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annotate c/feature-based-tracking.cpp @ 169:5f705809d37a

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created groupFeatures function
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sat, 01 Oct 2011 08:28:13 -0400
parents 6ec7f6c61daf
children e508bb0cbb64
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #include "Motion.hpp"
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2 #include "Parameters.hpp"
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3 #include "cvutils.hpp"
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4 #include "utils.hpp"
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5
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6 #include "src/Trajectory.h"
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7 #include "src/TrajectoryDBAccessList.h"
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8 #include "src/TrajectoryDBAccessBlob.h"
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9
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10 #include "opencv2/core/core.hpp"
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11 #include "opencv2/imgproc/imgproc.hpp"
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12 #include "opencv2/video/tracking.hpp"
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13 #include "opencv2/features2d/features2d.hpp"
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14 #include "opencv2/highgui/highgui.hpp"
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16 #include <boost/shared_ptr.hpp>
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17 #include <boost/foreach.hpp>
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18
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19 #include <iostream>
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20 #include <vector>
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21
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22 using namespace std;
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23 using namespace cv;
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25 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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26 for (int i = 0; i < (int)matches.size(); i++)
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27 {
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28 Point2f pt_new = query[matches[i].queryIdx].pt;
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29 Point2f pt_old = train[matches[i].trainIdx].pt;
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30 Point2f dist = pt_new - pt_old;
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31 if (norm(dist) < 20) {
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32 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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33 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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34 }
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35 }
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36 }
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38 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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39 for (unsigned int i=0; i<status.size(); i++) {
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40 if (status[i]) {
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41 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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42 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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43 }
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44 }
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45 }
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47 struct FeaturePointMatch {
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48 FeatureTrajectoryPtr feature;
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49 int pointNum;
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50
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51 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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52 feature(_feature), pointNum(_pointNum) {}
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53 };
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54
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55 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
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56 /// \todo smoothing
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57 if (features.size() >= minNFeatures) {
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58 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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59 features.clear();
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60 }
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61 }
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63 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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64 Mat homography = ::loadMat(params.homographyFilename, " ");
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65 Mat invHomography;
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66 if (params.display && !homography.empty())
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67 invHomography = homography.inv();
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68
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69 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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70 Size window = Size(params.windowSize, params.windowSize);
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72 BruteForceMatcher<Hamming> descMatcher;
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73 vector<DMatch> matches;
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74 Size videoSize;
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76 // if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
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77 // capture.open(argc == 2 ? argv[1][0] - '0' : 0);
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78 // else if( argc >= 2 )
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79 // {
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80 // capture.open(argv[1]);
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81 // if( capture.isOpened() )
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82 // videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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83 // cout << "Video " << argv[1] <<
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84 // ": width=" << videoSize.width <<
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85 // ", height=" << videoSize.height <<
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86 // ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
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87 // if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt)
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88 // {
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89 // sscanf(argv[2], "%d", &params.frame1);
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90 // cout << "seeking to frame #" << params.frame1 << endl;
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91 // //cap.set(CV_CAP_PROP_POS_FRAMES, pos);
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92 // for (int i=0; i<params.frame1; i++)
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93 // capture >> frame;
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94 // }
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95 // }
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96
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97 VideoCapture capture;
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98 capture.open(params.videoFilename);
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99 if(capture.isOpened()) {
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100 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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101 cout << "Video " << params.videoFilename <<
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102 ": width=" << videoSize.width <<
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103 ", height=" << videoSize.height <<
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104 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
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105 } else {
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106 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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107 exit(0);
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108 }
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109 // if (!capture.isOpened())
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110 // {
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111 // //help(argv);
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112 // cout << "capture device " << argv[1] << " failed to open!" << endl;
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113 // return 1;
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114 // }
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115
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116 Mat mask = imread(params.maskFilename, 0);
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117 if (mask.empty())
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118 mask = Mat::ones(videoSize, CV_8UC1);
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119
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120 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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121 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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122 trajectoryDB->connect(params.databaseFilename.c_str());
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123 trajectoryDB->createTable("positions");
