repo/traffic-intelligence: c/feature-based-tracking.cpp annotate

annotate c/feature-based-tracking.cpp @ 804:17e54690af8a dev

work in progress, not fully functional yet

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Wed, 01 Jun 2016 17:57:49 -0400
parents	f7cf43b5ad3b
children

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"
193 a728fce85881 simple test of adding and using default HoG pedestrian detector Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 191 diff changeset	15 #include "opencv2/objdetect/objdetect.hpp"
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	16 #include <opencv2/calib3d.hpp>
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	17
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	18 #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	19
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	20 #include <iostream>
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	21 #include <vector>
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	22 #include <ctime>
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	23 #include <cmath>
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	24 #include <memory>
679 576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	25 #include <limits>
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	26
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	27 using namespace std;
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	28 using namespace cv;
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	29
123 df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	30 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	31 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	32 {
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	33 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	34 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	35 Point2f dist = pt_new - pt_old;
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	36 if (norm(dist) < 20) {
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	37 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	38 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	39 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	40 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	41 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	42
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	43 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	44 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	45 if (status[i]) {
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	46 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	47 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	48 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	49 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	50 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	51
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	52 struct FeaturePointMatch {
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	53 FeatureTrajectoryPtr feature;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	54 int pointNum;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	55
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	56 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	57 feature(_feature), pointNum(_pointNum) {}
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	58 };
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	59
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	60 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	61 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	62 features.clear();
140 8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	63 }
8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	64
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	65 void trackFeatures(const KLTFeatureTrackingParameters& params) {
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	66 Mat refHomography = ::loadMat(params.homographyFilename, " ");
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	67 //if (params.stabilize && refHomography.empty())
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	68 // refHomography = Mat::eye(3, 3, CV_64FC1);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	69 //Mat stabilizationHomography(3,3,CV_64FC1), homography(3,3,CV_64FC1);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	70 Mat stabilizationHomography, homography;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	71 if (!params.stabilize)
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	72 homography = refHomography;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 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
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	77 int interpolationMethod = -1;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	78 if (params.interpolationMethod == 0)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	79 interpolationMethod = INTER_NEAREST;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	80 else if (params.interpolationMethod == 1)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	81 interpolationMethod = INTER_LINEAR;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	82 else if (params.interpolationMethod == 2)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	83 interpolationMethod = INTER_CUBIC;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	84 else if (params.interpolationMethod == 3)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	85 interpolationMethod = INTER_LANCZOS4;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	86 else
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	87 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	88
207 48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	89 // BruteForceMatcher<Hamming> descMatcher;
48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	90 // vector<DMatch> matches;
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	91
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	92 if(params.videoFilename.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	93 cout << "Empty video filename. Exiting." << endl;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	94 exit(0);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	95 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	96
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	97 VideoCapture capture(params.videoFilename);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	98 if(!capture.isOpened()) {
400 7ef1071e3cc3 clean up of input classes for list of images and video files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 399 diff changeset	99 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
7ef1071e3cc3 clean up of input classes for list of images and video files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 399 diff changeset	100 exit(0);
138 c1b260b48d2a corrected initialization bugs and feature shortening before saving Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 137 diff changeset	101 }
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	102
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	103 Size videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	104 unsigned int nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
679 576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	105 if (nFrames <= 0) {
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	106 cout << "Guessing that the number of frames could not be read: " << nFrames << endl;
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	107 nFrames = numeric_limits<int>::max();
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	108 cout << "Setting arbitrarily high number for testing: " << nFrames << endl;
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	109 }
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	110
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	111 cout << "Video " << params.videoFilename <<
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	112 ": width=" << videoSize.width <<
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	113 ", height=" << videoSize.height <<
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	114 ", nframes=" << nFrames << endl;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	115
