Mercurial Hosting > traffic-intelligence

annotate c/feature-based-tracking.cpp @ 234:2d34060db2e9

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
removed included code that put track feature option always to true
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 05 Jul 2012 23:01:36 -0400
parents 249d65ff6c35
children f21ef87f98f1
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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"
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
16
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
17 #include <boost/shared_ptr.hpp>
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>
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
23
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
24 using namespace std;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
25 using namespace cv;
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
26
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
27 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
28 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
29 {
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
30 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
31 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
32 Point2f dist = pt_new - pt_old;
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
33 if (norm(dist) < 20) {
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
34 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
35 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
36 }
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
37 }
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
38 }
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
39
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
40 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
41 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
42 if (status[i]) {
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
43 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
44 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
45 }
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
46 }
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
47 }
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
48
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
49 struct FeaturePointMatch {
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
50 FeatureTrajectoryPtr feature;
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
51 int pointNum;
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
52
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
53 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
54 feature(_feature), pointNum(_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
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
57 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
58 /// \todo smoothing
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
59 if (features.size() >= minNFeatures) {
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
60 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
61 features.clear();
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
62 }
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
63 }
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) {
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
66 // BriefDescriptorExtractor brief(32);
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
67 // const int DESIRED_FTRS = 500;
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
68 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
69
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
70 Mat homography = ::loadMat(params.homographyFilename, " ");
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
71 Mat invHomography;
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
72 if (params.display && !homography.empty())
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
73 invHomography = homography.inv();
144
b32947b002da added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 142
diff changeset
74
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 136
diff changeset
75 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
76 Size window = Size(params.windowSize, params.windowSize);
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
77
207
48f83ff769fd removed unused code that has changed in OpenCV 2.4
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 202
diff changeset
78 // BruteForceMatcher<Hamming> descMatcher;
48f83ff769fd removed unused code that has changed in OpenCV 2.4
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 202
diff changeset
79 // vector<DMatch> matches;
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
80
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
81 VideoCapture capture;
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
82 Size videoSize;
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
83 unsigned int nFrames = 0;
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 136
diff changeset
84 capture.open(params.videoFilename);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
85 if(capture.isOpened()) {
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
86 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
87 nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
145
7bf8084e720f removed bug with loadMat and added diagnosis code for empty frames
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 144
diff changeset
88 cout << "Video " << params.videoFilename <<
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
89 ": width=" << videoSize.width <<
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
90 ", height=" << videoSize.height <<
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
91 ", nframes=" << nFrames << endl;
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
92 } else {
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
93 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
94 exit(0);
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
95 }
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
96 // if (!capture.isOpened())
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
97 // {
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
98 // //help(argv);
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
99 // cout << "capture device " << argv[1] << " failed to open!" << endl;
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
100 // return 1;
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
101 // }
144
b32947b002da added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 142
diff changeset
102
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
103 Mat mask = imread(params.maskFilename, 0);
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
104 if (mask.empty())
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
105 mask = Mat::ones(videoSize, CV_8UC1);
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
106
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
107 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
108 //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
109 trajectoryDB->connect(params.databaseFilename.c_str());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
110 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
111 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
112 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
113
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
114 std::vector<KeyPoint> prevKpts, currKpts;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
115 std::vector<Point2f> prevPts, currPts, newPts;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
116 std::vector<uchar> status;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
117 std::vector<float> errors;
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
118 Mat prevDesc, currDesc;
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
119
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
120 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
121 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
122
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
123 HOGDescriptor hog;
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
124 hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
125
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
126 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
127 unsigned int savedFeatureId=0;
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
128 Mat frame, currentFrameBW, previousFrameBW;
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
129
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
130 unsigned int lastFrameNum = params.frame1+nFrames;
23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 227
diff changeset
131 if (params.nFrames > 0)
23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 227
diff changeset
132 lastFrameNum = MIN(params.frame1+params.nFrames, nFrames);
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
133
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
134 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
135 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
136 capture >> frame;
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
137 if (frameNum%50 ==0)
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
138 cout << "frame " << frameNum << endl;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
139 //capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
140
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
141 // int emptyFrameNum = 0;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
142 // while (frame.empty()) {
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
143 // cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
144 // capture >> frame;//break;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
145 // emptyFrameNum++;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
146 // if (emptyFrameNum>=3000)
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
147 // exit(0);
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
148 // }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
149
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
150 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
2a6e7a9a5c53 changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 128
diff changeset
151 // "normal" feature detectors: detect features here
2a6e7a9a5c53 changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 128
diff changeset
152 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
153
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
154 if (!prevPts.empty()) {
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
155 //::keyPoints2Points(prevKpts, prevPts);
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
156 currPts.clear();
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 136
diff changeset
157 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), 0.5 /* unused */, 0); // OPTFLOW_USE_INITIAL_FLOW
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
158 /// \todo try calcOpticalFlowFarneback
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
159
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
160 std::vector<Point2f> trackedPts;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
161 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
162 while (iter != featurePointMatches.end()) {
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
163 bool deleteFeature = false;
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
164
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
165 if (status[iter->pointNum]) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
166 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
167
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 175
diff changeset
168 deleteFeature |= iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 175
diff changeset
169 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
170 if (deleteFeature)
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
171 iter->feature->shorten();
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
172 } else
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
173 deleteFeature = true;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
174
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
175 if (deleteFeature) {
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
176 if (iter->feature->length() >= params.minFeatureTime) {
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
177 iter->feature->setId(savedFeatureId);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
178 savedFeatureId++;
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
179 lostFeatures.push_back(iter->feature);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
180 }
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
181 iter = featurePointMatches.erase(iter);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
182 } else {
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
183 trackedPts.push_back(currPts[iter->pointNum]);
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
184 iter->pointNum = trackedPts.size()-1;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
185 iter++;
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
186 }
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
187 }
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
188 currPts = trackedPts;
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
189 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
190 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
191
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
