Mercurial Hosting > traffic-intelligence

annotate c/feature-based-tracking.cpp @ 124:1e68e18b1aa5

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
renaming and working on klt
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 16 Aug 2011 12:31:22 -0400
parents df3bdd8e50ba
children 28907fde9855
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
1 //#include "Feature.hpp"
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
2 #include "Parameters.hpp"
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
3 #include "utils.hpp"
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
4
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
5 #include "src/Trajectory.h"
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
6
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
7 #include "opencv2/highgui/highgui.hpp"
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
8 //#include "opencv2/imgproc/imgproc.hpp"
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
9 #include "opencv2/features2d/features2d.hpp"
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
10
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
11 #include <iostream>
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
12 //#include <list>
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
13 #include <vector>
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
14
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
15 using namespace std;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
16 using namespace cv;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
17
119
45a426552aaa compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 117
diff changeset
18 //#include "cv.h"
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
19
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
20 using namespace std;
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
21
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
22 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
23 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
24 {
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
25 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
26 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
27 Point2f dist = pt_new - pt_old;
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
28 if (norm(dist) < 20) {
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
29 cv::line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
30 cv::circle(img, pt_new, 2, Scalar(255, 0, 125), 1);
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
31 }
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 }
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
34
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
35 int main(int argc, char *argv[]) {
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
36 vector<TrajectoryPoint2f> features;
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
37 BriefDescriptorExtractor brief(32);
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
38
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
39 VideoCapture capture;
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
40
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
41 Mat frame, display;
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
42 KLTFeatureTrackingParameters params;
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
43 params.frame1 = 0;
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
44 params.nFrames = -1;
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
45 // TODO ajouter klt paremeters, reprendre code de
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
46 // GoodFeaturesToTrackDetector feature_detector(Params.max_nfeatures, Params.feature_quality, Params.min_feature_distance_klt, Params.window_size, Params.useHarrisDetector_GoodFeaturesToTrackDetector, Params.k_GoodFeaturesToTrackDetector);
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
47 // search descriptor_match.h
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
48
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
49 if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
50 capture.open(argc == 2 ? argv[1][0] - '0' : 0);
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
51 else if( argc >= 2 )
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
52 {
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
53 capture.open(argv[1]);
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
54 if( capture.isOpened() )
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
55 cout << "Video " << argv[1] <<
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
56 ": width=" << capture.get(CV_CAP_PROP_FRAME_WIDTH) <<
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
57 ", height=" << capture.get(CV_CAP_PROP_FRAME_HEIGHT) <<
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
58 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
59 if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt)
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
60 {
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
61 sscanf(argv[2], "%d", &params.frame1);
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
62 cout << "seeking to frame #" << params.frame1 << endl;
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
63 //cap.set(CV_CAP_PROP_POS_FRAMES, pos);
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
64 for (int i=0; i<params.frame1; i++)
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
65 capture >> frame;
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
66 }
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
67 }
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
68
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
69 // capture.open(atoi(argv[1]));
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
70 if (!capture.isOpened())
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
71 {
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
72 //help(argv);
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
73 cout << "capture device " << argv[1] << " failed to open!" << endl;
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
74 return 1;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
75 }
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
76
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
77 vector<DMatch> matches;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
78
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
79 BruteForceMatcher<Hamming> desc_matcher;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
80
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
81 vector<KeyPoint> prevKpts, currKpts;
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
82 vector<unsigned char> match_mask;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
83
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
84 Mat gray;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
85
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
86 Mat prevDesc, currDesc;
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
87 const int DESIRED_FTRS = 500;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
88 GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
89
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
90 // TODO structure de donnee paires pointeur trajectory, numero de keypoint
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
91
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
92 for (int frameNum = 0; (params.frame1+frameNum < params.nFrames) || (params.nFrames < 0); frameNum++) {
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
93 frameNum++;
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
94 //capture.set(CV_CAP_PROP_POS_FRAMES, frameNum);
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
95 //capture.grab();capture.grab();capture.retrieve(frame);
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
96 capture >> frame;
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
97 //cout << capture.get(CV_CAP_PROP_POS_FRAMES) << endl;
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
98 while (frame.empty())
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
99 capture >> frame;//break;
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
100
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
101 cvtColor(frame, gray, CV_RGB2GRAY);
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
102
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
103 detector.detect(gray, currKpts);
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
104 //cout << currKpts.size() << " kpts" << endl;
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
105
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
106 brief.compute(gray, currKpts, currDesc); //Compute brief descriptors at each keypoint location
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
107
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
108 //display = frame.clone();
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
109 if (!prevKpts.empty())
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
110 {
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
111 desc_matcher.match(currDesc, prevDesc, matches);
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
112 cout << "matches:" << matches.size() << endl;
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
113 drawMatchesRelative(prevKpts, currKpts, matches, frame);
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
114 //drawMatches(frame, prevKpts, frame, currKpts, matches, display);//, Scalar::all(-1), Scalar::all(-1), vector<vector<char> >(), DrawMatchesFlags::DRAW_OVER_OUTIMG);
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
115 }
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
116
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
117 imshow("frame", frame);
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
118 prevKpts = currKpts;
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
119 currDesc.copyTo(prevDesc);
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
120 int key = waitKey(0);
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
121 if (::interruptionKey(key))
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
122 break;
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
123 }
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
124
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
125 return 0;
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
126 }
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
127
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
128
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
129 /* ------------------ DOCUMENTATION ------------------ */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
130
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
131
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
132 /*! \mainpage
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
133
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
134 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
135
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
136 - \ref feature_based_tracking
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
137
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
138 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
139
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
140 */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
141
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
142 /*! \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
143
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
144 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
145
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
146 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
147
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
148 \section License
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
149
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
150 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
151
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
152 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
153
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
154 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
155
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
156 */