Mercurial Hosting > traffic-intelligence

annotate c/feature-based-tracking.cpp @ 1002:6c5ce3ec497e

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
improved handling of path for feature based tracking
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 01 Jun 2018 17:19:24 -0400
parents 8ac7f61c6e4f
children 9fb82fe0156f
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
1 #include "Motion.hpp"
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
2 #include "Parameters.hpp"
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
3 #include "cvutils.hpp"
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
4 #include "utils.hpp"
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
5
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
6 #include "src/Trajectory.h"
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
7 #include "src/TrajectoryDBAccessList.h"
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
8 #include "src/TrajectoryDBAccessBlob.h"
124
1e68e18b1aa5 renaming and working on klt
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 123
diff changeset
9
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
10 #include "opencv2/core/core.hpp"
165
50964af05a80 solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 164
diff changeset
11 #include "opencv2/imgproc/imgproc.hpp"
50964af05a80 solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 164
diff changeset
12 #include "opencv2/video/tracking.hpp"
50964af05a80 solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 164
diff changeset
13 #include "opencv2/features2d/features2d.hpp"
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
14 #include "opencv2/highgui/highgui.hpp"
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
15 #include "opencv2/objdetect/objdetect.hpp"
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>
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
19 #include <boost/filesystem.hpp>
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
20
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
21 #include <iostream>
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
22 #include <vector>
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
23 #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
24 #include <cmath>
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
25 #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
26 #include <limits>
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
27
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
28 namespace fs = boost::filesystem; // soon std
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
29
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
30 using namespace std;
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
31 using namespace cv;
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
32
123
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
33 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
34 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
35 {
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
36 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
37 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
38 Point2f dist = pt_new - pt_old;
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
39 if (norm(dist) < 20) {
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
40 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
41 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
42 }
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
43 }
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
44 }
df3bdd8e50ba displays tracking from video and webcam
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 122
diff changeset
45
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
46 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
47 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
48 if (status[i]) {
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
49 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
50 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
51 }
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
52 }
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
53 }
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
54
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
55 struct FeaturePointMatch {
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
56 FeatureTrajectoryPtr feature;
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
57 int 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 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
60 feature(_feature), pointNum(_pointNum) {}
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
61 };
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
62
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
63 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
64 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
65 features.clear();
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
66 }
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
67
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
68 void trackFeatures(const KLTFeatureTrackingParameters& params) {
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
69 Mat homography = ::loadMat(::getRelativeFilename(params.parentDirname, params.homographyFilename), " ");
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
70
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
71 Mat invHomography;
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
72 if (params.display && !homography.empty())
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
73 invHomography = homography.inv();
144
b32947b002da added the code to read matrices from text files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 142
diff changeset
74
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 136
diff changeset
75 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
76 Size window = Size(params.windowSize, params.windowSize);
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
77
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
78 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
79 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
80 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
81 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
82 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
83 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
84 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
85 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
86 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
87 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
88 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
89
207
48f83ff769fd removed unused code that has changed in OpenCV 2.4
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 202
diff changeset
90 // BruteForceMatcher<Hamming> descMatcher;
48f83ff769fd removed unused code that has changed in OpenCV 2.4
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 202
diff changeset
91 // vector<DMatch> matches;
122
654f1c748644 work on displaying matched features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 121
diff changeset
92
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
93 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
94 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
95 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
96 }
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
97
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
98 VideoCapture capture(::getRelativeFilename(params.parentDirname, params.videoFilename));
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
99 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
100 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
101 exit(0);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
102 }
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
103
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
104 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
105 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
106 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
107 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
108 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
109 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
110 }
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
111
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
112 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
113 ": 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
114 ", 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
115 ", 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
116
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
117 Mat map1, map2;
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
118 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
119 if (params.undistort) {
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
120 intrinsicCameraMatrix = ::loadMat(::getRelativeFilename(params.parentDirname, params.intrinsicCameraFilename), " ");
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
121 Size undistortedVideoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.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
122 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
123 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
124
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
125 cout << "Undistorted width=" << undistortedVideoSize.width <<
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
126 ", 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
127 }
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
128
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
129 Mat mask = imread(::getRelativeFilename(params.parentDirname, params.maskFilename), 0);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
130 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
131 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
132 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
133 }
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
134
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
135 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
136 trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
137 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
138 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
139 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
140
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
141 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
142 std::vector<uchar> status;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
143 std::vector<float> errors;
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
144 Mat prevDesc, currDesc;
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
145
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
146 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
147 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
148
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
149 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
150 unsigned int savedFeatureId=0;
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
151 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
152
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
153 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
154 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
155 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
156
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
157 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
158 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
159 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
160 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
161 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
162 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
163 } 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
164 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
165
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
166 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
167
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
168 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
169 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
170 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
171 /// \todo try calcOpticalFlowFarneback
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
172
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
173 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
174 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
175 else
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
176 undistortedPts =currPts;
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
177
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
178 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
179 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
180 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
181 bool deleteFeature = false;
815
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
182
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
183 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
184 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
185 if ((status[iter->pointNum] =! 0) &&
815
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
186 (currPtX >= 0) && (currPtX < videoSize.width) &&
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
187 (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
188 (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
189 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
190
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
191 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
192 || !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
193 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
194 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
