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annotate c/feature-based-tracking.cpp @ 1246:2397de73770d
dltrack saves after projecting coordinates
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 09 Feb 2024 17:47:33 -0500 |
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1 #include "Motion.hpp" |
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2 #include "Parameters.hpp" |
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3 #include "cvutils.hpp" |
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4 #include "utils.hpp" |
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5 |
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6 #include "src/Trajectory.h" |
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7 #include "src/TrajectoryDBAccessList.h" |
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8 #include "src/TrajectoryDBAccessBlob.h" |
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9 |
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10 #include "opencv2/core.hpp" |
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11 #include "opencv2/imgproc.hpp" |
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12 #include "opencv2/video/tracking.hpp" |
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13 #include "opencv2/features2d.hpp" |
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14 #include "opencv2/highgui.hpp" |
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15 #include "opencv2/videoio.hpp" |
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16 #include "opencv2/objdetect.hpp" |
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17 #include "opencv2/calib3d.hpp" |
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19 #include <boost/foreach.hpp> |
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20 #include <boost/filesystem.hpp> |
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21 |
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22 #include <iostream> |
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23 #include <vector> |
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24 #include <ctime> |
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25 #include <cmath> |
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26 #include <memory> |
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27 #include <limits> |
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29 namespace fs = boost::filesystem; // soon std |
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30 |
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31 using namespace std; |
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32 using namespace cv; |
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33 |
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34 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) { |
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35 for (int i = 0; i < (int)matches.size(); i++) |
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36 { |
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37 Point2f pt_new = query[matches[i].queryIdx].pt; |
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38 Point2f pt_old = train[matches[i].trainIdx].pt; |
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39 Point2f dist = pt_new - pt_old; |
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40 if (norm(dist) < 20) { |
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41 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1); |
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42 circle(img, pt_old, 2, Scalar(255, 0, 125), 1); |
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43 } |
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44 } |
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45 } |
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47 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) { |
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48 for (unsigned int i=0; i<status.size(); i++) { |
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49 if (status[i]) { |
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50 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1); |
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51 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1); |
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52 } |
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53 } |
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54 } |
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56 struct FeaturePointMatch { |
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57 FeatureTrajectoryPtr feature; |
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58 int pointNum; |
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59 |
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60 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum): |
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61 feature(_feature), pointNum(_pointNum) {} |
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62 }; |
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63 |
480 | 64 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) { |
65 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName); | |
66 features.clear(); | |
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67 } |
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68 |
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69 void trackFeatures(const KLTFeatureTrackingParameters& params) { |
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70 Mat homography = ::loadMat(::getRelativeFilename(params.parentDirname, params.homographyFilename), " "); |
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71 |
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72 Mat invHomography; |
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73 if (params.display && !homography.empty()) |
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74 invHomography = homography.inv(); |
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75 |
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76 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; |
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77 Size window = Size(params.windowSize, params.windowSize); |
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78 |
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79 int interpolationMethod = -1; |
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80 if (params.interpolationMethod == 0) |
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81 interpolationMethod = INTER_NEAREST; |
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82 else if (params.interpolationMethod == 1) |
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83 interpolationMethod = INTER_LINEAR; |
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84 else if (params.interpolationMethod == 2) |
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85 interpolationMethod = INTER_CUBIC; |
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86 else if (params.interpolationMethod == 3) |
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87 interpolationMethod = INTER_LANCZOS4; |
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88 else |
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89 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl; |
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90 |
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91 // BruteForceMatcher<Hamming> descMatcher; |
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92 // vector<DMatch> matches; |
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93 |
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94 if(params.videoFilename.empty()) { |
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95 cout << "Empty video filename. Exiting." << endl; |
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96 exit(0); |
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97 } |
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98 |
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99 VideoCapture capture(::getRelativeFilename(params.parentDirname, params.videoFilename)); |
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100 if(!capture.isOpened()) { |
