Mercurial Hosting > traffic-intelligence
annotate c/feature-based-tracking.cpp @ 188:1435965d8181
work on connected components
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
---|---|
date | Thu, 01 Dec 2011 19:18:32 -0500 |
parents | 6c48283a78ca |
children | 1116f0a1ff31 |
rev | line source |
---|---|
136
0f790de9437e
renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
135
diff
changeset
|
1 #include "Motion.hpp" |
124
1e68e18b1aa5
renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
123
diff
changeset
|
2 #include "Parameters.hpp" |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
3 #include "cvutils.hpp" |
122
654f1c748644
work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
121
diff
changeset
|
4 #include "utils.hpp" |
117
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
5 |
124
1e68e18b1aa5
renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
123
diff
changeset
|
6 #include "src/Trajectory.h" |
133
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
7 #include "src/TrajectoryDBAccessList.h" |
136
0f790de9437e
renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
135
diff
changeset
|
8 #include "src/TrajectoryDBAccessBlob.h" |
124
1e68e18b1aa5
renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
123
diff
changeset
|
9 |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
10 #include "opencv2/core/core.hpp" |
165
50964af05a80
solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
164
diff
changeset
|
11 #include "opencv2/imgproc/imgproc.hpp" |
50964af05a80
solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
164
diff
changeset
|
12 #include "opencv2/video/tracking.hpp" |
50964af05a80
solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
164
diff
changeset
|
13 #include "opencv2/features2d/features2d.hpp" |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
14 #include "opencv2/highgui/highgui.hpp" |
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
15 |
125
28907fde9855
work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
124
diff
changeset
|
16 #include <boost/shared_ptr.hpp> |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
17 #include <boost/foreach.hpp> |
125
28907fde9855
work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
124
diff
changeset
|
18 |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
19 #include <iostream> |
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
20 #include <vector> |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
21 #include <ctime> |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
22 |
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
23 using namespace std; |
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
24 using namespace cv; |
117
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
25 |
123
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
26 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) { |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
27 for (int i = 0; i < (int)matches.size(); i++) |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
28 { |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
29 Point2f pt_new = query[matches[i].queryIdx].pt; |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
30 Point2f pt_old = train[matches[i].trainIdx].pt; |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
31 Point2f dist = pt_new - pt_old; |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
32 if (norm(dist) < 20) { |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
33 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1); |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
34 circle(img, pt_old, 2, Scalar(255, 0, 125), 1); |
123
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
35 } |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
36 } |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
37 } |
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
38 |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
39 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) { |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
40 for (unsigned int i=0; i<status.size(); i++) { |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
41 if (status[i]) { |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
42 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1); |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
43 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1); |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
44 } |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
45 } |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
46 } |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
47 |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
48 struct FeaturePointMatch { |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
49 FeatureTrajectoryPtr feature; |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
50 int pointNum; |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
51 |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
52 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum): |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
53 feature(_feature), pointNum(_pointNum) {} |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
54 }; |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
55 |
142
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
56 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) { |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
57 /// \todo smoothing |
140
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
58 if (features.size() >= minNFeatures) { |
142
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
59 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName); |
140
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
60 features.clear(); |
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
61 } |
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
62 } |
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
63 |
164
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
64 void trackFeatures(const KLTFeatureTrackingParameters& params) { |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
65 // BriefDescriptorExtractor brief(32); |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
66 // const int DESIRED_FTRS = 500; |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
67 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4); |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
68 |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
69 Mat homography = ::loadMat(params.homographyFilename, " "); |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
70 Mat invHomography; |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
71 if (params.display && !homography.empty()) |
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
72 invHomography = homography.inv(); |
144
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
142
diff
changeset
|
73 |
137
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
74 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
75 Size window = Size(params.windowSize, params.windowSize); |
122
654f1c748644
work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
121
diff
changeset
|
76 |
125
28907fde9855
work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
124
diff
changeset
|
77 BruteForceMatcher<Hamming> descMatcher; |
28907fde9855
work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
124
diff
changeset
|
78 vector<DMatch> matches; |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
79 Size videoSize; |
125
28907fde9855
work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
124
diff
changeset
|
80 |
137
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
81 // if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
82 // capture.open(argc == 2 ? argv[1][0] - '0' : 0); |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
83 // else if( argc >= 2 ) |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
84 // { |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