195 } 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
196 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
197
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 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
199 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
200 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
201 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
202 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
203 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
204 }
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
205 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
206 } 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
207 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
208 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
209 iter++;
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
210 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
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 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
213 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
214 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
215
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
216 if (params.display) {
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
217 if (params.undistort)
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
218 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
219 else
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
220 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
221 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
222 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
223 }
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 }
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
225
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
226 // 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
227 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
228 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
229 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
230 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
231 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
232 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
233 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
234 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
235 else
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
236 undistortedPts = newPts;
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
237
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
238 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
239 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
240 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
241 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
242 }
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
243
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
244 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
245 imshow("mask", featureMask*256);
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
246 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
247 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
248 }
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
249 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
250 prevPts = currPts;
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
251 }
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
252
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
253 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
254 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
255 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
256 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
257 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
258 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
259 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
260 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
261 }
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
262 iter++;
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
263 }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
264
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
265 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
266 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
267 }
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
268
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
269 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
270 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
271 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
202
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
272 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
273 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
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 trajectoryDB->createInstants("table");
710
70a3cdf0dbb3 unsucessful acceleration idea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 679
diff changeset
276 //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
277 //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
278
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
279 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
280 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
281 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
282 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
283 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
284 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
285 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
286
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 189
diff changeset
287 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
288
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
289 // main loop
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
290 unsigned int frameNum;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
291 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
292 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
293 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
294 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
295 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
296 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
297 vector<int> trajectoryIds;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
298 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
299 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
300 cout << "frame " << frameNum << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
301 #if DEBUG
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
302 cout << trajectoryIds.size() << " trajectories " << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
303 #endif
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
304 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
305 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
306 featureGraph.addFeature(ft);
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
307 }
172
e508bb0cbb64 modified comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 169
diff changeset
308
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
309 // 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
310 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
311 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
312 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
313 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
314 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
315 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
316 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
317 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
318 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
319 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
320 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
321 }
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
322 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
323
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
324 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
325 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
326 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
327
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
328 // 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
329 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
330 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
331 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
332 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
333 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
334 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
335 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
336 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
337 savedObjectId++;
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
338 }
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
339
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
340 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
341 trajectoryDB->disconnect();
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
342 }
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 void loadingTimes(const KLTFeatureTrackingParameters& params) {
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
345 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
346 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
347
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
348 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
349 //cout << trajectories.size() << endl;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
350 std::clock_t c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
351 success = trajectoryDB->read(trajectories, "positions");
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
352 std::clock_t c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
353 if (!success)
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
354 cout << "Issue with db reading" << endl;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
355 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
356
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
357 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
358 c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
359 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
360 success = trajectoryDB->read(trajectory, i, "positions");
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
361 }
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
362 c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
363 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
364
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
365 trajectoryDB->endTransaction();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
366 trajectoryDB->disconnect();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
367 }
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
368
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
369 int main(int argc, char *argv[]) {
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
370 KLTFeatureTrackingParameters params(argc, argv);
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
371 cout << params.parameterDescription << endl;
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
372
234
2d34060db2e9 removed included code that put track feature option always to true
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 231
diff changeset
373 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
374 cout << "The program tracks features" << endl;
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
375 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
376 } 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
377 cout << "The program groups features" << endl;
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
378 groupFeatures(params);
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
379 } else if (params.loadingTime) {
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
380 cout << "The program reports loading times" << endl;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
381 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
382 } else {
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 535
diff changeset
383 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
384 }
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
385
117
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
386 return 0;
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
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
389 /* ------------------ DOCUMENTATION ------------------ */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
390
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 /*! \mainpage
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 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
395
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
396 - \ref feature_based_tracking
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 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
399
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
400 */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
401
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
402 /*! \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
403
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
404 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
405
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
406 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
407
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
408 \section License
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 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
411
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
412 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
413
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
414 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
415
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
416 */