192 if (params.display) {
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
193 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
194 fp.feature->draw(frame, invHomography, Colors::red());
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
195 // object detection
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
196 // vector<Rect> locations;
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
197 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
198 // BOOST_FOREACH(Rect r, locations)
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
199 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
200 }
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
201 //drawOpticalFlow(prevPts, currPts, status, frame);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
202
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
203 // cout << matches.size() << " matches" << endl;
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
204 // descMatcher.match(currDesc, prevDesc, matches);
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
205 // cout << matches.size() << " matches" << endl;
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
206 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
207 }
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
208
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
209 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
210 Mat featureMask = mask.clone();
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
211 for (unsigned int n=0;n<currPts.size(); n++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
212 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
213 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
214 featureMask.at<uchar>(i,j)=0;
130
2a6e7a9a5c53 changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 128
diff changeset
215 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
216 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
217 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
218 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
219 currPts.push_back(p);
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
220 }
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
221 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
2a6e7a9a5c53 changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 128
diff changeset
222 //::keyPoints2Points(currKpts, currPts, false);
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
223
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
224 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
225
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
226 if (params.display) {
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
227 imshow("frame", frame);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
228 imshow("mask", featureMask*256);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
229 key = waitKey(2);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
230 }
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
231 previousFrameBW = currentFrameBW.clone();
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
232 prevPts = currPts;
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
233 //prevKpts = currKpts;
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
234 //currDesc.copyTo(prevDesc);
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
235 }
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
236
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
237 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
238 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
239 }
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
240
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
241 void groupFeatures(const KLTFeatureTrackingParameters& params) {
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
242 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
243 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
244 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
245 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
246 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
247
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
248 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
249 // cout << trajectories.size() << endl;
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
250 // std::clock_t c_start = std::clock();
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
251 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
252 // std::clock_t c_end = std::clock();
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
253 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
254
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
255 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
256 // c_start = std::clock();
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
257 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
258 // success = trajectoryDB->read(trajectory, i, "positions");
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
259 // }
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
260 // c_end = std::clock();
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
261 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
262
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
263 trajectoryDB->createInstants("table");
221
bc93e87a2108 cleaned and corrected connected components and feature groups
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 219
diff changeset
264
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
265 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
266 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
267 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
268 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
269 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
270 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
271 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
272
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 189
diff changeset
273 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
274
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
275 // main loop
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
276 unsigned int frameNum;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
277 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
278 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
279 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
280 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
281 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
282 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
283 vector<int> trajectoryIds;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
284 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
285 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
286 cout << "frame " << frameNum << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
287 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
288 #if DEBUG
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
289 cout << trajectoryIds.size() << " trajectories " << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
290 #endif
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
291 // vector<TrajectoryPoint2fPtr> positions, velocities;
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
292 // trajectoryDB->read(positions, trajectoryIds, "positions");
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
293 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
294 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
295 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
296 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
297 //cout << trajectoryId << " " << endl;
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
298 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
299 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
300 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
301 // stringstream ss;ss << *ft; cout << ss.str() << endl;
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
302 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
303 featureGraph.addFeature(ft);
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
304 }
172
e508bb0cbb64 modified comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 169
diff changeset
305
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
306 // 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
307 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
308 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
309 featureGraph.connectedComponents(lastInstant);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
310 vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups();
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
311 for (unsigned int i=0; i<featureGroups.size(); ++i) {
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
312 trajectoryDB->writeObject(savedObjectId, featureGroups[i], -1, 1, string("objects"), string("objects_features"));
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
313 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
314 }
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
315 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
316
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
317 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
318 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
319 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
320
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
321 // 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
322 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
323 vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups();
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
324 for (unsigned int i=0; i<featureGroups.size(); ++i) {
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
325 trajectoryDB->writeObject(savedObjectId, featureGroups[i], -1, 1, string("objects"), string("objects_features"));
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
326 savedObjectId++;
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
327 }
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
328
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
329 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
330 trajectoryDB->disconnect();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
331 }
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
332
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
333 int main(int argc, char *argv[]) {
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
334 KLTFeatureTrackingParameters params(argc, argv);
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
335 cout << params.parameterDescription << endl;
234
2d34060db2e9 removed included code that put track feature option always to true
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 231
diff changeset
336
2d34060db2e9 removed included code that put track feature option always to true
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 231
diff changeset
337 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
338 cout << "The program tracks features" << endl;
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
339 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
340 } 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
341 cout << "The program groups features" << endl;
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
342 groupFeatures(params);
234
2d34060db2e9 removed included code that put track feature option always to true
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 231
diff changeset
343 }
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
344
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
345 return 0;
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
346 }
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
347
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
348 /* ------------------ DOCUMENTATION ------------------ */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
349
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
350
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
351 /*! \mainpage
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
352
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
353 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
354
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
355 - \ref feature_based_tracking
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
356
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
357 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
358
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
359 */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
360
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
361 /*! \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
362
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
363 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
364
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
365 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
366
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
367 \section License
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
368
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
369 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
370
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
371 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
372
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
373 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
374
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
375 */