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

annotate c/feature-based-tracking.cpp @ 962:64259b9885bf

verbose option to print classification information (more to add)

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Mon, 06 Nov 2017 21:25:41 -0500
parents	8ac7f61c6e4f
children	6c5ce3ec497e

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"
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	16 #include "opencv2/calib3d/calib3d.hpp"
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	17
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	18 #include <boost/foreach.hpp>
125 28907fde9855 work on klt tracker (problem on computer at poly) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 124 diff changeset	19
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	20 #include <iostream>
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	21 #include <vector>
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	22 #include <ctime>
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	23 #include <cmath>
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	24 #include <memory>
679 576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	25 #include <limits>
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	26
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	27 using namespace std;
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	28 using namespace cv;
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	29
123 df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	30 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	31 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	32 {
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	33 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	34 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	35 Point2f dist = pt_new - pt_old;
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	36 if (norm(dist) < 20) {
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	37 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	38 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	39 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	40 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	41 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	42
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	43 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	44 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	45 if (status[i]) {
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	46 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	47 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	48 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	49 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	50 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	51
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	52 struct FeaturePointMatch {
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	53 FeatureTrajectoryPtr feature;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	54 int pointNum;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	55
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	56 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	57 feature(_feature), pointNum(_pointNum) {}
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	58 };
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	59
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	60 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	61 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	62 features.clear();
140 8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	63 }
8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	64
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	65 void trackFeatures(const KLTFeatureTrackingParameters& params) {
147 0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	66 Mat homography = ::loadMat(params.homographyFilename, " ");
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	67 Mat invHomography;
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	68 if (params.display && !homography.empty())
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	69 invHomography = homography.inv();
144 b32947b002da added the code to read matrices from text files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 142 diff changeset	70
137 445e773c9be3 created the parameter structure to parse parameters (bug remaining) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 136 diff changeset	71 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	72 Size window = Size(params.windowSize, params.windowSize);
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	73
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	74 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	75 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	76 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	77 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	78 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	79 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	80 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	81 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	82 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	83 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	84 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	85
207 48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	86 // BruteForceMatcher<Hamming> descMatcher;
48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	87 // vector<DMatch> matches;
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	88
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	89 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	90 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	91 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	92 }
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
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 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	95 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	96 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	97 exit(0);
138 c1b260b48d2a corrected initialization bugs and feature shortening before saving Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 137 diff changeset	98 }
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	99
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	100 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	101 unsigned int nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
679 576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	102 if (nFrames <= 0) {
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	103 cout << "Guessing that the number of frames could not be read: " << nFrames << endl;
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	104 nFrames = numeric_limits<int>::max();
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	105 cout << "Setting arbitrarily high number for testing: " << nFrames << endl;
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	106 }
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	107
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	108 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	109 ": 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	110 ", 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	111 ", 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	112
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 Mat map1, map2;
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	114 Mat intrinsicCameraMatrix, newIntrinsicCameraMatrix;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	115 if (params.undistort) {
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	116 intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	117 Size undistortedVideoSize = Size(static_cast<int>(round(videoSize.widthparams.undistortedImageMultiplication)), static_cast<int>(round(videoSize.heightparams.undistortedImageMultiplication)));
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	118 newIntrinsicCameraMatrix = getDefaultNewCameraMatrix(intrinsicCameraMatrix, undistortedVideoSize, true);// for some reason, it's double type //getOptimalNewCameraMatrix(intrinsicCameraMatrix, params.distortionCoefficients, videoSize, 1, undistortedVideoSize);//, 0, true);
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	119 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1) /* 0 ?*/, newIntrinsicCameraMatrix, undistortedVideoSize, CV_32FC1, map1, map2);
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	120
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	121 cout << "Undistorted width=" << undistortedVideoSize.width <<
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	122 ", height=" << undistortedVideoSize.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	123 }
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	124
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	125 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	126 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	127 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	128 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	129 }
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	130
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	131 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
138 c1b260b48d2a corrected initialization bugs and feature shortening before saving Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 137 diff changeset	132 trajectoryDB->connect(params.databaseFilename.c_str());
142 a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	133 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	134 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	135 trajectoryDB->beginTransaction();
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	136
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	137 std::vector<Point2f> prevPts, currPts, newPts, undistortedPts; // all points but undistortedPts are in image space
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	138 std::vector<uchar> status;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	139 std::vector<float> errors;
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	140 Mat prevDesc, currDesc;
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	141
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	142 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	143 std::vector<FeaturePointMatch> featurePointMatches;
163 cde87a07eb58 added graph structures Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	144
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	145 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	146 unsigned int savedFeatureId=0;
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	147 Mat frame, currentFrameBW, previousFrameBW, displayFrame; // = Mat::zeros(1, 1, CV_8UC1)
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	148
278 f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 234 diff changeset	149 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	150 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	151 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	152
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	153 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	154 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	155 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	156 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	157 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	158 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	159 } 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	160 cout << "frame " << frameNum << endl;
800 2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 716 diff changeset	161
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	162 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	163
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	164 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	165 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	166 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	167 /// \todo try calcOpticalFlowFarneback
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	168
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	169 if (params.undistort)
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	170 undistortPoints(currPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients);
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	171 else
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	172 undistortedPts =currPts;
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	173
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	174 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	175 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	176 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	177 bool deleteFeature = false;
815 daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	178
daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	179 int currPtX = static_cast<int>(floor(currPts[iter->pointNum].x));
daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	180 int currPtY = static_cast<int>(floor(currPts[iter->pointNum].y));
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	181 if ((status[iter->pointNum] =! 0) &&
815 daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	182 (currPtX >= 0) && (currPtX < videoSize.width) &&
daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	183 (currPtY >= 0) && (currPtY < videoSize.height) &&
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	184 (mask.at<uchar>(currPtY, currPtX) != 0)) {
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	185 iter->feature->addPoint(frameNum, undistortedPts[iter->pointNum], homography);
800 2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 716 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");
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	211
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	212 if (params.display) {
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	213 if (params.undistort)
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	214 remap(frame, displayFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	215 else
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	216 displayFrame = frame.clone();