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101 cout << "Video filename " << params.videoFilename << " could not be opened (check filename first). Exiting." << endl; |
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102 exit(0); |
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103 } |
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104 |
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105 Size videoSize = Size(capture.get(CAP_PROP_FRAME_WIDTH), capture.get(CAP_PROP_FRAME_HEIGHT)); |
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106 unsigned int nFrames = capture.get(CAP_PROP_FRAME_COUNT); |
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107 if (nFrames <= 0) { |
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108 cout << "Guessing that the number of frames could not be read: " << nFrames << endl; |
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109 nFrames = numeric_limits<int>::max(); |
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110 cout << "Setting arbitrarily high number for testing: " << nFrames << endl; |
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111 } |
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112 |
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113 cout << "Video " << params.videoFilename << |
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114 ": width=" << videoSize.width << |
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115 ", height=" << videoSize.height << |
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116 ", nframes=" << nFrames << endl; |
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117 |
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118 Mat map1, map2; |
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119 Mat intrinsicCameraMatrix, newIntrinsicCameraMatrix; |
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120 if (params.undistort) { |
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121 intrinsicCameraMatrix = ::loadMat(::getRelativeFilename(params.parentDirname, params.intrinsicCameraFilename), " "); |
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122 Size undistortedVideoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication))); |
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123 newIntrinsicCameraMatrix = getDefaultNewCameraMatrix(intrinsicCameraMatrix, undistortedVideoSize, true);// for some reason, it's double type //getOptimalNewCameraMatrix(intrinsicCameraMatrix, params.distortionCoefficients, videoSize, 1, undistortedVideoSize);//, 0, true); |
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124 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1) /* 0 ?*/, newIntrinsicCameraMatrix, undistortedVideoSize, CV_32FC1, map1, map2); |
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125 |
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126 cout << "Undistorted width=" << undistortedVideoSize.width << |
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127 ", height=" << undistortedVideoSize.height << endl; |
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128 } |
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129 |
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130 Mat mask = imread(::getRelativeFilename(params.parentDirname, params.maskFilename), 0); |
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131 if (mask.empty()) { |
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132 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl; |
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133 mask = Mat::ones(videoSize, CV_8UC1); |
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134 } |
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135 |
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136 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>()); |
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137 trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str()); |
142
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138 trajectoryDB->createTable("positions"); |
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139 trajectoryDB->createTable("velocities"); |
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140 trajectoryDB->beginTransaction(); |
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141 |
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142 std::vector<Point2f> prevPts, currPts, newPts, undistortedPts; // all points but undistortedPts are in image space |
230
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143 std::vector<uchar> status; |
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144 std::vector<float> errors; |
127
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145 Mat prevDesc, currDesc; |
128
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146 |
230
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147 std::vector<FeatureTrajectoryPtr> lostFeatures; |
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148 std::vector<FeaturePointMatch> featurePointMatches; |
163
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diff
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149 |
133
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150 int key = '?'; |
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151 unsigned int savedFeatureId=0; |
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152 Mat frame, currentFrameBW, previousFrameBW, displayFrame; // = Mat::zeros(1, 1, CV_8UC1) |
227
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153 |
278
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154 unsigned int lastFrameNum = nFrames; |
228
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155 if (params.nFrames > 0) |
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156 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames); |
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157 |
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158 capture.set(CAP_PROP_POS_FRAMES, params.frame1); |
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159 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) { |
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160 capture >> frame; |
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161 if (frame.empty()) { |
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162 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl; |
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163 break; |
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164 } else if (!params.quiet && (frameNum%50 ==0)) |
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165 cout << "frame " << frameNum << endl; |
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166 |
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167 cvtColor(frame, currentFrameBW, COLOR_RGB2GRAY); |
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168 |
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169 if (!prevPts.empty()) { |
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170 currPts.clear(); |
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171 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold); |
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172 /// \todo try calcOpticalFlowFarneback |
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173 |
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174 if (params.undistort) |
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175 undistortPoints(currPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients); |
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176 else |
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177 undistortedPts =currPts; |
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178 |
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179 std::vector<Point2f> trackedPts; |
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180 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin(); |
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181 while (iter != featurePointMatches.end()) { |
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182 bool deleteFeature = false; |
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183 |
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184 int currPtX = static_cast<int>(floor(currPts[iter->pointNum].x)); |
