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annotate c/track-features.cpp @ 1222:69b531c7a061

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added methods to reset trajectories and change object coordinates (including features)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 20 Jun 2023 15:42:19 -0400
parents a52653dca25d
children
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18
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1 #include "cvutils.hpp"
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2 #include "utils.hpp"
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3
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4 #include "klt.h"
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5
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6 #include "opencv/cv.h"
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7 #include "opencv/highgui.h"
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8
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9 #include <iostream>
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10 #include <fstream>
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11 #include <string>
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12
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13 using namespace std;
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14
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15 #define FEAT_VAL(x) ((x) > 0) ? 1 : x // 1 means the features was replaced
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17 void cvGetCharArray(IplImage *image, unsigned char* img, int width, int height);
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19 int main(int argc, char *argv[]) {
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20 //cout << "Hello World" << endl;
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21
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22 KLT_TrackingContext tc;
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23 KLT_FeatureList fl;
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24 KLT_FeatureTable ft;
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25 KLT_Feature feature;
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26
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27 int i,j;
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28 string fnamein, fnameout, tmp;
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29 string sequenceDir="../test-images";
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30
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31 IplImage *image;
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32 int width, height;
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33 unsigned char *img1, *img2;
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34
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35 // CvCapture *inputVideo = 0;
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36 // if (argc == 1)
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37 // inputVideo = cvCreateCameraCapture(-1);
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38 // else
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39 // inputVideo = cvCaptureFromFile(argv[1]);
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40
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41 int frameNum = 0;
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42
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43 if (argc < 7){
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44 printf("\ntrack sequenceFile startFrame numFrames numFeatures min_dist window_size\n");
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45 return (-1);
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46 }
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47
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48 // parameters for tracking
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49 char* sequenceFile = argv[1];
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50 int startFrame = (int) strtol(argv[2],NULL,10);
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51 int nFrames = (int) strtol(argv[3],NULL,10);
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52 int nFeatures = (int) strtol(argv[4],NULL,10);
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53 int mindist = (int) strtol(argv[5],NULL,10);
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54 int window_size = (int) strtol(argv[6],NULL,10);
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55
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56 fnamein = sequenceFile;//sequenceDir+"/"++".avi"
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57 CvCapture* sequence = cvCaptureFromFile(fnamein.c_str());
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58 if (sequence == NULL) {
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59 cout << "Pb reading " << fnamein << " file.";
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60 exit(0);
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61 }
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63
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64 // from http://ai.stanford.edu/~dstavens/cs223b/optical_flow_demo.cpp
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65 /* This is a hack. If we don't call this first then getting capture
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66 * properties (below) won't work right. This is an OpenCV bug. We
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67 * ignore the return value here. But it's actually a video frame.
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68 */
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69
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70 cvQueryFrame(sequence);
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71 /* Read the video's frame size out of the AVI. */
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72 CvSize frame_size;
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73 frame_size.height = cvGetCaptureProperty(sequence, CV_CAP_PROP_FRAME_HEIGHT );
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74 frame_size.width = cvGetCaptureProperty(sequence, CV_CAP_PROP_FRAME_WIDTH );
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75 /* Determine the number of frames in the AVI. */
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76 int number_of_frames;
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77 /* Go to the end of the AVI (ie: the fraction is "1") */
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78 cvSetCaptureProperty(sequence, CV_CAP_PROP_POS_AVI_RATIO, 1.);
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79 /* Now that we're at the end, read the AVI position in frames */
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80 number_of_frames = cvGetCaptureProperty( sequence, CV_CAP_PROP_POS_FRAMES );
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81 /* Return to the beginning */
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82 cvSetCaptureProperty(sequence, CV_CAP_PROP_POS_FRAMES, 0. );
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83 printf("%d %d %d\n", frame_size.height, frame_size.width, number_of_frames);
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84
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85 if (nFrames < 0)
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86 nFrames = number_of_frames;
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87
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88 // go forward to the startFrame
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89 //cvNamedWindow("Image",1);
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90
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91 for (i=1; i<startFrame; i++) { // pb if more than the number of frames
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92 image = cvQueryFrame(sequence);
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93 //if (i%1000==0) {
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94 //printf("%d\n", i);
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95 //cvShowImage("Image",image);