85 // capture.open(argv[1]); |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
86 // if( capture.isOpened() ) |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
87 // videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT)); |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
88 // cout << "Video " << argv[1] << |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
89 // ": width=" << videoSize.width << |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
90 // ", height=" << videoSize.height << |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
91 // ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl; |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
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) |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
93 // { |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
94 // sscanf(argv[2], "%d", ¶ms.frame1); |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
95 // cout << "seeking to frame #" << params.frame1 << endl; |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
96 // //cap.set(CV_CAP_PROP_POS_FRAMES, pos); |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
97 // for (int i=0; i<params.frame1; i++) |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
98 // capture >> frame; |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
99 // } |
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
100 // } |
122
654f1c748644
work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
121
diff
changeset
|
101 |
164
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
102 VideoCapture capture; |
137
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
103 capture.open(params.videoFilename); |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
104 if(capture.isOpened()) { |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
105 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT)); |
145
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
106 cout << "Video " << params.videoFilename << |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
107 ": width=" << videoSize.width << |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
108 ", height=" << videoSize.height << |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
109 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl; |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
110 } else { |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
111 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl; |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
112 exit(0); |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
113 } |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
114 // if (!capture.isOpened()) |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
115 // { |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
116 // //help(argv); |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
117 // cout << "capture device " << argv[1] << " failed to open!" << endl; |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
118 // return 1; |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
119 // } |
144
b32947b002da
added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
142
diff
changeset
|
120 |
146
7150427c665e
added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
145
diff
changeset
|
121 Mat mask = imread(params.maskFilename, 0); |
7150427c665e
added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
145
diff
changeset
|
122 if (mask.empty()) |
7150427c665e
added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
145
diff
changeset
|
123 mask = Mat::ones(videoSize, CV_8UC1); |
7150427c665e
added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
145
diff
changeset
|
124 |
140
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
125 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>()); |
136
0f790de9437e
renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
135
diff
changeset
|
126 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>(); |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
127 trajectoryDB->connect(params.databaseFilename.c_str()); |
142
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
128 trajectoryDB->createTable("positions"); |
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
129 trajectoryDB->createTable("velocities"); |
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
130 trajectoryDB->beginTransaction(); |
133
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
131 |
124
1e68e18b1aa5
renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
123
diff
changeset
|
132 vector<KeyPoint> prevKpts, currKpts; |
130
2a6e7a9a5c53
changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
128
diff
changeset
|
133 vector<Point2f> prevPts, currPts, newPts; |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
134 vector<uchar> status; |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
135 vector<float> errors; |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
136 Mat prevDesc, currDesc; |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
137 |
140
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
138 vector<FeatureTrajectoryPtr> lostFeatures; |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
139 vector<FeaturePointMatch> featurePointMatches; |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
154
diff
changeset
|
140 |
133
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
141 int key = '?'; |
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
142 unsigned int savedFeatureId=0; |
164
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
143 Mat frame, currentFrameBW, previousFrameBW; |
141
6f10a227486c
modifications to get nframes option working on the command line
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
140
diff
changeset
|
144 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) { |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
145 capture >> frame; |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
146 cout << frameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl; |
145
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
147 int emptyFrameNum = 0; |
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
148 while (frame.empty()) { |
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
149 cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl; |
123
df3bdd8e50ba
displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
122
diff
changeset
|
150 capture >> frame;//break; |
145
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
151 emptyFrameNum++; |
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
152 if (emptyFrameNum>=3000) |
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
153 exit(0); |
7bf8084e720f
removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
144
diff
changeset
|
154 } |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
155 |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
156 cvtColor(frame, currentFrameBW, CV_RGB2GRAY); |
130
2a6e7a9a5c53
changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
128
diff
changeset
|
157 |
2a6e7a9a5c53
changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
128
diff
changeset
|
158 // "normal" feature detectors: detect features here |
2a6e7a9a5c53
changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
128
diff
changeset
|
159 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
160 |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
161 if (!prevPts.empty()) { |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
162 //::keyPoints2Points(prevKpts, prevPts); |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
163 currPts.clear(); |
137
445e773c9be3
created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
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
668710d4c773
updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
165 /// \todo try calcOpticalFlowFarneback |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
166 |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
167 vector<Point2f> trackedPts; |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
