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annotate c/feature-based-tracking.cpp @ 506:13d4eb96a751

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added needed parameters
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 28 Apr 2014 18:18:14 -0400
parents 41a72146685e
children 081a9da6f85b
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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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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
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27 using namespace std;
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28 using namespace cv;
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29 namespace fs = boost::filesystem;
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30
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31 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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32 for (int i = 0; i < (int)matches.size(); i++)
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33 {
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34 Point2f pt_new = query[matches[i].queryIdx].pt;
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35 Point2f pt_old = train[matches[i].trainIdx].pt;
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36 Point2f dist = pt_new - pt_old;
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37 if (norm(dist) < 20) {
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38 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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39 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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40 }
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41 }
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42 }
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44 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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45 for (unsigned int i=0; i<status.size(); i++) {
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46 if (status[i]) {
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47 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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48 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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49 }
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50 }
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51 }
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52
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53 struct FeaturePointMatch {
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54 FeatureTrajectoryPtr feature;
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55 int pointNum;
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56
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57 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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58 feature(_feature), pointNum(_pointNum) {}
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59 };
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61 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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62 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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63 features.clear();
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64 }
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65
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66 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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67 // BriefDescriptorExtractor brief(32);
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68 // const int DESIRED_FTRS = 500;
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69 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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71 Mat homography = ::loadMat(params.homographyFilename, " ");
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72 Mat invHomography;
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73 if (params.display && !homography.empty())
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74 invHomography = homography.inv();
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75
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76 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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77 Size window = Size(params.windowSize, params.windowSize);
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78
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79 // BruteForceMatcher<Hamming> descMatcher;
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80 // vector<DMatch> matches;
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81
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82 boost::shared_ptr<InputFrameProviderIface> capture;
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83 if (fs::is_directory(fs::path(params.videoFilename)))
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84 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
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85 else if(!params.videoFilename.empty())
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86 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
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87 else
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88 cout << "No valid input parameters" << endl;
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89
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90 if(!capture->isOpen()) {
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91 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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92 exit(0);
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93 }
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95 Size videoSize = capture->getSize();
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96 unsigned int nFrames = capture->getNbFrames();
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97 cout << "Video " << params.videoFilename <<
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98 ": width=" << videoSize.width <<
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99 ", height=" << videoSize.height <<
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100 ", nframes=" << nFrames << endl;
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101
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102 Mat mask = imread(params.maskFilename, 0);
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103 if (mask.empty()) {
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104 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
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105 mask = Mat::ones(videoSize, CV_8UC1);
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106 }
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108 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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109 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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110 trajectoryDB->connect(params.databaseFilename.c_str());
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111 trajectoryDB->createTable("positions");
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112 trajectoryDB->createTable("velocities");
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113 trajectoryDB->beginTransaction();
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115 std::vector<KeyPoint> prevKpts, currKpts;
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116 std::vector<Point2f> prevPts, currPts, newPts;
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117 std::vector<uchar> status;
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118 std::vector<float> errors;
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119 Mat prevDesc, currDesc;
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121 std::vector<FeatureTrajectoryPtr> lostFeatures;
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122 std::vector<FeaturePointMatch> featurePointMatches;
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diff changeset
124 //HOGDescriptor hog;
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diff changeset
125 //hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
193
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parents: 191
diff changeset
126
133
63dd4355b6d1 saving of feature positions in sqlite database
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parents: 132
diff changeset
127 int key = '?';
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parents: 132
diff changeset
128 unsigned int savedFeatureId=0;
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
129 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
227
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diff changeset
130
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
131 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
132 if (params.nFrames > 0)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
133 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
227
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parents: 225
diff changeset
134
400
7ef1071e3cc3 clean up of input classes for list of images and video files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 399
diff changeset
135 capture->setFrameNumber(params.frame1);
227
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parents: 225
diff changeset
136 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
137 bool success = capture->getNextFrame(frame);
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
138
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
139 if (!success || frame.empty() || frame.size() != videoSize)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
140 break;
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parents: 234
diff changeset
141
227
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parents: 225
diff changeset
142 if (frameNum%50 ==0)
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diff changeset
143 cout << "frame " << frameNum << endl;
121
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parents: 119
diff changeset
144
127
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diff changeset
145 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
121
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parents: 119
diff changeset
146
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
147 if (!prevPts.empty()) {
127
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diff changeset