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124 trajectoryDB->createTable("velocities");
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125 trajectoryDB->beginTransaction();
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diff changeset
127 vector<KeyPoint> prevKpts, currKpts;
130
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128 vector<Point2f> prevPts, currPts, newPts;
127
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diff changeset
129 vector<uchar> status;
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diff changeset
130 vector<float> errors;
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diff changeset
131 Mat prevDesc, currDesc;
128
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diff changeset
132
140
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diff changeset
133 vector<FeatureTrajectoryPtr> lostFeatures;
132
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diff changeset
134 vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
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diff changeset
135
cde87a07eb58 added graph structures
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diff changeset
136 FeatureGraph graph(params.mmConnectionDistance, params.mmSegmentationDistance);
130
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diff changeset
137
133
63dd4355b6d1 saving of feature positions in sqlite database
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diff changeset
138 int key = '?';
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diff changeset
139 unsigned int savedFeatureId=0;
164
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diff changeset
140 Mat frame, currentFrameBW, previousFrameBW;
141
6f10a227486c modifications to get nframes option working on the command line
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diff changeset
141 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
121
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diff changeset
142 capture >> frame;
134
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diff changeset
143 cout << frameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
145
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diff changeset
144 int emptyFrameNum = 0;
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diff changeset
145 while (frame.empty()) {
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diff changeset
146 cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
123
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diff changeset
147 capture >> frame;//break;
145
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diff changeset
148 emptyFrameNum++;
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diff changeset
149 if (emptyFrameNum>=3000)
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diff changeset
150 exit(0);
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diff changeset
151 }
121
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diff changeset
152
127
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diff changeset
153 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
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diff changeset
154
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diff changeset
155 // "normal" feature detectors: detect features here
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156 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
121
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diff changeset
157
128
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diff changeset
158 if (!prevPts.empty()) {
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159 //::keyPoints2Points(prevKpts, prevPts);
127
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diff changeset
160 currPts.clear();
137
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diff changeset
161 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
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diff changeset
162 /// \todo try calcOpticalFlowFarneback
128
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163
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diff changeset
164 vector<Point2f> trackedPts;
132
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diff changeset
165 vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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diff changeset
166 while (iter != featurePointMatches.end()) {
135
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diff changeset
167 bool deleteFeature = false;
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168
132
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diff changeset
169 if (status[iter->pointNum]) {
147
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diff changeset
170 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
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diff changeset
171
139
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diff changeset
172 deleteFeature |= iter->feature->smallDisplacement(params.nDisplacements, minTotalFeatureDisplacement)
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diff changeset
173 || !iter->feature->motionSmooth(params.accelerationBound, params.deviationBound);
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diff changeset
174 if (deleteFeature)
138
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diff changeset
175 iter->feature->shorten();
139
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diff changeset
176 } else
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diff changeset
177 deleteFeature = true;
135
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diff changeset
178
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parents: 134
diff changeset
179 if (deleteFeature) {
134
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diff changeset
180 if (iter->feature->length() >= params.minFeatureTime) {
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diff changeset
181 iter->feature->setId(savedFeatureId);
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diff changeset
182 savedFeatureId++;
140
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diff changeset
183 lostFeatures.push_back(iter->feature);
134
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184 }
132
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diff changeset
185 iter = featurePointMatches.erase(iter);
138
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diff changeset
186 } else {
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diff changeset
187 trackedPts.push_back(currPts[iter->pointNum]);
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diff changeset
188 iter->pointNum = trackedPts.size()-1;
135
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diff changeset
189 iter++;
138
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diff changeset
190 }
132
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191 }
128
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diff changeset
192 currPts = trackedPts;
132
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diff changeset
193 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
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parents: 141
diff changeset
194 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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diff changeset
195
139
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diff changeset
196 if (params.display) {
134
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diff changeset
197 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
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diff changeset
198 fp.feature->draw(frame, invHomography, Colors::red());
139
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diff changeset
199 }
132
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diff changeset
200 //drawOpticalFlow(prevPts, currPts, status, frame);
134
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diff changeset
201
127
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diff changeset
202 // cout << matches.size() << " matches" << endl;
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diff changeset
203 // descMatcher.match(currDesc, prevDesc, matches);
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diff changeset
204 // cout << matches.size() << " matches" << endl;
128
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diff changeset
205 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
206 }
28907fde9855 work on klt tracker (problem on computer at poly)
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diff changeset
207
128
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diff changeset
208 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
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parents: 145
diff changeset
209 Mat featureMask = mask.clone();
128
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diff changeset
210 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
211 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
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diff changeset
212 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
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diff changeset
213 featureMask.at<uchar>(i,j)=0;
130
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diff changeset
214 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
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diff changeset
215 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
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diff changeset
216 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
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diff changeset
217 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
218 currPts.push_back(p);
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diff changeset
219 }
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diff changeset
220 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
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diff changeset