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	116 Mat map1, map2;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	117 if (params.undistort) {
535 5ad2f51ae42f cleaning up initialization of intrinsic matrix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 534 diff changeset	118 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
5ad2f51ae42f cleaning up initialization of intrinsic matrix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 534 diff changeset	119 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	120 videoSize = Size(static_cast<int>(round(videoSize.widthparams.undistortedImageMultiplication)), static_cast<int>(round(videoSize.heightparams.undistortedImageMultiplication)));
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3, 3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	124
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	125 cout << "Undistorted width=" << videoSize.width <<
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	126 ", height=" << videoSize.height << endl;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	127 }
399 c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	128
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	129 Mat mask = imread(params.maskFilename, 0);
363 68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	130 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	131 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	132 mask = Mat::ones(videoSize, CV_8UC1);
363 68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	133 }
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	134 Mat featureMask = mask.clone();
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	135
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	136 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::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	137 //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	138 trajectoryDB->connect(params.databaseFilename.c_str());
142 a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	139 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	140 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	141 trajectoryDB->beginTransaction();
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	142
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	143 std::vector<KeyPoint> prevKpts, currKpts;
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	144 std::vector<Point2f> prevPts, currPts, newPts, stabilizationRefPts, stabilizationCurrPts;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	145 std::vector<uchar> status, stabilizationPtsStatus;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	146 std::vector<float> errorPts, stabilizationErrorPts;
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	147 Mat prevDesc, currDesc;
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	148
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	149 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	150 std::vector<FeaturePointMatch> featurePointMatches;
163 cde87a07eb58 added graph structures Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	151
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	152 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	153 unsigned int savedFeatureId=0;
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	154 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame, homographyFrameBW, homographyFrame;
802 d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	155
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	156 if (params.stabilize) {
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	157 homographyFrame = imread(params.frameHomographyFilename);
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	158 if (homographyFrame.empty())
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	159 cout << "Homography frame filename " << params.frameHomographyFilename << " could not be opened." << endl;
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	160 else {
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	161 if (params.undistort) {
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	162 remap(homographyFrame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	163 homographyFrame = undistortedFrame;
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	164 }
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	165
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	166 cvtColor(homographyFrame, homographyFrameBW, CV_RGB2GRAY);
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	167 goodFeaturesToTrack(homographyFrameBW, stabilizationRefPts, params.maxNFeatures, MAX(0.01, params.featureQuality), params.minFeatureDistanceKLT, mask, params.blockSize, params.useHarrisDetector, params.k); // take higher quality features?
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	168 }
802 d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	169 }
d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	170
278 f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 234 diff changeset	171 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	172 if (params.nFrames > 0)
278 f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 234 diff changeset	173 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
495 82c06ad62254 added parameter description with ranges Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 481 diff changeset	174
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	175 // Main Loop
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	176 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	177 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	178 capture >> frame;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	179 if (frame.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	180 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	181 break;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	182 } else if (frameNum%50 ==0)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	183 cout << "frame " << frameNum << endl;
532 018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	184
802 d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	185 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	186
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	187 if (params.undistort) {
802 d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	188 remap(currentFrameBW, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	189 currentFrameBW = undistortedFrame;
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	190 if (frame.size() != videoSize) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	191 cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl;
534 d0419b1267dd fixing size issue when testing frames in main loop Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 533 diff changeset	192 break;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	193 }
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	194 }
800 2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 716 diff changeset	195
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	196 if (!prevPts.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	197 currPts.clear();
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	198 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errorPts, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 /, params.maxNumberTrackingIterations, params.minTrackingError), / int flags = */ 0, params.minFeatureEigThreshold);
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	199 /// \todo try calcOpticalFlowFarneback
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	200
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	201 if (params.stabilize) {
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	202 calcOpticalFlowPyrLK(homographyFrameBW, currentFrameBW, stabilizationRefPts, stabilizationCurrPts, stabilizationPtsStatus, stabilizationErrorPts, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 /, params.maxNumberTrackingIterations, params.minTrackingError), / int flags = */ 0, params.minFeatureEigThreshold);
802 d3e8dd9f3ca4 current dev for drone stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	203