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185 int currPtY = static_cast<int>(floor(currPts[iter->pointNum].y)); |
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186 if ((status[iter->pointNum] =! 0) && |
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187 (currPtX >= 0) && (currPtX < videoSize.width) && |
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188 (currPtY >= 0) && (currPtY < videoSize.height) && |
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189 (mask.at<uchar>(currPtY, currPtX) != 0)) { |
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190 iter->feature->addPoint(frameNum, undistortedPts[iter->pointNum], homography); |
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191 |
655
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192 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement) |
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193 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound); |
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194 if (deleteFeature) |
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195 iter->feature->shorten(); |
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196 } else |
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197 deleteFeature = true; |
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198 |
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199 if (deleteFeature) { |
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200 if (iter->feature->length() >= params.minFeatureTime) { |
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201 iter->feature->setId(savedFeatureId); |
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202 savedFeatureId++; |
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203 iter->feature->movingAverage(params.nFramesSmoothing); |
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204 lostFeatures.push_back(iter->feature); |
138
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205 } |
655
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206 iter = featurePointMatches.erase(iter); |
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207 } else { |
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208 trackedPts.push_back(currPts[iter->pointNum]); |
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209 iter->pointNum = trackedPts.size()-1; |
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210 iter++; |
139
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cleaned code, added condition on smooth displacement
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parents:
138
diff
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211 } |
125
28907fde9855
work on klt tracker (problem on computer at poly)
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diff
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|
212 } |
655
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|
213 currPts = trackedPts; |
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214 assert(currPts.size() == featurePointMatches.size()); |
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215 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities"); |
933
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216 |
655
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217 if (params.display) { |
924
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|
218 if (params.undistort) |
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219 remap(frame, displayFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.); |
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220 else |
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|
221 displayFrame = frame.clone(); |
655
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222 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches) |
933
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diff
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223 fp.feature->draw(displayFrame, invHomography, newIntrinsicCameraMatrix, Colors::red()); |
655
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224 } |
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225 } |
800
2cade72d75ad
modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
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diff
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226 |
655
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227 // adding new features, using mask around existing feature positions |
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228 Mat featureMask = mask.clone(); |
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229 for (unsigned int n=0;n<currPts.size(); n++) |
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230 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++) |
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231 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++) |
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232 featureMask.at<uchar>(i,j)=0; |
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233 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k); |
1119
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corrected bug for empty new points in array for undistortPoints
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234 if (params.undistort && newPts.size() > 0) |
933
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diff
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235 undistortPoints(newPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients); |
926
dbd81710d515
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236 else |
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237 undistortedPts = newPts; |
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238 |
924
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239 for (unsigned int i=0; i<newPts.size(); i++) { |
1119
164dab203037
corrected bug for empty new points in array for undistortPoints
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diff
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|
240 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, undistortedPts[i], homography)); |
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241 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size())); |
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|
242 currPts.push_back(newPts[i]); |
655
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diff
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243 } |
926
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diff
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|
244 |
924
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diff
changeset
|
245 if (params.display && !displayFrame.empty()) { |
655
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff
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|
246 imshow("mask", featureMask*256); |
924
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diff
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|
247 imshow("frame", displayFrame); |
655
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diff
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|
248 key = waitKey(2); |
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249 } |
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diff
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|
250 previousFrameBW = currentFrameBW.clone(); |
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diff
changeset
|
251 prevPts = currPts; |
480 | 252 } |
253 | |
254 // save the remaining currently tracked features | |
255 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin(); | |
256 while (iter != featurePointMatches.end()) { | |
257 if (iter->feature->length() >= params.minFeatureTime) { | |
258 iter->feature->setId(savedFeatureId); | |
259 savedFeatureId++; | |
481
b6ad86ee7033
implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
480
diff
changeset
|
260 iter->feature->movingAverage(params.nFramesSmoothing); |
b6ad86ee7033
implemented smoothing (requires latest trajectory management library version)
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parents:
480
diff
changeset
|
261 iter->feature->write(*trajectoryDB, "positions", "velocities"); |
