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annotate c/feature-based-tracking.cpp @ 391:03dbecd3a887

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modified feature grouping to return vectors of pointers to feature trajectories
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 25 Jul 2013 18:58:55 -0400
parents 68861b52a319
children c389fae9689a
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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
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6 #include "src/Trajectory.h"
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7 #include "src/TrajectoryDBAccessList.h"
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8 #include "src/TrajectoryDBAccessBlob.h"
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10 #include "opencv2/core/core.hpp"
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11 #include "opencv2/imgproc/imgproc.hpp"
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12 #include "opencv2/video/tracking.hpp"
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13 #include "opencv2/features2d/features2d.hpp"
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14 #include "opencv2/highgui/highgui.hpp"
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15 #include "opencv2/objdetect/objdetect.hpp"
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17 #include <boost/shared_ptr.hpp>
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18 #include <boost/foreach.hpp>
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20 #include <iostream>
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21 #include <vector>
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22 #include <ctime>
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24 using namespace std;
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25 using namespace cv;
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27 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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28 for (int i = 0; i < (int)matches.size(); i++)
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29 {
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30 Point2f pt_new = query[matches[i].queryIdx].pt;
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31 Point2f pt_old = train[matches[i].trainIdx].pt;
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32 Point2f dist = pt_new - pt_old;
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33 if (norm(dist) < 20) {
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34 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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35 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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36 }
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37 }
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38 }
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40 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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41 for (unsigned int i=0; i<status.size(); i++) {
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42 if (status[i]) {
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43 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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44 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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45 }
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46 }
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47 }
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49 struct FeaturePointMatch {
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50 FeatureTrajectoryPtr feature;
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51 int pointNum;
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52
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53 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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54 feature(_feature), pointNum(_pointNum) {}
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55 };
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56
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57 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
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58 /// \todo smoothing
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59 if (features.size() >= minNFeatures) {
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60 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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61 features.clear();
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62 }
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63 }
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64
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65 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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66 // BriefDescriptorExtractor brief(32);
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67 // const int DESIRED_FTRS = 500;
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68 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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69
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70 Mat homography = ::loadMat(params.homographyFilename, " ");
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71 Mat invHomography;
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72 if (params.display && !homography.empty())
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73 invHomography = homography.inv();
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74
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75 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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76 Size window = Size(params.windowSize, params.windowSize);
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77
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78 // BruteForceMatcher<Hamming> descMatcher;
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79 // vector<DMatch> matches;
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80
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81 VideoCapture capture;
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82 Size videoSize;
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83 unsigned int nFrames = 0;
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84 capture.open(params.videoFilename);
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85 if(capture.isOpened()) {
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86 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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87 nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
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88 cout << "Video " << params.videoFilename <<
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89 ": width=" << videoSize.width <<
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90 ", height=" << videoSize.height <<
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91 ", nframes=" << nFrames << endl;
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92 } else {
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93 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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94 exit(0);
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95 }
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96 // if (!capture.isOpened())
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97 // {
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98 // //help(argv);
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99 // cout << "capture device " << argv[1] << " failed to open!" << endl;
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100 // return 1;
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101 // }
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102
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103 Mat mask = imread(params.maskFilename, 0);
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104 if (mask.empty()) {
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105 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
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106 mask = Mat::ones(videoSize, CV_8UC1);
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107 }
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108
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109 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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110 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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111 trajectoryDB->connect(params.databaseFilename.c_str());
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112 trajectoryDB->createTable("positions");
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113 trajectoryDB->createTable("velocities");
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114 trajectoryDB->beginTransaction();
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116 std::vector<KeyPoint> prevKpts, currKpts;
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117 std::vector<Point2f> prevPts, currPts, newPts;
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118 std::vector<uchar> status;
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119 std::vector<float> errors;
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120 Mat prevDesc, currDesc;
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122 std::vector<FeatureTrajectoryPtr> lostFeatures;
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123 std::vector<FeaturePointMatch> featurePointMatches;
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125 HOGDescriptor hog;
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126 hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
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128 int key = '?';
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diff changeset
129 unsigned int savedFeatureId=0;
278
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130 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
227
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131
278
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diff changeset
132 unsigned int lastFrameNum = nFrames;
228
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133 if (params.nFrames > 0)
278
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diff changeset
134 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
227
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135
278
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diff changeset
136 //capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227
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137 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
121
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diff changeset
138 capture >> frame;
278
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diff changeset
139
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diff changeset
140 if (frame.empty() || frame.size() != videoSize)
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141 break;
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142
227
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143 if (frameNum%50 ==0)
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144 cout << "frame " << frameNum << endl;
278
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145
