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annotate c/feature-based-tracking.cpp @ 191:0e60a306d324

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added basic code to identify features and save them (crash)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 08 Dec 2011 18:32:35 -0500
parents 1116f0a1ff31
children a728fce85881
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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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9
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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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16 #include <boost/shared_ptr.hpp>
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17 #include <boost/foreach.hpp>
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19 #include <iostream>
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20 #include <vector>
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21 #include <ctime>
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22
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23 using namespace std;
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24 using namespace cv;
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26 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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27 for (int i = 0; i < (int)matches.size(); i++)
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28 {
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29 Point2f pt_new = query[matches[i].queryIdx].pt;
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30 Point2f pt_old = train[matches[i].trainIdx].pt;
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31 Point2f dist = pt_new - pt_old;
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32 if (norm(dist) < 20) {
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33 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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34 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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35 }
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36 }
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37 }
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39 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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40 for (unsigned int i=0; i<status.size(); i++) {
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41 if (status[i]) {
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42 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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43 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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44 }
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45 }
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46 }
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47
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48 struct FeaturePointMatch {
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49 FeatureTrajectoryPtr feature;
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50 int pointNum;
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51
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52 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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53 feature(_feature), pointNum(_pointNum) {}
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54 };
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55
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56 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
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57 /// \todo smoothing
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58 if (features.size() >= minNFeatures) {
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59 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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60 features.clear();
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61 }
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62 }
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63
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64 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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65 // BriefDescriptorExtractor brief(32);
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66 // const int DESIRED_FTRS = 500;
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67 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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68
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69 Mat homography = ::loadMat(params.homographyFilename, " ");
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70 Mat invHomography;
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71 if (params.display && !homography.empty())
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72 invHomography = homography.inv();
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73
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74 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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75 Size window = Size(params.windowSize, params.windowSize);
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77 BruteForceMatcher<Hamming> descMatcher;
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78 vector<DMatch> matches;
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79 Size videoSize;
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81 // if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
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82 // capture.open(argc == 2 ? argv[1][0] - '0' : 0);
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83 // else if( argc >= 2 )
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84 // {
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85 // capture.open(argv[1]);
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86 // if( capture.isOpened() )
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87 // videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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88 // cout << "Video " << argv[1] <<
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89 // ": width=" << videoSize.width <<
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90 // ", height=" << videoSize.height <<
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91 // ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
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92 // if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt)
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93 // {
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94 // sscanf(argv[2], "%d", &params.frame1);
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95 // cout << "seeking to frame #" << params.frame1 << endl;
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96 // //cap.set(CV_CAP_PROP_POS_FRAMES, pos);
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97 // for (int i=0; i<params.frame1; i++)
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98 // capture >> frame;
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99 // }
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100 // }
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101
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102 VideoCapture capture;
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103 capture.open(params.videoFilename);
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104 if(capture.isOpened()) {
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105 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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106 cout << "Video " << params.videoFilename <<
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107 ": width=" << videoSize.width <<
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108 ", height=" << videoSize.height <<
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109 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
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110 } else {
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111 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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112 exit(0);
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113 }
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114 // if (!capture.isOpened())
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115 // {
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116 // //help(argv);
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117 // cout << "capture device " << argv[1] << " failed to open!" << endl;
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118 // return 1;
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119 // }
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120
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121 Mat mask = imread(params.maskFilename, 0);
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122 if (mask.empty())
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123 mask = Mat::ones(videoSize, CV_8UC1);
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125 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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126 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
138
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diff changeset
127 trajectoryDB->connect(params.databaseFilename.c_str());
142
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diff changeset
128 trajectoryDB->createTable("positions");
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diff changeset
129 trajectoryDB->createTable("velocities");
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parents: 141
diff changeset
130 trajectoryDB->beginTransaction();
133
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parents: 132
diff changeset
131
124
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diff changeset
132 vector<KeyPoint> prevKpts, currKpts;
130
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133 vector<Point2f> prevPts, currPts, newPts;
127
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diff changeset
134 vector<uchar> status;
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diff changeset
135 vector<float> errors;
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diff changeset
136 Mat prevDesc, currDesc;
128
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137
140
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diff changeset
138 vector<FeatureTrajectoryPtr> lostFeatures;
132
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139 vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
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diff changeset
140
133
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141 int key = '?';
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142 unsigned int savedFeatureId=0;
164
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diff changeset
143 Mat frame, currentFrameBW, previousFrameBW;
141
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diff changeset
144 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
121
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diff changeset
145 capture >> frame;
134
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146 cout << frameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
145
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diff changeset
147 int emptyFrameNum = 0;
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diff changeset
148 while (frame.empty()) {
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149 cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
123
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diff changeset
150 capture >> frame;//break;
145
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diff changeset
151 emptyFrameNum++;
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diff changeset
152 if (emptyFrameNum>=3000)
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diff changeset
153 exit(0);
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154 }
121
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diff changeset
155
127
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156 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
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157
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diff changeset
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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diff changeset
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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diff changeset
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
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diff changeset
167 vector<Point2f> trackedPts;
132
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diff changeset
168 vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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diff changeset
169 while (iter != featurePointMatches.end()) {
135
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diff changeset
170 bool deleteFeature = false;
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171
132
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diff changeset
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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diff changeset
174
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
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diff changeset
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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178 iter->feature->shorten();
139
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diff changeset
179 } else
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diff changeset
180 deleteFeature = true;
135
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181
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diff changeset
182 if (deleteFeature) {
134
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diff changeset
183 if (iter->feature->length() >= params.minFeatureTime) {
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diff changeset
184 iter->feature->setId(savedFeatureId);
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diff changeset