148 currPts.clear();
418
ca5784652d57 updated use of calcOpticalFlowPyrLK for new signature, added minEigThreshold parameter in configuration file
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parents: 412
diff changeset
149 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), /* int flags = */ 0, params.minFeatureEigThreshold);
154
668710d4c773 updated computeTranslation with cv2
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parents: 147
diff changeset
150 /// \todo try calcOpticalFlowFarneback
128
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diff changeset
151
230
bc4ea09b1743 compatibility modifications for visual studio compilation
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diff changeset
152 std::vector<Point2f> trackedPts;
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diff changeset
153 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
154 while (iter != featurePointMatches.end()) {
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
155 bool deleteFeature = false;
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parents: 134
diff changeset
156
132
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parents: 130
diff changeset
157 if (status[iter->pointNum]) {
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
158 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
159
480
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diff changeset
160 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
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parents: 175
diff changeset
161 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
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parents: 138
diff changeset
162 if (deleteFeature)
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
163 iter->feature->shorten();
139
47329bd16cc0 cleaned code, added condition on smooth displacement
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parents: 138
diff changeset
164 } else
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parents: 138
diff changeset
165 deleteFeature = true;
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
166
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
167 if (deleteFeature) {
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
168 if (iter->feature->length() >= params.minFeatureTime) {
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parents: 133
diff changeset
169 iter->feature->setId(savedFeatureId);
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parents: 133
diff changeset
170 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
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parents: 480
diff changeset
171 iter->feature->movingAverage(params.nFramesSmoothing);
140
8de5e8256224 added function to save vectors of features
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parents: 139
diff changeset
172 lostFeatures.push_back(iter->feature);
134
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parents: 133
diff changeset
173 }
132
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parents: 130
diff changeset
174 iter = featurePointMatches.erase(iter);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
175 } else {
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parents: 137
diff changeset
176 trackedPts.push_back(currPts[iter->pointNum]);
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parents: 137
diff changeset
177 iter->pointNum = trackedPts.size()-1;
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
178 iter++;
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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diff changeset
179 }
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
180 }
128
536510f60854 new features generated as needed
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diff changeset
181 currPts = trackedPts;
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
182 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
183 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
184
139
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parents: 138
diff changeset
185 if (params.display) {
134
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parents: 133
diff changeset
186 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
187 fp.feature->draw(frame, invHomography, Colors::red());
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
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parents: 191
diff changeset
188 // object detection
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parents: 191
diff changeset
189 // vector<Rect> locations;
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parents: 191
diff changeset
190 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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parents: 191
diff changeset
191 // BOOST_FOREACH(Rect r, locations)
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diff changeset
192 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
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parents: 138
diff changeset
193 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
194 }
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
195
128
536510f60854 new features generated as needed
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diff changeset
196 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
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parents: 145
diff changeset
197 Mat featureMask = mask.clone();
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
198 for (unsigned int n=0;n<currPts.size(); n++)
536510f60854 new features generated as needed
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parents: 127
diff changeset
199 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
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parents: 127
diff changeset
200 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
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parents: 127
diff changeset
201 featureMask.at<uchar>(i,j)=0;
130
2a6e7a9a5c53 changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 128
diff changeset
202 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
203 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
204 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
205 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
45c64e68053c added drawing function for features
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parents: 130
diff changeset
206 currPts.push_back(p);
45c64e68053c added drawing function for features
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parents: 130
diff changeset
207 }
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
208
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
209 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
210 imshow("mask", featureMask*256);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
211 imshow("frame", frame);
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
212 key = waitKey(2);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
213 }
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
214 previousFrameBW = currentFrameBW.clone();
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
215 prevPts = currPts;
480
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
216 }
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
217
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
218 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
219 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
220 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
221 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
222 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
223 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
224 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
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parents: 480
diff changeset
225 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
226 }
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
227 iter++;
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
228 }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
229
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
230 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
231 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
232 }
76610dcf3b8d added test code to read trajectories
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parents: 163
diff changeset
233
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
234 void groupFeatures(const KLTFeatureTrackingParameters& params) {
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
235 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
236 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
237 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
b0b964ba9489 added early saving of objects
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parents: 194
diff changeset
238 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects
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parents: 194
diff changeset
239 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects
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parents: 194
diff changeset
240
188
1435965d8181 work on connected components
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parents: 186
diff changeset
241 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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parents: 186
diff changeset
242 // cout << trajectories.size() << endl;
174
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
243 // std::clock_t c_start = std::clock();
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parents: 172
diff changeset
244 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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parents: 172
diff changeset
245 // std::clock_t c_end = std::clock();
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parents: 172
diff changeset
246 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
247
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
248 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
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249 // c_start = std::clock();
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250 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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251 // success = trajectoryDB->read(trajectory, i, "positions");
169
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252 // }
174
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253 // c_end = std::clock();
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254 // 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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255