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	217 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	218 fp.feature->draw(displayFrame, invHomography, newIntrinsicCameraMatrix, Colors::red());
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	219 }
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 }
800 2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 716 diff changeset	221
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	222 // 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	223 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	224 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	225 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	226 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	227 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	228 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	229 if (params.undistort)
933 8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 926 diff changeset	230 undistortPoints(newPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients);
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	231 else
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	232 undistortedPts = newPts;
dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	233
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	234 for (unsigned int i=0; i<newPts.size(); i++) {
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	235 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, undistortedPts[i], homography));
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 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	237 currPts.push_back(newPts[i]);
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	238 }
926 dbd81710d515 new feature tracking in image space with point undistortion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 924 diff changeset	239
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	240 if (params.display && !displayFrame.empty()) {
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	241 imshow("mask", featureMask*256);
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	242 imshow("frame", displayFrame);
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	243 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	244 }
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	245 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	246 prevPts = currPts;
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	247 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	248
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	249 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	250 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	251 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	252 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	253 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	254 savedFeatureId++;
481 b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	255 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	256 iter->feature->write(*trajectoryDB, "positions", "velocities");
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	257 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	258 iter++;
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	259 }
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	260
142 a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	261 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	262 trajectoryDB->disconnect();
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	263 }
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	264
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	265 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	266 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	267 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	268 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	269 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	270
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	271 trajectoryDB->createInstants("table");
710 70a3cdf0dbb3 unsucessful acceleration idea Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 679 diff changeset	272 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster
70a3cdf0dbb3 unsucessful acceleration idea Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 679 diff changeset	273 //trajectoryDB->createIndex("velocities","trajectory_id");
221 bc93e87a2108 cleaned and corrected connected components and feature groups Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 219 diff changeset	274
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	275 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	276 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	277 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	278 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	279 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	280 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	281 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219 841a1714f702 added comments for future development Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	282
191 0e60a306d324 added basic code to identify features and save them (crash) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 189 diff changeset	283 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	284
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	285 // main loop
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	286 unsigned int frameNum;
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	287 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	288 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	289 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	290 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	291 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	292 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	293 vector<int> trajectoryIds;
231 249d65ff6c35 merged modifications for windows Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 230 228 diff changeset	294 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	295 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	296 cout << "frame " << frameNum << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	297 #if DEBUG
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	298 cout << trajectoryIds.size() << " trajectories " << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	299 #endif
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	300 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
177 ae2286b1a3fd added loading FeatureTrajectory from database, printing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 176 diff changeset	301 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	302 featureGraph.addFeature(ft);
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	303 }
172 e508bb0cbb64 modified comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 169 diff changeset	304
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	305 // 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	306 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231 249d65ff6c35 merged modifications for windows Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 230 228 diff changeset	307 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	308 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	309 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	310 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	311 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	312 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	313 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	314 featureNumbers.push_back(featureGroups[i][j]->getId());
716 85af65b6d531 corrected major bug slowing feature grouping Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 710 diff changeset	315 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown type */, 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	316 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	317 }
188 1435965d8181 work on connected components Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 186 diff changeset	318 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	319
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	320 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	321 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	322 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	323
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	324 // 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	325 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	326 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	327 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	328 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	329 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	330 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	331 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	332 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	333 savedObjectId++;
180 3a4eef37384f method to add features and vertices to graph Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 179 diff changeset	334 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	335
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	336 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	337 trajectoryDB->disconnect();
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	338 }
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	339
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	340 void loadingTimes(const KLTFeatureTrackingParameters& params) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	341 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	342 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
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 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	345 //cout << trajectories.size() << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	346 std::clock_t c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	347 success = trajectoryDB->read(trajectories, "positions");
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	348 std::clock_t c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	349 if (!success)
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	350 cout << "Issue with db reading" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	351 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	352
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	353 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	354 c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	355 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	356 success = trajectoryDB->read(trajectory, i, "positions");
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 c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	359 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	360
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	361 trajectoryDB->endTransaction();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	362 trajectoryDB->disconnect();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	363 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	364
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	365 int main(int argc, char *argv[]) {
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	366 KLTFeatureTrackingParameters params(argc, argv);
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	367 cout << params.parameterDescription << endl;
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	368
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	369 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	370 cout << "The program tracks features" << endl;
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	371 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	372 } 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	373 cout << "The program groups features" << endl;
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	374 groupFeatures(params);
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	375 } else if (params.loadingTime) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	376 cout << "The program reports loading times" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	377 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	378 } else {
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 535 diff changeset	379 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	380 }
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	381
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	382 return 0;
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	383 }
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	384
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	385 /* ------------------ DOCUMENTATION ------------------ */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	386
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	387
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	388 /*! \mainpage
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 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	391
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	392 - \ref feature_based_tracking
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	393
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	394 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	395
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
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	398 /*! \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	399
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	400 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	401
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	402 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	403
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	404 \section License
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	405
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	406 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	407
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	408 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	409
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	410 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	411
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	412 */

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annotate c/feature-based-tracking.cpp @ 962:64259b9885bf