -0400
parents 935430b1d408
children e37f38274d4f
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #include "Motion.hpp"
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2 #include "Parameters.hpp"
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3 #include "cvutils.hpp"
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4 #include "utils.hpp"
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5 #include "InputVideoFileModule.h"
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6 #include "InputFrameListModule.h"
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7
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8 #include "src/Trajectory.h"
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9 #include "src/TrajectoryDBAccessList.h"
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10 #include "src/TrajectoryDBAccessBlob.h"
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11
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12 #include "opencv2/core/core.hpp"
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13 #include "opencv2/imgproc/imgproc.hpp"
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14 #include "opencv2/video/tracking.hpp"
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15 #include "opencv2/features2d/features2d.hpp"
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16 #include "opencv2/highgui/highgui.hpp"
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17 #include "opencv2/objdetect/objdetect.hpp"
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18
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19 #include <boost/shared_ptr.hpp>
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20 #include <boost/foreach.hpp>
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21 #include <boost/filesystem.hpp>
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22
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23 #include <iostream>
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24 #include <vector>
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25 #include <ctime>
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26 #include <cmath>
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27
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28 using namespace std;
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29 using namespace cv;
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30 namespace fs = boost::filesystem;
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31
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32 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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33 for (int i = 0; i < (int)matches.size(); i++)
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34 {
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35 Point2f pt_new = query[matches[i].queryIdx].pt;
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36 Point2f pt_old = train[matches[i].trainIdx].pt;
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37 Point2f dist = pt_new - pt_old;
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38 if (norm(dist) < 20) {
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39 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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40 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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41 }
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42 }
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43 }
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44
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45 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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46 for (unsigned int i=0; i<status.size(); i++) {
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47 if (status[i]) {
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48 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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49 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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50 }
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51 }
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52 }
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53
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54 struct FeaturePointMatch {
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55 FeatureTrajectoryPtr feature;
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56 int pointNum;
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57
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58 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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59 feature(_feature), pointNum(_pointNum) {}
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60 };
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61
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62 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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63 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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64 features.clear();
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65 }
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66
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67 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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68 // BriefDescriptorExtractor brief(32);
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69 // const int DESIRED_FTRS = 500;
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70 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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71
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72 Mat homography = ::loadMat(params.homographyFilename, " ");
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73 Mat invHomography;
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74 if (params.display && !homography.empty())
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75 invHomography = homography.inv();
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76 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
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77 //cout << intrinsicCameraMatrix << endl;
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78
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79 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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80 Size window = Size(params.windowSize, params.windowSize);
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81
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82 int interpolationMethod = -1;
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83 if (params.interpolationMethod == 0)
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84 interpolationMethod = INTER_NEAREST;
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85 else if (params.interpolationMethod == 1)
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86 interpolationMethod = INTER_LINEAR;
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87 else if (params.interpolationMethod == 2)
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88 interpolationMethod = INTER_CUBIC;
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89 else if (params.interpolationMethod == 3)
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90 interpolationMethod = INTER_LANCZOS4;
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91 else
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92 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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93
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94 // BruteForceMatcher<Hamming> descMatcher;
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95 // vector<DMatch> matches;
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96
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97 boost::shared_ptr<InputFrameProviderIface> capture;
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98 if (fs::is_directory(fs::path(params.videoFilename)))
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99 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
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100 else if(!params.videoFilename.empty())
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101 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
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102 else
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103 cout << "No valid input parameters" << endl;
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104
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105 if(!capture->isOpen()) {
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106 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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107 exit(0);
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108 }
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109
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110 Size videoSize = capture->getSize();
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111 unsigned int nFrames = capture->getNbFrames();
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112 cout << "Video " << params.videoFilename <<
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113 ": width=" << videoSize.width <<
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114 ", height=" << videoSize.height <<
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115 ", nframes=" << nFrames << endl;
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117 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
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118 Mat map1, map2;