221 //::keyPoints2Points(currKpts, currPts, false);
128
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diff changeset
222
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diff changeset
223 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
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diff changeset
224
134
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parents: 133
diff changeset
225 if (params.display) {
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diff changeset
226 imshow("frame", frame);
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diff changeset
227 imshow("mask", featureMask*256);
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diff changeset
228 key = waitKey(2);
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diff changeset
229 }
127
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diff changeset
230 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
231 prevPts = currPts;
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diff changeset
232 //prevKpts = currKpts;
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diff changeset
233 //currDesc.copyTo(prevDesc);
121
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diff changeset
234 }
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diff changeset
235
142
a3532db00c28 added code to write velocities
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diff changeset
236 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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diff changeset
237 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
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parents: 163
diff changeset
238 }
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parents: 163
diff changeset
239
169
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
240 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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diff changeset
241 cout << "group" << endl;
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diff changeset
242
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diff changeset
243 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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parents: 168
diff changeset
244 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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diff changeset
245 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
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diff changeset
246 vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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diff changeset
247 cout << trajectories.size() << endl;
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diff changeset
248 success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well
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diff changeset
249 cout << "Loaded " << trajectories.size() << " trajectories" << endl;
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diff changeset
250 // for (int i=0; i<5; ++i) {
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diff changeset
251 // stringstream ss;
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diff changeset
252 // ss << *trajectories[i];
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diff changeset
253 // cout << ss.str() << endl;
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254 // }
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255
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256 // create views for first and last instants for each trajectory
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257 // CREATE VIEW IF NOT EXISTS trajectory_first_instants AS select trajectory_id, min(frame_number) as first_instant from positions group by trajectory_id
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258 // CREATE VIEW IF NOT EXISTS trajectory_last_instants AS select trajectory_id, max(frame_number) as last_instant from positions group by trajectory_id
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259 //select trajectory_id from trajectory_first_instants where first_instant = 49
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260
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261 trajectoryDB->createViewInstants("first");
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262 trajectoryDB->createViewInstants("last");
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263
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264 // main loop
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265 // TODO version que l'on peut interrompre ?
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266 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) {
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267 vector<int> ids;
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268 cout << "frame " << frameNum << " " << trajectoryDB->trajectoryIdStartingAt(ids, frameNum) << endl;
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269 BOOST_FOREACH(int i, ids)
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270 cout << i << " ";
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271 cout << endl;
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272 }
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273
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274 trajectoryDB->endTransaction();
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275 trajectoryDB->disconnect();
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276 }
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277
164
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278 int main(int argc, char *argv[]) {
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279 // BriefDescriptorExtractor brief(32);
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280 // const int DESIRED_FTRS = 500;
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281 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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282
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283 KLTFeatureTrackingParameters params(argc, argv);
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284 cout << params.parameterDescription << endl;
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285
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286 if (params.trackFeatures)
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287 trackFeatures(params);
169
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288 else if (params.groupFeatures)
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289 groupFeatures(params);
164
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290
117
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291 return 0;
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292 }
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293
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294 /* ------------------ DOCUMENTATION ------------------ */
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295
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296
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297 /*! \mainpage
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298
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299 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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300
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301 - \ref feature_based_tracking
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302
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303 The code is partially self-described using the doxygen tool and comment formatting. The documentation can be extracted using doxygen, typing \c doxygen in the main directory (or <tt>make doc</tt> on a system with the Makefile tool installed).
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304
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305 */
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306
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307 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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308
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309 This document describes a software tool for object tracking in video data, developed for road traffic monitoring and safety diagnosis. It is part of a larger collection of software tools for transportation called Traffic Intelligence.
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310
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311 The tool relies on feature-based tracking, a robust object tracking methods, particularly suited for the extraction of traffic data such as trajectories and speeds. The best description of this method is given in <a href="http://nicolas.saunier.confins.net/data/saunier06crv.html">this paper</a>. The program has a command line interface and this document will shortly explain how to use the tool. Keep in mind this is a work in progress and major changes are continuously being made.
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312
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313 \section License
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314
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315 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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316
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317 If you make use of this piece of software, please cite one of my paper, e.g. N. Saunier, T. Sayed and K. Ismail. Large Scale Automated Analysis of Vehicle Interactions and Collisions. Transportation Research Record: Journal of the Transportation Research Board, 2147:42-50, 2010. I would be very happy in any case to know about any use of the code, and to discuss any opportunity for collaboration.
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318
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319 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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320
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321 */