480 | 262 } |
263 iter++; | |
264 } | |
121
c4d4b5b93add
copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
265 |
142
a3532db00c28
added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
141
diff
changeset
|
266 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
|
267 trajectoryDB->disconnect(); |
164
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
268 } |
76610dcf3b8d
added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
269 |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
270 void groupFeatures(const KLTFeatureTrackingParameters& params) { |
654
045d05cef9d0
updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
542
diff
changeset
|
271 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); |
1002
6c5ce3ec497e
improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
933
diff
changeset
|
272 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str()); |
202
b0b964ba9489
added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
194
diff
changeset
|
273 trajectoryDB->createObjectTable("objects", "objects_features"); |
b0b964ba9489
added early saving of objects
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parents:
194
diff
changeset
|
274 unsigned int savedObjectId=0; |
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added early saving of objects
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194
diff
changeset
|
275 |
225
d4d3b1e8a9f1
added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
222
diff
changeset
|
276 trajectoryDB->createInstants("table"); |
710
70a3cdf0dbb3
unsucessful acceleration idea
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parents:
679
diff
changeset
|
277 //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
|
278 //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
|
279 |
225
d4d3b1e8a9f1
added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
222
diff
changeset
|
280 unsigned int maxTrajectoryLength = 0; |
d4d3b1e8a9f1
added code to process only needed frames based on saved features
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parents:
222
diff
changeset
|
281 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
|
282 if (!success || maxTrajectoryLength == 0) { |
d4d3b1e8a9f1
added code to process only needed frames based on saved features
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parents:
222
diff
changeset
|
283 cout << "problem with trajectory length " << success << endl; |
d4d3b1e8a9f1
added code to process only needed frames based on saved features
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parents:
222
diff
changeset
|
284 exit(0); |
d4d3b1e8a9f1
added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
222
diff
changeset
|
285 } |
222
426321b46e44
temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
221
diff
changeset
|
286 cout << "Longest trajectory: " << maxTrajectoryLength << endl; |
219
841a1714f702
added comments for future development
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
207
diff
changeset
|
287 |
191
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
189
diff
changeset
|
288 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
|
289 |
169
5f705809d37a
created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
168
diff
changeset
|
290 // main loop |
227
b7612c6d5702
cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
225
diff
changeset
|
291 unsigned int frameNum; |
b7612c6d5702
cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
225
diff
changeset
|
292 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
|
293 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum); |
d4d3b1e8a9f1
added code to process only needed frames based on saved features
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parents:
222
diff
changeset
|
294 firstFrameNum = MAX(firstFrameNum, params.frame1); |
d4d3b1e8a9f1
added code to process only needed frames based on saved features
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parents:
222
diff
changeset
|
295 if (params.nFrames>0) |
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added code to process only needed frames based on saved features
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parents:
222
diff
changeset
|
296 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames); |
d4d3b1e8a9f1
added code to process only needed frames based on saved features
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parents:
222
diff
changeset
|
297 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) { |
174
ec9734015d53
tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
172
diff
changeset
|
298 vector<int> trajectoryIds; |
231
249d65ff6c35
merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
299 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum); |
1020
9fb82fe0156f
added quiet tracking mode
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
1002
diff
changeset
|
300 if (!params.quiet && (frameNum%100 ==0)) |
225
d4d3b1e8a9f1
added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
222
diff
changeset
|
301 cout << "frame " << frameNum << endl; |
222
426321b46e44
temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
221
diff
changeset
|
302 #if DEBUG |
174
ec9734015d53
tested loading trajectory by id numbers
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parents:
172
diff
changeset
|
303 cout << trajectoryIds.size() << " trajectories " << endl; |
222
426321b46e44
temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
221
diff
changeset
|
304 #endif |
174
ec9734015d53
tested loading trajectory by id numbers
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parents:
172
diff
changeset
|
305 BOOST_FOREACH(int trajectoryId, trajectoryIds) { |
177
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
306 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
|
307 featureGraph.addFeature(ft); |
174
ec9734015d53
tested loading trajectory by id numbers
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parents:
172
diff
changeset
|
308 } |
172
e508bb0cbb64
modified comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
169
diff
changeset
|
309 |
222
426321b46e44
temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
221
diff
changeset
|
310 // 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
|
311 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength; |
231
249d65ff6c35
merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
diff
changeset
|
312 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
|
313 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
|
314 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
|
315 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
|
316 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
|
317 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
|
318 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
|
319 featureNumbers.push_back(featureGroups[i][j]->getId()); |
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320 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown type */, 1, string("objects"), string("objects_features")); |
225
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321 savedObjectId++; |
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322 } |
188
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323 } |
222
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324 |
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325 if (!params.quiet && (frameNum%100 ==0)) |
225
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326 cout << featureGraph.informationString() << endl; |
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327 } |
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328 |
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329 // save remaining objects |
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330 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1); |
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331 vector<vector<FeatureTrajectoryPtr> > featureGroups; |
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332 featureGraph.getFeatureGroups(featureGroups); |
225
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333 for (unsigned int i=0; i<featureGroups.size(); ++i) { |
391
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334 vector<unsigned int> featureNumbers; |