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119 if (params.undistort) {
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120 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 507
diff changeset
121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
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parents: 507
diff changeset
122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
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parents: 507
diff changeset
123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 507
diff changeset
124
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 507
diff changeset
125 cout << "Undistorted width=" << videoSize.width <<
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 507
diff changeset
126 ", height=" << videoSize.height << endl;
507
081a9da6f85b first version with undistort implemented in the feature tracking process
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parents: 506 496
diff changeset
127 }
399
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
128
146
7150427c665e added loading of mask
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parents: 145
diff changeset
129 Mat mask = imread(params.maskFilename, 0);
363
68861b52a319 added message if mask not found/loaded
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parents: 278
diff changeset
130 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded
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parents: 278
diff changeset
131 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
132 mask = Mat::ones(videoSize, CV_8UC1);
363
68861b52a319 added message if mask not found/loaded
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parents: 278
diff changeset
133 }
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
134
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
135 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
136 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
137 trajectoryDB->connect(params.databaseFilename.c_str());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
138 trajectoryDB->createTable("positions");
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
139 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities
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parents: 141
diff changeset
140 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
141
230
bc4ea09b1743 compatibility modifications for visual studio compilation
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parents: 207
diff changeset
142 std::vector<KeyPoint> prevKpts, currKpts;
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parents: 207
diff changeset
143 std::vector<Point2f> prevPts, currPts, newPts;
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parents: 207
diff changeset
144 std::vector<uchar> status;
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parents: 207
diff changeset
145 std::vector<float> errors;
127
d19d6e63dd77 simple feature tracking and drawing working
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parents: 125
diff changeset
146 Mat prevDesc, currDesc;
128
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parents: 127
diff changeset
147
230
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diff changeset
148 std::vector<FeatureTrajectoryPtr> lostFeatures;
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parents: 207
diff changeset
149 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
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parents: 154
diff changeset
150
133
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parents: 132
diff changeset
151 int key = '?';
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parents: 132
diff changeset
152 unsigned int savedFeatureId=0;
507
081a9da6f85b first version with undistort implemented in the feature tracking process
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parents: 506 496
diff changeset
153 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame;
227
b7612c6d5702 cleaned the code
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parents: 225
diff changeset
154
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
155 unsigned int lastFrameNum = nFrames;
228
23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 227
diff changeset
156 if (params.nFrames > 0)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
157 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
495
82c06ad62254 added parameter description with ranges
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parents: 481
diff changeset
158
400
7ef1071e3cc3 clean up of input classes for list of images and video files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 399
diff changeset
159 capture->setFrameNumber(params.frame1);
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
160 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
399
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
161 bool success = capture->getNextFrame(frame);
532
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
162 if (!success || frame.empty() || frame.size() != videoSize) {
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
163 cout << "Empty frame " << frameNum << ", breaking (" << success << " " << frame.empty() << " " << frame.size() << ")" << endl;
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
164 break;
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
165 } else if (frameNum%50 ==0)
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
166 cout << "frame " << frameNum << endl;
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
167
507
081a9da6f85b first version with undistort implemented in the feature tracking process
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parents: 506 496
diff changeset
168 if (params.undistort) {
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 507
diff changeset
169 remap(frame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
507
081a9da6f85b first version with undistort implemented in the feature tracking process
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parents: 506 496
diff changeset
170 frame = undistortedFrame;
081a9da6f85b first version with undistort implemented in the feature tracking process
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parents: 506 496
diff changeset
171 }
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
172
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
173
127
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parents: 125
diff changeset
174 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
121
c4d4b5b93add copied the video_homography opencv sample
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parents: 119
diff changeset
175
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
176 if (!prevPts.empty()) {
127
d19d6e63dd77 simple feature tracking and drawing working
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parents: 125
diff changeset
177 currPts.clear();
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
178 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
154
668710d4c773 updated computeTranslation with cv2
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parents: 147
diff changeset
179 /// \todo try calcOpticalFlowFarneback
128
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parents: 127
diff changeset
180
230
bc4ea09b1743 compatibility modifications for visual studio compilation
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parents: 207
diff changeset
181 std::vector<Point2f> trackedPts;
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parents: 207
diff changeset
182 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
183 while (iter != featurePointMatches.end()) {
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
184 bool deleteFeature = false;
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
185
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
186 if (status[iter->pointNum]) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
187 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
188
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
189 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 175
diff changeset
190 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
191 if (deleteFeature)
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
192 iter->feature->shorten();
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
193 } else
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
194 deleteFeature = true;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
195
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
196 if (deleteFeature) {
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
197 if (iter->feature->length() >= params.minFeatureTime) {
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
198 iter->feature->setId(savedFeatureId);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
199 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
200 iter->feature->movingAverage(params.nFramesSmoothing);
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
201 lostFeatures.push_back(iter->feature);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
202 }
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
203 iter = featurePointMatches.erase(iter);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
204 } else {
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
205 trackedPts.push_back(currPts[iter->pointNum]);
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
206 iter->pointNum = trackedPts.size()-1;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
207 iter++;
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
208 }
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
209 }
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
210 currPts = trackedPts;
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
211 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
212 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