225
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256 trajectoryDB->createInstants("table");
221
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257
225
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258 unsigned int maxTrajectoryLength = 0;
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259 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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260 if (!success || maxTrajectoryLength == 0) {
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261 cout << "problem with trajectory length " << success << endl;
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262 exit(0);
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263 }
222
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264 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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265
191
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266 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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267
169
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268 // main loop
227
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269 unsigned int frameNum;
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270 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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271 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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272 firstFrameNum = MAX(firstFrameNum, params.frame1);
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273 if (params.nFrames>0)
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274 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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275 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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276 vector<int> trajectoryIds;
231
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277 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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278 if (frameNum%100 ==0)
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279 cout << "frame " << frameNum << endl;
222
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280 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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281 #if DEBUG
174
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282 cout << trajectoryIds.size() << " trajectories " << endl;
222
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283 #endif
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284 // vector<TrajectoryPoint2fPtr> positions, velocities;
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285 // trajectoryDB->read(positions, trajectoryIds, "positions");
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286 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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287 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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288 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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289 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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290 //cout << trajectoryId << " " << endl;
177
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291 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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292 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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293 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
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294 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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295 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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296 featureGraph.addFeature(ft);
174
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297 }
172
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298
222
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299 // check for connected components
225
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300 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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301 if (lastInstant > 0 && frameNum%10==0) {
225
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302 featureGraph.connectedComponents(lastInstant);
391
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303 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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304 featureGraph.getFeatureGroups(featureGroups);
225
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305 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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306 vector<unsigned int> featureNumbers;
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307 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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308 featureNumbers.push_back(featureGroups[i][j]->getId());
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309 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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310 savedObjectId++;
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311 }
188
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312 }
222
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313
225
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314 if (frameNum%100 ==0)
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315 cout << featureGraph.informationString() << endl;
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316 }
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317
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318 // save remaining objects
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319 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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320 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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321 featureGraph.getFeatureGroups(featureGroups);
225
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322 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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323 vector<unsigned int> featureNumbers;
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324 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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325 featureNumbers.push_back(featureGroups[i][j]->getId());
412
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326 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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327 savedObjectId++;
180
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328 }
169
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329
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330 trajectoryDB->endTransaction();
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331 trajectoryDB->disconnect();
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332 }
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333
164
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334 int main(int argc, char *argv[]) {
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335 KLTFeatureTrackingParameters params(argc, argv);
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336 cout << params.parameterDescription << endl;
234
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337
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338 if (params.trackFeatures) {
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339 cout << "The program tracks features" << endl;
164
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340 trackFeatures(params);
234
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341 } else if (params.groupFeatures) {
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342 cout << "The program groups features" << endl;
169
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343 groupFeatures(params);
234
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344 }
164
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345
117
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346 return 0;
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347 }
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348
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349 /* ------------------ DOCUMENTATION ------------------ */
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350
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351
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352 /*! \mainpage
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353
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354 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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355
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356 - \ref feature_based_tracking
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357
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358 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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359
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360 */
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361
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362 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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363
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364 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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365
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366 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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367
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368 \section License
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369
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370 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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371
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372 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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373
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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374 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>
parents:
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375
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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376 */