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335 for (unsigned int j=0; j<featureGroups[i].size(); ++j) |
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336 featureNumbers.push_back(featureGroups[i][j]->getId()); |
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337 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features")); |
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338 savedObjectId++; |
180
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339 } |
169
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340 |
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341 trajectoryDB->endTransaction(); |
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342 trajectoryDB->disconnect(); |
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343 } |
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344 |
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345 void loadingTimes(const KLTFeatureTrackingParameters& params) { |
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346 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); |
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347 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str()); |
654
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348 |
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349 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories; |
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350 //cout << trajectories.size() << endl; |
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351 std::clock_t c_start = std::clock(); |
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352 success = trajectoryDB->read(trajectories, "positions"); |
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353 std::clock_t c_end = std::clock(); |
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354 if (!success) |
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355 cout << "Issue with db reading" << endl; |
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356 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl; |
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357 |
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358 std::shared_ptr<Trajectory<cv::Point2f> > trajectory; |
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359 c_start = std::clock(); |
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360 for (unsigned int i = 0; i<trajectories.size(); ++i) { |
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361 success = trajectoryDB->read(trajectory, i, "positions"); |
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362 } |
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363 c_end = std::clock(); |
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364 cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl; |
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365 |
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366 trajectoryDB->endTransaction(); |
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367 trajectoryDB->disconnect(); |
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368 } |
169
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369 |
164
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370 int main(int argc, char *argv[]) { |
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371 KLTFeatureTrackingParameters params(argc, argv); |
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372 cout << params.parameterDescription << endl; |
654
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373 |
234
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374 if (params.trackFeatures) { |
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375 cout << "The program tracks features" << endl; |
164
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376 trackFeatures(params); |
234
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377 } else if (params.groupFeatures) { |
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378 cout << "The program groups features" << endl; |
169
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379 groupFeatures(params); |
654
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380 } else if (params.loadingTime) { |
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381 cout << "The program reports loading times" << endl; |
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382 loadingTimes(params); |
542
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383 } else { |
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384 cout << "Main option missing or misspelt" << endl; |
234
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385 } |
164
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386 |
117
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387 return 0; |
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388 } |
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389 |
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390 /* ------------------ DOCUMENTATION ------------------ */ |
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391 |
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392 |
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393 /*! \mainpage |
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394 |
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395 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are: |
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396 |
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397 - \ref feature_based_tracking |
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398 |
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399 The code is partially self-described using the doxygen tool and comment formatting. The documentation can be extracted using doxygen, typing \c doxygen in the main directory (or <tt>make doc</tt> on a system with the Makefile tool installed). |
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400 |
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401 */ |
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402 |
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403 /*! \page feature_based_tracking Feature-based Tracking: User Manual |
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404 |
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405 This document describes a software tool for object tracking in video data, developed for road traffic monitoring and safety diagnosis. It is part of a larger collection of software tools for transportation called Traffic Intelligence. |
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406 |
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407 The tool relies on feature-based tracking, a robust object tracking methods, particularly suited for the extraction of traffic data such as trajectories and speeds. The best description of this method is given in <a href="http://nicolas.saunier.confins.net/data/saunier06crv.html">this paper</a>. The program has a command line interface and this document will shortly explain how to use the tool. Keep in mind this is a work in progress and major changes are continuously being made. |
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408 |
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409 \section License |
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410 |
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411 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license). |
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412 |
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413 If you make use of this piece of software, please cite one of my paper, e.g. N. Saunier, T. Sayed and K. Ismail. Large Scale Automated Analysis of Vehicle Interactions and Collisions. Transportation Research Record: Journal of the Transportation Research Board, 2147:42-50, 2010. I would be very happy in any case to know about any use of the code, and to discuss any opportunity for collaboration. |
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414 |
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415 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net. |
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416 |
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417 */ |