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	204 std::vector<Point2f> stabilizationRefPts2, stabilizationCurrPts2;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	205 for (unsigned int i=0; i<stabilizationRefPts.size(); i++)
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	206 if (stabilizationPtsStatus[i]) {
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	207 stabilizationRefPts2.push_back(stabilizationRefPts[i]);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	208 stabilizationCurrPts2.push_back(stabilizationCurrPts[i]);
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	209 }
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	210 stabilizationHomography = findHomography(stabilizationCurrPts2, stabilizationRefPts2, CV_RANSAC, params.stabilizeRansacReprojThreshold);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	211 //cout << stabilizationHomography << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	212 //cout << stabilizationHomography.type() << " " << refHomography.type() << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	213 //for (unsigned int i=0; i<MIN(stabilizationRefPts.size(), 10); i++) {
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	214 //cout << stabilizationCurrPts2[i] << " " << stabilizationRefPts2[i] << ": projected " << ::project<double>(stabilizationCurrPts2[i], stabilizationHomography) << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	215 //cout << stabilizationHomography.at<double>(0,0)stabilizationCurrPts2[i].x+stabilizationHomography.at<double>(0,1)stabilizationCurrPts2[i].y+stabilizationHomography.at<double>(0,2) << " " << stabilizationHomography.at<double>(1,0)stabilizationCurrPts2[i].x+stabilizationHomography.at<double>(1,1)stabilizationCurrPts2[i].y+stabilizationHomography.at<double>(1,2) << " " << stabilizationHomography.at<double>(2,0)stabilizationCurrPts2[i].x+stabilizationHomography.at<double>(2,1)stabilizationCurrPts2[i].y+stabilizationHomography.at<double>(2,2) << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	216 //}
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	217 if (stabilizationHomography.empty()) {
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	218 homography = refHomography;
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	219 featureMask = mask.clone();
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	220 } else {
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	221 if (refHomography.empty())
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	222 homography = stabilizationHomography;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	223 else
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	224 homography = refHomography*stabilizationHomography;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	225 //cout << refHomography << " * " << stabilizationHomography << " = " << homography << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	226 warpPerspective(mask, featureMask, stabilizationHomography, videoSize, INTER_LINEAR+WARP_INVERSE_MAP, BORDER_CONSTANT, 0);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	227 }
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	228 } else
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	229 featureMask = mask.clone();
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	230
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	231
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	232 std::vector<Point2f> trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	233 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	234 while (iter != featurePointMatches.end()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	235 bool deleteFeature = false;
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	236
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	237 if (status[iter->pointNum]) {
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	238 Point2f homographyFramePt = ::project<double>(currPts[iter->pointNum], stabilizationHomography); // project to space of homography frame (if not stabilization, stabilizationHomography should be empty)
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	239 cout << currPts[iter->pointNum] << ", " << homographyFramePt << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	240 if (::inImage(homographyFramePt, videoSize) && (mask.at<uchar>(static_cast<int>(round(homographyFramePt.y)), static_cast<int>(round(homographyFramePt.x))) != 0)) { // check point is in mask
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	241 iter->feature->addPoint(frameNum, ::project<double>(homographyFramePt, refHomography));
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	242 //cout << *(iter->feature) << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	243 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	244 \|\| !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	245 if (deleteFeature)
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	246 iter->feature->shorten();
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	247 } else
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	248 deleteFeature = true;
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	249 } else
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	250 deleteFeature = true;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	251
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	252 if (deleteFeature) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	253 if (iter->feature->length() >= params.minFeatureTime) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	254 iter->feature->setId(savedFeatureId);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	255 savedFeatureId++;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	256 iter->feature->movingAverage(params.nFramesSmoothing);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	257 lostFeatures.push_back(iter->feature);
138 c1b260b48d2a corrected initialization bugs and feature shortening before saving Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 137 diff changeset	258 }
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	259 iter = featurePointMatches.erase(iter);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	260 } else {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	261 trackedPts.push_back(currPts[iter->pointNum]);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	262 iter->pointNum = trackedPts.size()-1;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	263 iter++;
139 47329bd16cc0 cleaned code, added condition on smooth displacement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 138 diff changeset	264 }
125 28907fde9855 work on klt tracker (problem on computer at poly) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 124 diff changeset	265 }
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	266 currPts = trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	267 assert(currPts.size() == featurePointMatches.size());
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	268 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	269
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	270 if (params.display) {
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	271 cout << featurePointMatches.size() << " matches" << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	272 Mat invHomography;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	273 if (!homography.empty())
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	274 invHomography = homography.inv();
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	275 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	276 fp.feature->draw(frame, invHomography, Colors::red());
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	277 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	278 }
800 2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 716 diff changeset	279
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	280 // adding new features, using mask around existing feature positions