168 vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin(); |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
169 while (iter != featurePointMatches.end()) { |
135
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
170 bool deleteFeature = false; |
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
171 |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
172 if (status[iter->pointNum]) { |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
173 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography); |
135
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
174 |
176
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
175
diff
changeset
|
175 deleteFeature |= iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement) |
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
175
diff
changeset
|
176 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound); |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
177 if (deleteFeature) |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
178 iter->feature->shorten(); |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
179 } else |
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
180 deleteFeature = true; |
135
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
181 |
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
182 if (deleteFeature) { |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
183 if (iter->feature->length() >= params.minFeatureTime) { |
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
184 iter->feature->setId(savedFeatureId); |
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
185 savedFeatureId++; |
140
8de5e8256224
added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
139
diff
changeset
|
186 lostFeatures.push_back(iter->feature); |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
187 } |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
188 iter = featurePointMatches.erase(iter); |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
189 } else { |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
190 trackedPts.push_back(currPts[iter->pointNum]); |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
191 iter->pointNum = trackedPts.size()-1; |
135
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
192 iter++; |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
137
diff
changeset
|
193 } |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
194 } |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
195 currPts = trackedPts; |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
196 assert(currPts.size() == featurePointMatches.size()); |
142
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
197 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities"); |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
198 |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
199 if (params.display) { |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
200 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches) |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
201 fp.feature->draw(frame, invHomography, Colors::red()); |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
202 } |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
203 //drawOpticalFlow(prevPts, currPts, status, frame); |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
204 |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
205 // cout << matches.size() << " matches" << endl; |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
206 // descMatcher.match(currDesc, prevDesc, matches); |
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
207 // cout << matches.size() << " matches" << endl; |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
208 //drawMatchesRelative(prevKpts, currKpts, matches, frame); |
125
28907fde9855
work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
124
diff
changeset
|
209 } |
28907fde9855
work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
124
diff
changeset
|
210 |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
211 // adding new features, using mask around existing feature positions |
146
7150427c665e
added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
145
diff
changeset
|
212 Mat featureMask = mask.clone(); |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
213 for (unsigned int n=0;n<currPts.size(); n++) |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
214 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++) |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
215 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++) |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
216 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
|
217 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k); |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
218 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) { |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
146
diff
changeset
|
219 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography)); |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
220 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size())); |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
221 currPts.push_back(p); |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
222 } |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
130
diff
changeset
|
223 // currPts.insert(currPts.end(), newPts.begin(), newPts.end()); |
130
2a6e7a9a5c53
changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
128
diff
changeset
|
224 //::keyPoints2Points(currKpts, currPts, false); |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
225 |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
226 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
227 |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
228 if (params.display) { |
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
229 imshow("frame", frame); |
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
230 imshow("mask", featureMask*256); |
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
231 key = waitKey(2); |
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
232 } |
127
d19d6e63dd77
simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
125
diff
changeset
|
233 previousFrameBW = currentFrameBW.clone(); |
128
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
234 prevPts = currPts; |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
235 //prevKpts = currKpts; |
536510f60854
new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
127
diff
changeset
|
236 //currDesc.copyTo(prevDesc); |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
237 } |
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
238 |
142
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
239 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
|
240 trajectoryDB->disconnect(); |
164
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
241 } |
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
242 |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
243 void groupFeatures(const KLTFeatureTrackingParameters& params) { |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
244 cout << "group" << endl; |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
245 |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
246 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
247 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>(); |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
248 bool success = trajectoryDB->connect(params.databaseFilename.c_str()); |
188
1435965d8181
work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
186
diff
changeset
|
249 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories; |
1435965d8181
work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
186
diff
changeset
|
250 // cout << trajectories.size() << endl; |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
251 // std::clock_t c_start = std::clock(); |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
252 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