227
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146 //capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
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147
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148 // int emptyFrameNum = 0;
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149 // while (frame.empty()) {
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150 // cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
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151 // capture >> frame;//break;
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152 // emptyFrameNum++;
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153 // if (emptyFrameNum>=3000)
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154 // exit(0);
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155 // }
121
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156
127
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157 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
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158 // "normal" feature detectors: detect features here
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159 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
121
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160
128
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161 if (!prevPts.empty()) {
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162 //::keyPoints2Points(prevKpts, prevPts);
127
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diff changeset
163 currPts.clear();
137
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164 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), 0.5 /* unused */, 0); // OPTFLOW_USE_INITIAL_FLOW
154
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diff changeset
165 /// \todo try calcOpticalFlowFarneback
128
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166
230
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diff changeset
167 std::vector<Point2f> trackedPts;
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diff changeset
168 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
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169 while (iter != featurePointMatches.end()) {
135
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170 bool deleteFeature = false;
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171
132
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172 if (status[iter->pointNum]) {
147
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diff changeset
173 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
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174
176
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175 deleteFeature |= iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
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176 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
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diff changeset
177 if (deleteFeature)
138
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diff changeset
178 iter->feature->shorten();
139
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179 } else
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180 deleteFeature = true;
135
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181
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182 if (deleteFeature) {
134
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183 if (iter->feature->length() >= params.minFeatureTime) {
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184 iter->feature->setId(savedFeatureId);
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185 savedFeatureId++;
140
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diff changeset
186 lostFeatures.push_back(iter->feature);
134
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187 }
132
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188 iter = featurePointMatches.erase(iter);
138
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189 } else {
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diff changeset
190 trackedPts.push_back(currPts[iter->pointNum]);
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191 iter->pointNum = trackedPts.size()-1;
135
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diff changeset
192 iter++;
138
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193 }
132
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194 }
128
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195 currPts = trackedPts;
132
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diff changeset
196 assert(currPts.size() == featurePointMatches.size());
142
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197 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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diff changeset
198
139
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199 if (params.display) {
134
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200 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
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diff changeset
201 fp.feature->draw(frame, invHomography, Colors::red());
193
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diff changeset
202 // object detection
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diff changeset
203 // vector<Rect> locations;
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diff changeset
204 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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diff changeset
205 // BOOST_FOREACH(Rect r, locations)
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diff changeset
206 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
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207 }
132
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208 //drawOpticalFlow(prevPts, currPts, status, frame);
134
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diff changeset
209
127
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diff changeset
210 // cout << matches.size() << " matches" << endl;
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diff changeset
211 // descMatcher.match(currDesc, prevDesc, matches);
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diff changeset
212 // cout << matches.size() << " matches" << endl;
128
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diff changeset
213 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
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diff changeset
214 }
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diff changeset
215
128
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diff changeset
216 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
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diff changeset
217 Mat featureMask = mask.clone();
128
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diff changeset
218 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
219 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
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diff changeset
220 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
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diff changeset
221 featureMask.at<uchar>(i,j)=0;
130
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diff changeset
222 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
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diff changeset
223 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
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diff changeset
224 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
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diff changeset
225 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
226 currPts.push_back(p);
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diff changeset
227 }
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diff changeset
228 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
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diff changeset
229 //::keyPoints2Points(currKpts, currPts, false);
128
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diff changeset
230
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diff changeset
231 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
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diff changeset
232
134
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diff changeset
233 if (params.display) {
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diff changeset
234 imshow("frame", frame);
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diff changeset
235 imshow("mask", featureMask*256);
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diff changeset
236 key = waitKey(2);
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diff changeset
237 }
127
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diff changeset
238 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
239 prevPts = currPts;
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diff changeset
240 //prevKpts = currKpts;
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diff changeset
241 //currDesc.copyTo(prevDesc);
121
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diff changeset
242 }
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diff changeset
243
142
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parents: 141
diff changeset
244 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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parents: 135
diff changeset
245 trajectoryDB->disconnect();
164
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parents: 163
diff changeset
246 }
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parents: 163
diff changeset
247
169
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
248 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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parents: 168
diff changeset
249 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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diff changeset
250 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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diff changeset
251 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
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parents: 194
diff changeset
252 trajectoryDB->createObjectTable("objects", "objects_features");
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parents: 194
diff changeset
253 unsigned int savedObjectId=0;
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diff changeset
254
188
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diff changeset
255 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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256 // cout << trajectories.size() << endl;
174
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257 // std::clock_t c_start = std::clock();
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258 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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259 // std::clock_t c_end = std::clock();
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260 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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261
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262 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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263 // c_start = std::clock();