213
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
214 if (params.display) {
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
215 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
216 fp.feature->draw(frame, invHomography, Colors::red());
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
217 // object detection
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
218 // vector<Rect> locations;
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
219 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
a728fce85881 simple test of adding and using default HoG pedestrian detector
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parents: 191
diff changeset
220 // BOOST_FOREACH(Rect r, locations)
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
221 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
222 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
223 }
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
224
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
225 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
226 Mat featureMask = mask.clone();
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
227 for (unsigned int n=0;n<currPts.size(); n++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
228 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
229 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
230 featureMask.at<uchar>(i,j)=0;
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
231 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
232 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
233 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
234 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
235 currPts.push_back(p);
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
236 }
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
237
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
238 if (params.display) {
401
b829ebdc18e6 simplified input of directories of video frames (simply use the video filename parameter to point at the directory)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 400
diff changeset
239 imshow("mask", featureMask*256);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
240 imshow("frame", frame);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
241 key = waitKey(2);
a617d0808bbc added test on feature length and display control
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diff changeset
242 }
127
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243 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
244 prevPts = currPts;
480
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245 }
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246
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247 // save the remaining currently tracked features
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248 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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diff changeset
249 while (iter != featurePointMatches.end()) {
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diff changeset
250 if (iter->feature->length() >= params.minFeatureTime) {
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diff changeset
251 iter->feature->setId(savedFeatureId);
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diff changeset
252 savedFeatureId++;
481
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diff changeset
253 iter->feature->movingAverage(params.nFramesSmoothing);
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diff changeset
254 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
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255 }
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256 iter++;
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257 }
121
c4d4b5b93add copied the video_homography opencv sample
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258
142
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259 trajectoryDB->endTransaction();
136
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260 trajectoryDB->disconnect();
164
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261 }
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262
169
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263 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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264 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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265 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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266 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
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267 trajectoryDB->createObjectTable("objects", "objects_features");
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268 unsigned int savedObjectId=0;
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269
188
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270 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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271 // cout << trajectories.size() << endl;
174
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272 // std::clock_t c_start = std::clock();
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273 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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274 // std::clock_t c_end = std::clock();
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275 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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276
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277 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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278 // c_start = std::clock();
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279 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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280 // success = trajectoryDB->read(trajectory, i, "positions");
169
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281 // }
174
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282 // c_end = std::clock();
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283 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
169
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284
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
285 trajectoryDB->createInstants("table");
221
bc93e87a2108 cleaned and corrected connected components and feature groups
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diff changeset
286
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
287 unsigned int maxTrajectoryLength = 0;
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diff changeset
288 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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diff changeset
289 if (!success || maxTrajectoryLength == 0) {
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diff changeset
290 cout << "problem with trajectory length " << success << endl;
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diff changeset
291 exit(0);
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diff changeset
292 }
222
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diff changeset
293 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
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parents: 207
diff changeset
294
191
0e60a306d324 added basic code to identify features and save them (crash)
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diff changeset
295 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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diff changeset
296
169
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297 // main loop
227
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298 unsigned int frameNum;
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diff changeset
299 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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diff changeset
300 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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diff changeset
301 firstFrameNum = MAX(firstFrameNum, params.frame1);
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diff changeset
302 if (params.nFrames>0)
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diff changeset
303 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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diff changeset
304 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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diff changeset
305 vector<int> trajectoryIds;
231
249d65ff6c35 merged modifications for windows
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diff changeset
306 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
307 if (frameNum%100 ==0)
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diff changeset
308 cout << "frame " << frameNum << endl;
222
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diff changeset
309 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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diff changeset
310 #if DEBUG
174
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diff changeset
311 cout << trajectoryIds.size() << " trajectories " << endl;
222
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diff changeset
312 #endif
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diff changeset
313 // vector<TrajectoryPoint2fPtr> positions, velocities;
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diff changeset
314 // trajectoryDB->read(positions, trajectoryIds, "positions");
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diff changeset
315 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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diff changeset