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	281 for (unsigned int n=0;n<currPts.size(); n++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	282 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	283 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	284 featureMask.at<uchar>(i,j)=0;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	285 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
800 2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 716 diff changeset	286 BOOST_FOREACH(Point2f p, newPts) {
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	287 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, ::project<double>(::project<double>(p, stabilizationHomography), refHomography)));
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	288 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	289 currPts.push_back(p);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	290 }
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	291
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	292 if (params.display) {
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	293 cout << currPts.size() << " current points" << endl;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	294 Mat maskedFrame;
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	295 cvtColor(featureMask*256, maskedFrame, CV_GRAY2RGB);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	296 addWeighted(frame, 0.5, maskedFrame, 0.5, 0.0, maskedFrame);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	297 imshow("masked frame", maskedFrame);
17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	298 //imshow("mask", featureMask*256);
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	299 imshow("frame", frame);
803 f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	300 if (params.stabilize && !stabilizationHomography.empty()) {
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	301 Mat warped, vis;
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	302 warpPerspective(frame, warped, stabilizationHomography, videoSize);
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	303 addWeighted(homographyFrame, 0.5, warped, 0.5, 0.0, vis);
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	304 imshow("warped frame", vis);
f7cf43b5ad3b work in progress on stabilization Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 802 diff changeset	305 }
804 17e54690af8a work in progress, not fully functional yet Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 803 diff changeset	306 key = waitKey(0);
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	307 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	308 previousFrameBW = currentFrameBW.clone();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	309 prevPts = currPts;
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	310 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	311
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	312 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	313 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	314 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	315 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	316 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	317 savedFeatureId++;
481 b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	318 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	319 iter->feature->write(*trajectoryDB, "positions", "velocities");
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	320 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	321 iter++;
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	322 }
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	323
142 a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	324 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	325 trajectoryDB->disconnect();
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	326 }
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	327
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	328 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	329 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	330 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202 b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	331 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	332 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	333
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	334 trajectoryDB->createInstants("table");
710 70a3cdf0dbb3 unsucessful acceleration idea Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 679 diff changeset	335 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster
70a3cdf0dbb3 unsucessful acceleration idea Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 679 diff changeset	336 //trajectoryDB->createIndex("velocities","trajectory_id");
221 bc93e87a2108 cleaned and corrected connected components and feature groups Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 219 diff changeset	337
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	338 unsigned int maxTrajectoryLength = 0;
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	339 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	340 if (!success \|\| maxTrajectoryLength == 0) {
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	341 cout << "problem with trajectory length " << success << endl;
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	342 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	343 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	344 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219 841a1714f702 added comments for future development Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	345
191 0e60a306d324 added basic code to identify features and save them (crash) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 189 diff changeset	346 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180 3a4eef37384f method to add features and vertices to graph Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 179 diff changeset	347
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	348 // main loop
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	349 unsigned int frameNum;
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	350 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	351 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	352 firstFrameNum = MAX(firstFrameNum, params.frame1);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	353 if (params.nFrames>0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	354 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	355 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	356 vector<int> trajectoryIds;
231 249d65ff6c35 merged modifications for windows Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 230 228 diff changeset	357 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	358 if (frameNum%100 ==0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	359 cout << "frame " << frameNum << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	360 #if DEBUG
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	361 cout << trajectoryIds.size() << " trajectories " << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	362 #endif
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	363 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
177 ae2286b1a3fd added loading FeatureTrajectory from database, printing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 176 diff changeset	364 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	365 featureGraph.addFeature(ft);
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	366 }
172 e508bb0cbb64 modified comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 169 diff changeset	367
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	368 // check for connected components
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	369 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231 249d65ff6c35 merged modifications for windows Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 230 228 diff changeset	370 if (lastInstant > 0 && frameNum%10==0) {
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	371 featureGraph.connectedComponents(lastInstant);
391 03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	372 vector<vector<FeatureTrajectoryPtr> > featureGroups;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	373 featureGraph.getFeatureGroups(featureGroups);
