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

annotate c/feature-based-tracking.cpp @ 655:39fa1c998b29

removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Thu, 07 May 2015 16:30:58 +0200
parents	045d05cef9d0
children	576d9ea4b41a

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
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	17 #include <boost/foreach.hpp>
125 28907fde9855 work on klt tracker (problem on computer at poly) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 124 diff changeset	18
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	19 #include <iostream>
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	20 #include <vector>
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	21 #include <ctime>
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	22 #include <cmath>
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	23 #include <memory>
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	24
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	25 using namespace std;
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	26 using namespace cv;
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	27
123 df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	28 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	29 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	30 {
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	31 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	32 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	33 Point2f dist = pt_new - pt_old;
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	34 if (norm(dist) < 20) {
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	35 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	36 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	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 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	40
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	41 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	42 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	43 if (status[i]) {
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	44 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	45 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	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 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	49
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	50 struct FeaturePointMatch {
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	51 FeatureTrajectoryPtr feature;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	52 int pointNum;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	53
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	54 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	55 feature(_feature), pointNum(_pointNum) {}
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	56 };
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	57
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	58 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	59 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	60 features.clear();
140 8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	61 }
8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	62
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	63 void trackFeatures(const KLTFeatureTrackingParameters& params) {
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	64 // BriefDescriptorExtractor brief(32);
ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	65 // const int DESIRED_FTRS = 500;
ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	66 // 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	67
147 0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	68 Mat homography = ::loadMat(params.homographyFilename, " ");
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	69 Mat invHomography;
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	70 if (params.display && !homography.empty())
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	71 invHomography = homography.inv();
144 b32947b002da added the code to read matrices from text files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 142 diff changeset	72
137 445e773c9be3 created the parameter structure to parse parameters (bug remaining) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 136 diff changeset	73 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	74 Size window = Size(params.windowSize, params.windowSize);
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	75
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	76 int interpolationMethod = -1;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	77 if (params.interpolationMethod == 0)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	78 interpolationMethod = INTER_NEAREST;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	79 else if (params.interpolationMethod == 1)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	80 interpolationMethod = INTER_LINEAR;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	81 else if (params.interpolationMethod == 2)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	82 interpolationMethod = INTER_CUBIC;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	83 else if (params.interpolationMethod == 3)
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	84 interpolationMethod = INTER_LANCZOS4;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	85 else
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	86 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	87
207 48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	88 // BruteForceMatcher<Hamming> descMatcher;
48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	89 // vector<DMatch> matches;
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	90
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	91 if(params.videoFilename.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	92 cout << "Empty video filename. Exiting." << endl;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	93 exit(0);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	94 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	95
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	96 VideoCapture capture(params.videoFilename);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	97 if(!capture.isOpened()) {
400 7ef1071e3cc3 clean up of input classes for list of images and video files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 399 diff changeset	98 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
7ef1071e3cc3 clean up of input classes for list of images and video files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 399 diff changeset	99 exit(0);
138 c1b260b48d2a corrected initialization bugs and feature shortening before saving Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 137 diff changeset	100 }
399 c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	101
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	102 Size videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	103 unsigned int nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
399 c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	104 cout << "Video " << params.videoFilename <<
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	105 ": width=" << videoSize.width <<
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	106 ", height=" << videoSize.height <<
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	107 ", nframes=" << nFrames << endl;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	108
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	109 Mat map1, map2;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	110 if (params.undistort) {
535 5ad2f51ae42f cleaning up initialization of intrinsic matrix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 534 diff changeset	111 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
5ad2f51ae42f cleaning up initialization of intrinsic matrix Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 534 diff changeset	112 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	113 videoSize = Size(static_cast<int>(round(videoSize.widthparams.undistortedImageMultiplication)), static_cast<int>(round(videoSize.heightparams.undistortedImageMultiplication)));
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	114 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	115 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	116 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	117
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	118 cout << "Undistorted width=" << videoSize.width <<
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	119 ", height=" << videoSize.height << endl;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	120 }
399 c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	121
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	122 Mat mask = imread(params.maskFilename, 0);
363 68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	123 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	124 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
509 935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 507 diff changeset	125 mask = Mat::ones(videoSize, CV_8UC1);
363 68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	126 }
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	127
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	128 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136 0f790de9437e renamed Feature to Motion files and added code to test blob db Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 135 diff changeset	129 //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	130 trajectoryDB->connect(params.databaseFilename.c_str());
142 a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	131 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	132 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	133 trajectoryDB->beginTransaction();
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	134
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	135 std::vector<KeyPoint> prevKpts, currKpts;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	136 std::vector<Point2f> prevPts, currPts, newPts;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	137 std::vector<uchar> status;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	138 std::vector<float> errors;
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	139 Mat prevDesc, currDesc;