253 // std::clock_t c_end = std::clock(); |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
254 // 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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
255 |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
256 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory; |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
257 // c_start = std::clock(); |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
258 // for (unsigned int i = 0; i<trajectories.size(); ++i) { |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
259 // success = trajectoryDB->read(trajectory, i, "positions"); |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
260 // } |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
261 // c_end = std::clock(); |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
262 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl; |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
263 |
175
a234a5e818f3
using single view for frame_numbers and getting max trajectory length
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
174
diff
changeset
|
264 trajectoryDB->createViewInstants(); |
a234a5e818f3
using single view for frame_numbers and getting max trajectory length
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
174
diff
changeset
|
265 int maxTrajectoryLength; |
a234a5e818f3
using single view for frame_numbers and getting max trajectory length
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
174
diff
changeset
|
266 trajectoryDB->maxTrajectoryLength(maxTrajectoryLength); |
a234a5e818f3
using single view for frame_numbers and getting max trajectory length
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
174
diff
changeset
|
267 cout << "max trajectory length " << maxTrajectoryLength << endl; |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
268 |
180
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
269 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime); |
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
270 |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
271 // main loop |
186
6c48283a78ca
work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
180
diff
changeset
|
272 // TODO version that can be interrupted? |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
273 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) { |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
274 vector<int> trajectoryIds; |
180
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
275 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum); // ending |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
276 cout << "frame " << frameNum << " " << success << endl; |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
277 cout << trajectoryIds.size() << " trajectories " << endl; |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
278 BOOST_FOREACH(int trajectoryId, trajectoryIds) { |
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
279 //cout << trajectoryId << " " << endl; |
177
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
280 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory; |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
281 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
282 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities")); |
180
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
283 // stringstream ss;ss << *ft; cout << ss.str() << endl; |
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
284 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl; |
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
285 featureGraph.addFeature(ft); |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
286 } |
172
e508bb0cbb64
modified comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
169
diff
changeset
|
287 |
188
1435965d8181
work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
186
diff
changeset
|
288 // check for connected components that are old enough (no chance to match with trajectories to be added later |
1435965d8181
work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
186
diff
changeset
|
289 if (frameNum%10 == 0) { |
1435965d8181
work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
186
diff
changeset
|
290 |
1435965d8181
work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
186
diff
changeset
|
291 } |
172
e508bb0cbb64
modified comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
169
diff
changeset
|
292 |
180
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
293 cout << featureGraph.informationString() << endl; |
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
294 } |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
295 |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
296 trajectoryDB->endTransaction(); |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
297 trajectoryDB->disconnect(); |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
298 } |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
299 |
164
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
300 int main(int argc, char *argv[]) { |
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
301 KLTFeatureTrackingParameters params(argc, argv); |
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
302 cout << params.parameterDescription << endl; |
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
303 |
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
304 if (params.trackFeatures) |
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
305 trackFeatures(params); |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
306 else if (params.groupFeatures) |
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
307 groupFeatures(params); |
164
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
308 |
117
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
309 return 0; |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
310 } |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
311 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
312 /* ------------------ DOCUMENTATION ------------------ */ |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
313 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
314 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
315 /*! \mainpage |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
316 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
317 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are: |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
318 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
319 - \ref feature_based_tracking |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
320 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
321 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). |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
322 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
323 */ |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
324 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
325 /*! \page feature_based_tracking Feature-based Tracking: User Manual |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
326 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
327 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. |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
328 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
329 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>
parents:
diff
changeset
|
330 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
331 \section License |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
332 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
333 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>
parents:
diff
changeset
|
334 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
335 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>
parents:
diff
changeset
|
336 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
337 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:
diff
changeset
|
338 |
fea680fb03ee
created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
339 */ |