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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diff changeset
188 iter = featurePointMatches.erase(iter);
138
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diff changeset
189 } else {
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diff changeset
190 trackedPts.push_back(currPts[iter->pointNum]);
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diff changeset
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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diff changeset
195 currPts = trackedPts;
132
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diff changeset
196 assert(currPts.size() == featurePointMatches.size());
142
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parents: 141
diff changeset
197 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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diff changeset
198
139
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diff changeset
199 if (params.display) {
134
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diff changeset
200 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
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diff changeset
201 fp.feature->draw(frame, invHomography, Colors::red());
139
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diff changeset
202 }
132
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diff changeset
203 //drawOpticalFlow(prevPts, currPts, status, frame);
134
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diff changeset
204
127
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diff changeset
205 // cout << matches.size() << " matches" << endl;
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diff changeset
206 // descMatcher.match(currDesc, prevDesc, matches);
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diff changeset
207 // cout << matches.size() << " matches" << endl;
128
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diff changeset
208 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
209 }
28907fde9855 work on klt tracker (problem on computer at poly)
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diff changeset
210
128
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diff changeset
211 // adding new features, using mask around existing feature positions
146
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diff changeset
212 Mat featureMask = mask.clone();
128
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diff changeset
213 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
214 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
215 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
216 featureMask.at<uchar>(i,j)=0;
130
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diff changeset
217 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
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parents: 130
diff changeset
218 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
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diff changeset
219 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
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diff changeset
220 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
221 currPts.push_back(p);
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diff changeset
222 }
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diff changeset
223 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
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diff changeset
224 //::keyPoints2Points(currKpts, currPts, false);
128
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diff changeset
225
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diff changeset
226 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
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diff changeset
227
134
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parents: 133
diff changeset
228 if (params.display) {
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diff changeset
229 imshow("frame", frame);
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diff changeset
230 imshow("mask", featureMask*256);
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diff changeset
231 key = waitKey(2);
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diff changeset
232 }
127
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diff changeset
233 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
234 prevPts = currPts;
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diff changeset
235 //prevKpts = currKpts;
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diff changeset
236 //currDesc.copyTo(prevDesc);
121
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diff changeset
237 }
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diff changeset
238
142
a3532db00c28 added code to write velocities
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parents: 141
diff changeset
239 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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parents: 135
diff changeset
240 trajectoryDB->disconnect();
164
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parents: 163
diff changeset
241 }
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parents: 163
diff changeset
242
169
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
243 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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parents: 168
diff changeset
244 cout << "group" << endl;
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parents: 168
diff changeset
245
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
246 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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parents: 168
diff changeset
247 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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parents: 168
diff changeset
248 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
188
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parents: 186
diff changeset
249 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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diff changeset
250 // cout << trajectories.size() << endl;
174
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diff changeset
251 // std::clock_t c_start = std::clock();
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diff changeset
252 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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253 // std::clock_t c_end = std::clock();
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254 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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255
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256 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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257 // c_start = std::clock();
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258 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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259 // success = trajectoryDB->read(trajectory, i, "positions");
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260 // }
174
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261 // c_end = std::clock();
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262 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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263
175
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264 trajectoryDB->createViewInstants();
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265 int maxTrajectoryLength;
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266 trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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267 cout << "max trajectory length " << maxTrajectoryLength << endl;
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268 maxTrajectoryLength = 20; // for tests
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269
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270 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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271
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272 // main loop
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273 // TODO version that can be interrupted?
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274 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) {
174
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275 vector<int> trajectoryIds;
180
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276 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum); // ending
174
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277 cout << "frame " << frameNum << " " << success << endl;
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278 cout << trajectoryIds.size() << " trajectories " << endl;
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279 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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280 //cout << trajectoryId << " " << endl;
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281 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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282 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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283 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
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284 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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285 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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286 featureGraph.addFeature(ft);
174
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287 }
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288
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289 // check for connected components that are old enough (no chance to match with trajectories to be added later
191
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290 // we could check only when some features are getting old enough?
188
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291 if (frameNum%10 == 0) {
191
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292 vector<vector<FeatureGraph::vertex_descriptor> > objects = featureGraph.connectedComponents(frameNum-maxTrajectoryLength+params.minFeatureTime);
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293 cout << objects.size() << " objects" << endl;
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294
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295 if (!objects.empty()) {
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296 vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups(objects);
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297 }
188
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298 }
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299
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300 cout << featureGraph.informationString() << endl;
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301 }
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302
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303 trajectoryDB->endTransaction();
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304 trajectoryDB->disconnect();
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305 }
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306
164
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307 int main(int argc, char *argv[]) {
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308 KLTFeatureTrackingParameters params(argc, argv);
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309 cout << params.parameterDescription << endl;
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310
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311 if (params.trackFeatures)
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312 trackFeatures(params);
169
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313 else if (params.groupFeatures)
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314 groupFeatures(params);
164
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315
117
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316 return 0;
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317 }
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318
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319 /* ------------------ DOCUMENTATION ------------------ */
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320
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321
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322 /*! \mainpage
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323
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324 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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325
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326 - \ref feature_based_tracking
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327
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328 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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329
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330 */
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331
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332 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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333
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334 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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335
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336 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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337
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338 \section License
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339
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340 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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341
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342 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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343
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344 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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345
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346 */