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	140
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	141 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	142 std::vector<FeaturePointMatch> featurePointMatches;
163 cde87a07eb58 added graph structures Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	143
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	144 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	145 unsigned int savedFeatureId=0;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	146 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame;
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	147
278 f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 234 diff changeset	148 unsigned int lastFrameNum = nFrames;
228 23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 227 diff changeset	149 if (params.nFrames > 0)
278 f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 234 diff changeset	150 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
495 82c06ad62254 added parameter description with ranges Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 481 diff changeset	151
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	152 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	153 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	154 capture >> frame;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	155 if (frame.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	156 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	157 break;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	158 } else if (frameNum%50 ==0)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	159 cout << "frame " << frameNum << endl;
532 018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 509 diff changeset	160
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	161 if (params.undistort) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	162 remap(frame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	163 frame = undistortedFrame;
534 d0419b1267dd fixing size issue when testing frames in main loop Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 533 diff changeset	164
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	165 if (frame.size() != videoSize) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	166 cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl;
534 d0419b1267dd fixing size issue when testing frames in main loop Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 533 diff changeset	167 break;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	168 }
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	169 }
278 f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 234 diff changeset	170
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	171
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	172 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	173
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	174 if (!prevPts.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	175 currPts.clear();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	176 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);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	177 /// \todo try calcOpticalFlowFarneback
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	178
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	179 std::vector<Point2f> trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	180 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	181 while (iter != featurePointMatches.end()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	182 bool deleteFeature = false;
135 32d2722d4028 added constraint on minimum displacement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 134 diff changeset	183
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	184 if (status[iter->pointNum]) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	185 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	186
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	187 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	188 \|\| !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	189 if (deleteFeature)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	190 iter->feature->shorten();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	191 } else
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	192 deleteFeature = true;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	193
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	194 if (deleteFeature) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	195 if (iter->feature->length() >= params.minFeatureTime) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	196 iter->feature->setId(savedFeatureId);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	197 savedFeatureId++;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	198 iter->feature->movingAverage(params.nFramesSmoothing);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	199 lostFeatures.push_back(iter->feature);
138 c1b260b48d2a corrected initialization bugs and feature shortening before saving Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 137 diff changeset	200 }
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	201 iter = featurePointMatches.erase(iter);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	202 } else {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	203 trackedPts.push_back(currPts[iter->pointNum]);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	204 iter->pointNum = trackedPts.size()-1;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	205 iter++;
139 47329bd16cc0 cleaned code, added condition on smooth displacement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 138 diff changeset	206 }
125 28907fde9855 work on klt tracker (problem on computer at poly) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 124 diff changeset	207 }
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	208 currPts = trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	209 assert(currPts.size() == featurePointMatches.size());
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	210 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	211
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	212 if (params.display) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	213 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	214 fp.feature->draw(frame, invHomography, Colors::red());
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	215 // object detection
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	216 // vector<Rect> locations;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	217 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	218 // BOOST_FOREACH(Rect r, locations)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	219 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	220 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	221 }
125 28907fde9855 work on klt tracker (problem on computer at poly) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 124 diff changeset	222
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	223 // adding new features, using mask around existing feature positions
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	224 Mat featureMask = mask.clone();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	225 for (unsigned int n=0;n<currPts.size(); n++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	226 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	227 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	228 featureMask.at<uchar>(i,j)=0;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	229 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	230 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	231 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	232 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	233 currPts.push_back(p);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	234 }
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	235
655 39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	236 if (params.display) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	237 imshow("mask", featureMask*256);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	238 imshow("frame", frame);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	239 key = waitKey(2);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	240 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	241 previousFrameBW = currentFrameBW.clone();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	242 prevPts = currPts;
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	243 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	244
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	245 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	246 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	247 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	248 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	249 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	250 savedFeatureId++;
481 b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	251 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	252 iter->feature->write(*trajectoryDB, "positions", "velocities");
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	253 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	254 iter++;
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	255 }
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	256
142 a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	257 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	258 trajectoryDB->disconnect();
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	259 }
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	260
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	261 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	262 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	263 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	264 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	265 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	266
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	267 trajectoryDB->createInstants("table");
221 bc93e87a2108 cleaned and corrected connected components and feature groups Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 219 diff changeset	268