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96 //WaitKey(0);
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97 //}
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98 }
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99
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100 img1 = (unsigned char*)malloc(frame_size.height*frame_size.width*sizeof(unsigned char));
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101 img2 = (unsigned char*)malloc(frame_size.height*frame_size.width*sizeof(unsigned char));
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102
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103 // KLT initialization
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104 tc = KLTCreateTrackingContext();
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105 fl = KLTCreateFeatureList(nFeatures);
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106 ft = KLTCreateFeatureTable(nFrames, nFeatures);
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107 tc->sequentialMode = TRUE;
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108 tc->mindist = mindist;
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109 tc->window_width = window_size;
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110 tc->window_height = window_size;
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111 KLTSetVerbosity(0);
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112 tc->affineConsistencyCheck = 2;
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113
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114 // initialization of the first frame
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115 image = cvQueryFrame(sequence);
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116 cvGetCharArray(image, img1, frame_size.width, frame_size.height);
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117
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118 KLTSelectGoodFeatures(tc, img1, frame_size.width, frame_size.height, fl);
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119 KLTStoreFeatureList(fl, ft, 0);
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120 //KLTWriteFeatureListToPPM(fl, img1, frame_size.width, frame_size.height, "feat0000.ppm");
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121
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122 i=1;
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123 while (((image = cvQueryFrame(sequence)) != NULL) && (i<nFrames)) {
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124 cvGetCharArray(image, img2, frame_size.width, frame_size.height);
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125
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126 // feature tracking
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127 KLTTrackFeatures(tc, img1, img2, frame_size.width, frame_size.height, fl);
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128 KLTReplaceLostFeatures(tc, img2, frame_size.width, frame_size.height, fl);
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129 KLTStoreFeatureList(fl, ft, i);
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130
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131 img1 = img2;
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132 // unquote if you want to write the frames with the tracked features.
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133 //sprintf(fnameout, "feat%04d.ppm", startFrame+i);
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134 //KLTWriteFeatureListToPPM(fl, img2, frame_size.width, frame_size.height, fnameout);
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135 //printf("%04d\n", i);
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136 i++;
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137 }
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138
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139 printf("%d\n", i);
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140
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141 // writing feature file
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142 fnameout = "features.txt";//"features-"%s"-"%d"-"%d"-"%d".txt", sequenceFile, nFeatures, tc->mindist, tc->window_width);
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143 //KLTWriteFeatureTable(ft, fnameout, "%5.1f");
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144
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145 int precision = 2;
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146 ofstream out;
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147 ::openWriteScientificPrecision(out, fnameout, precision);
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148
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149 //fprintf(out,"%%StartFrame: 0\n");
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150 //fprintf(out,"%%NumFrames: %d\n",nFrames);
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151
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152 // 1 feature / line
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153 // x1 y1 val1 x2 y2 val2 ... (1 2... frame numbers)
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154 for (j = 0 ; j < ft->nFeatures ; j++) {
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155 int firstFrameNum = startFrame;
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156 stringstream lx, ly;
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157 for (i = 0 ; i < ft->nFrames ; i++){
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158 feature = ft->feature[j][i];
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159 //fprintf(out,"%.2f %.2f %d ",(float)feature->x,(float)feature->y,FEAT_VAL(feature->val));
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160 lx << feature->x << " ";
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161 ly << feature->y << " ";
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162 if (feature->val <= 0) {
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163 // print the feature
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164 out << firstFrameNum << " " << startFrame+i << endl;
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165 out << lx << endl;
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166 out << ly << endl;
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167 // velocity
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168 out << "%" << endl;
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169 firstFrameNum = i+1;
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170 lx.clear();
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171 ly.clear();
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172 }
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173 }
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174 }
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175
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176 cvReleaseCapture(&sequence);
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177
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178 return 1;
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179 }
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180
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181 // converts a frame from IplImage format (OpenCV) to an array of unsigned char for KLT
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182 void cvGetCharArray(IplImage *image, unsigned char* img, int width, int height) {
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183 int x, y;
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184
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185 for(y=0 ; y < height ; y++) {
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186 for(x=0; x < width ; x++) {
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187 img[(height-y-1)*width+x] = (image->imageData+image->widthStep*y)[x*3];
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188 }
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189 }
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190 }