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264 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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265 // success = trajectoryDB->read(trajectory, i, "positions");
169
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266 // }
174
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267 // c_end = std::clock();
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268 // 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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269
225
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270 trajectoryDB->createInstants("table");
221
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271
225
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272 unsigned int maxTrajectoryLength = 0;
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273 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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274 if (!success || maxTrajectoryLength == 0) {
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275 cout << "problem with trajectory length " << success << endl;
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276 exit(0);
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277 }
222
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278 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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279
191
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280 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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281
169
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282 // main loop
227
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283 unsigned int frameNum;
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284 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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285 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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286 firstFrameNum = MAX(firstFrameNum, params.frame1);
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287 if (params.nFrames>0)
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288 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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289 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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290 vector<int> trajectoryIds;
231
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291 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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292 if (frameNum%100 ==0)
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293 cout << "frame " << frameNum << endl;
222
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294 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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295 #if DEBUG
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296 cout << trajectoryIds.size() << " trajectories " << endl;
222
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297 #endif
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298 // vector<TrajectoryPoint2fPtr> positions, velocities;
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299 // trajectoryDB->read(positions, trajectoryIds, "positions");
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300 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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301 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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302 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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303 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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304 //cout << trajectoryId << " " << endl;
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305 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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306 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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307 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
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308 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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309 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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310 featureGraph.addFeature(ft);
174
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311 }
172
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312
222
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313 // check for connected components
225
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314 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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315 if (lastInstant > 0 && frameNum%10==0) {
225
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316 featureGraph.connectedComponents(lastInstant);
391
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317 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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318 featureGraph.getFeatureGroups(featureGroups);
225
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319 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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320 vector<unsigned int> featureNumbers;
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321 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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322 featureNumbers.push_back(featureGroups[i][j]->getId());
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323 trajectoryDB->writeObject(savedObjectId, featureNumbers, -1, 1, string("objects"), string("objects_features"));
225
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324 savedObjectId++;
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325 }
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326 }
222
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327
225
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328 if (frameNum%100 ==0)
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329 cout << featureGraph.informationString() << endl;
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330 }
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331
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332 // save remaining objects
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333 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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334 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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335 featureGraph.getFeatureGroups(featureGroups);
225
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336 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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337 vector<unsigned int> featureNumbers;
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338 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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339 featureNumbers.push_back(featureGroups[i][j]->getId());
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340 trajectoryDB->writeObject(savedObjectId, featureNumbers, -1, 1, string("objects"), string("objects_features"));
225
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341 savedObjectId++;
180
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342 }
169
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343
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344 trajectoryDB->endTransaction();
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345 trajectoryDB->disconnect();
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346 }
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347
164
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348 int main(int argc, char *argv[]) {
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349 KLTFeatureTrackingParameters params(argc, argv);
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350 cout << params.parameterDescription << endl;
234
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351
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352 if (params.trackFeatures) {
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353 cout << "The program tracks features" << endl;
164
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354 trackFeatures(params);
234
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355 } else if (params.groupFeatures) {
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356 cout << "The program groups features" << endl;
169
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357 groupFeatures(params);
234
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358 }
164
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359
117
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360 return 0;
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361 }
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362
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363 /* ------------------ DOCUMENTATION ------------------ */
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364
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365
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366 /*! \mainpage
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367
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368 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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369
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370 - \ref feature_based_tracking
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371
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372 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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373
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374 */
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375
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376 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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377
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378 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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379
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380 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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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381
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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382 \section License
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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383
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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384 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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385
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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386 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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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387
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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388 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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389
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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390 */