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	374 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391 03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	375 vector<unsigned int> featureNumbers;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	376 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	377 featureNumbers.push_back(featureGroups[i][j]->getId());
716 85af65b6d531 corrected major bug slowing feature grouping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 710 diff changeset	378 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown type */, 1, string("objects"), string("objects_features"));
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	379 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	380 }
188 1435965d8181 work on connected components Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 186 diff changeset	381 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	382
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	383 if (frameNum%100 ==0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	384 cout << featureGraph.informationString() << endl;
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	385 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	386
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	387 // save remaining objects
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	388 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391 03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	389 vector<vector<FeatureTrajectoryPtr> > featureGroups;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	390 featureGraph.getFeatureGroups(featureGroups);
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	391 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391 03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	392 vector<unsigned int> featureNumbers;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	393 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	394 featureNumbers.push_back(featureGroups[i][j]->getId());
412 97cb5c969ef2 corrected grouping bug (last object type -1) and added script to rescale homographies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	395 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	396 savedObjectId++;
180 3a4eef37384f method to add features and vertices to graph Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 179 diff changeset	397 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	398
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	399 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	400 trajectoryDB->disconnect();
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	401 }
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	402
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	403 void loadingTimes(const KLTFeatureTrackingParameters& params) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	404 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	405 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	406
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	407 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	408 //cout << trajectories.size() << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	409 std::clock_t c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	410 success = trajectoryDB->read(trajectories, "positions");
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	411 std::clock_t c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	412 if (!success)
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	413 cout << "Issue with db reading" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	414 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	415
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	416 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	417 c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	418 for (unsigned int i = 0; i<trajectories.size(); ++i) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	419 success = trajectoryDB->read(trajectory, i, "positions");
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	420 }
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	421 c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	422 cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	423
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	424 trajectoryDB->endTransaction();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	425 trajectoryDB->disconnect();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	426 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	427
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	428 int main(int argc, char *argv[]) {
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	429 KLTFeatureTrackingParameters params(argc, argv);
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	430 cout << params.parameterDescription << endl;
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	431
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	432 if (params.trackFeatures) {
2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	433 cout << "The program tracks features" << endl;
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	434 trackFeatures(params);
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	435 } else if (params.groupFeatures) {
2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	436 cout << "The program groups features" << endl;
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	437 groupFeatures(params);
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	438 } else if (params.loadingTime) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	439 cout << "The program reports loading times" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	440 loadingTimes(params);
542 a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 535 diff changeset	441 } else {
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 535 diff changeset	442 cout << "Main option missing or misspelt" << endl;
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	443 }
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	444
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	445 return 0;
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	446 }
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	447
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	448 /* ------------------ DOCUMENTATION ------------------ */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	449
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	450
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	451 /*! \mainpage
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	452
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	453 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	454
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	455 - \ref feature_based_tracking
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	456
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	457 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	458
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	459 */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	460
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	461 /*! \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	462
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	463 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	464
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	465 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	466
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	467 \section License
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	468
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	469 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	470
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	471 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	472
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	473 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	474
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	475 */

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annotate c/feature-based-tracking.cpp @ 804:17e54690af8a dev