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	269 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	270 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	271 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	272 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	273 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	274 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	275 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219 841a1714f702 added comments for future development Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	276
191 0e60a306d324 added basic code to identify features and save them (crash) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 189 diff changeset	277 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	278
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	279 // main loop
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	280 unsigned int frameNum;
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	281 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	282 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	283 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	284 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	285 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	286 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	287 vector<int> trajectoryIds;
231 249d65ff6c35 merged modifications for windows Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 230 228 diff changeset	288 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	289 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	290 cout << "frame " << frameNum << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	291 //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	292 #if DEBUG
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	293 cout << trajectoryIds.size() << " trajectories " << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	294 #endif
426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	295 // vector<TrajectoryPoint2fPtr> positions, velocities;
426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	296 // trajectoryDB->read(positions, trajectoryIds, "positions");
426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	297 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	298 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	299 // 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	300 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	301 //cout << trajectoryId << " " << endl;
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	302 // std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
177 ae2286b1a3fd added loading FeatureTrajectory from database, printing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 176 diff changeset	303 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
ae2286b1a3fd added loading FeatureTrajectory from database, printing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 176 diff changeset	304 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	305 // 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	306 // 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	307 featureGraph.addFeature(ft);
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> 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> parents: 230 228 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());
411 31604ef1cad4 added hog functions and the display of road user types if known Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 401 diff changeset	320 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	321 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	322 }
188 1435965d8181 work on connected components Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 186 diff changeset	323 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	324
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	325 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	326 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	327 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	328
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	329 // 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	330 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391 03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 363 diff changeset	331 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	332 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	333 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	334 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	335 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	336 featureNumbers.push_back(featureGroups[i][j]->getId());
412 97cb5c969ef2 corrected grouping bug (last object type -1) and added script to rescale homographies Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 411 diff changeset	337 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	338 savedObjectId++;
180 3a4eef37384f method to add features and vertices to graph Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 179 diff changeset	339 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	340
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	341 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	342 trajectoryDB->disconnect();
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	343 }
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	344
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	345 void loadingTimes(const KLTFeatureTrackingParameters& params) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	346 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	347 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	348
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	349 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	350 //cout << trajectories.size() << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	351 std::clock_t c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	352 success = trajectoryDB->read(trajectories, "positions");
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	353 std::clock_t c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	354 if (!success)
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	355 cout << "Issue with db reading" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	356 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	357
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	358 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	359 c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	360 for (unsigned int i = 0; i<trajectories.size(); ++i) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	361 success = trajectoryDB->read(trajectory, i, "positions");
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	362 }
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	363 c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	364 cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	365
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	366 trajectoryDB->endTransaction();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	367 trajectoryDB->disconnect();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	368 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	369
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	370 int main(int argc, char *argv[]) {
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	371 KLTFeatureTrackingParameters params(argc, argv);
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	372 cout << params.parameterDescription << endl;
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	373
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	374 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	375 cout << "The program tracks features" << endl;
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	376 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	377 } 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	378 cout << "The program groups features" << endl;
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	379 groupFeatures(params);
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	380 } else if (params.loadingTime) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	381 cout << "The program reports loading times" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	382 loadingTimes(params);
542 a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 535 diff changeset	383 } else {
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 535 diff changeset	384 cout << "Main option missing or misspelt" << endl;
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	385 }
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	386
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	387 return 0;
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	388 }
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	389
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	390 /* ------------------ DOCUMENTATION ------------------ */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	391
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	392
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	393 /*! \mainpage
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	394
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	395 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	396
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	397 - \ref feature_based_tracking
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	398
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	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).
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	400
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	401 */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	402
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	403 /*! \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	404
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	406
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	408
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	409 \section License
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	410
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	411 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	412
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	414
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	415 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	416
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	417 */

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annotate c/feature-based-tracking.cpp @ 655:39fa1c998b29