316 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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diff changeset
317 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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diff changeset
318 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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diff changeset
319 //cout << trajectoryId << " " << endl;
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
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parents: 176
diff changeset
320 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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diff changeset
321 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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diff changeset
322 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
3a4eef37384f method to add features and vertices to graph
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diff changeset
323 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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diff changeset
324 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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diff changeset
325 featureGraph.addFeature(ft);
174
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diff changeset
326 }
172
e508bb0cbb64 modified comments
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parents: 169
diff changeset
327
222
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diff changeset
328 // check for connected components
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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parents: 222
diff changeset
329 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
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parents: 230 228
diff changeset
330 if (lastInstant > 0 && frameNum%10==0) {
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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parents: 222
diff changeset
331 featureGraph.connectedComponents(lastInstant);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
332 vector<vector<FeatureTrajectoryPtr> > featureGroups;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
333 featureGraph.getFeatureGroups(featureGroups);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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parents: 222
diff changeset
334 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
335 vector<unsigned int> featureNumbers;
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diff changeset
336 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
337 featureNumbers.push_back(featureGroups[i][j]->getId());
411
31604ef1cad4 added hog functions and the display of road user types if known
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parents: 401
diff changeset
338 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
339 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
340 }
188
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parents: 186
diff changeset
341 }
222
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parents: 221
diff changeset
342
225
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diff changeset
343 if (frameNum%100 ==0)
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diff changeset
344 cout << featureGraph.informationString() << endl;
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diff changeset
345 }
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diff changeset
346
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diff changeset
347 // save remaining objects
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diff changeset
348 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
349 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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diff changeset
350 featureGraph.getFeatureGroups(featureGroups);
225
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diff changeset
351 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
352 vector<unsigned int> featureNumbers;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
353 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
354 featureNumbers.push_back(featureGroups[i][j]->getId());
412
97cb5c969ef2 corrected grouping bug (last object type -1) and added script to rescale homographies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
355 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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diff changeset
356 savedObjectId++;
180
3a4eef37384f method to add features and vertices to graph
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diff changeset
357 }
169
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
358
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parents: 168
diff changeset
359 trajectoryDB->endTransaction();
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diff changeset
360 trajectoryDB->disconnect();
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parents: 168
diff changeset
361 }
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parents: 168
diff changeset
362
164
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parents: 163
diff changeset
363 int main(int argc, char *argv[]) {
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diff changeset
364 KLTFeatureTrackingParameters params(argc, argv);
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diff changeset
365 cout << params.parameterDescription << endl;
234
2d34060db2e9 removed included code that put track feature option always to true
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parents: 231
diff changeset
366
2d34060db2e9 removed included code that put track feature option always to true
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parents: 231
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367 if (params.trackFeatures) {
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368 cout << "The program tracks features" << endl;
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369 trackFeatures(params);
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370 } else if (params.groupFeatures) {
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371 cout << "The program groups features" << endl;
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372 groupFeatures(params);
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373 }
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374
117
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375 return 0;
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376 }
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377
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378 /* ------------------ DOCUMENTATION ------------------ */
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379
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380
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381 /*! \mainpage
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382
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383 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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384
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385 - \ref feature_based_tracking
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386
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387 The code is partially self-described using the doxygen tool and comment formatting. The documentation can be extracted using doxygen, typing \c doxygen in the main directory (or <tt>make doc</tt> on a system with the Makefile tool installed).
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388
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389 */
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390
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391 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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392
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393 This document describes a software tool for object tracking in video data, developed for road traffic monitoring and safety diagnosis. It is part of a larger collection of software tools for transportation called Traffic Intelligence.
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394
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395 The tool relies on feature-based tracking, a robust object tracking methods, particularly suited for the extraction of traffic data such as trajectories and speeds. The best description of this method is given in <a href="http://nicolas.saunier.confins.net/data/saunier06crv.html">this paper</a>. The program has a command line interface and this document will shortly explain how to use the tool. Keep in mind this is a work in progress and major changes are continuously being made.
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396
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397 \section License
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398
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399 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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400
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401 If you make use of this piece of software, please cite one of my paper, e.g. N. Saunier, T. Sayed and K. Ismail. Large Scale Automated Analysis of Vehicle Interactions and Collisions. Transportation Research Record: Journal of the Transportation Research Board, 2147:42-50, 2010. I would be very happy in any case to know about any use of the code, and to discuss any opportunity for collaboration.
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402
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403 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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404
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405 */