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annotate c/feature-based-tracking.cpp @ 710:70a3cdf0dbb3

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unsucessful acceleration idea
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 22 Jul 2015 17:01:25 -0400
parents 576d9ea4b41a
children 85af65b6d531
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #include "Motion.hpp"
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2 #include "Parameters.hpp"
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3 #include "cvutils.hpp"
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4 #include "utils.hpp"
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5
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6 #include "src/Trajectory.h"
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7 #include "src/TrajectoryDBAccessList.h"
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8 #include "src/TrajectoryDBAccessBlob.h"
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9
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10 #include "opencv2/core/core.hpp"
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11 #include "opencv2/imgproc/imgproc.hpp"
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12 #include "opencv2/video/tracking.hpp"
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13 #include "opencv2/features2d/features2d.hpp"
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14 #include "opencv2/highgui/highgui.hpp"
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15 #include "opencv2/objdetect/objdetect.hpp"
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16
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17 #include <boost/foreach.hpp>
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18
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19 #include <iostream>
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20 #include <vector>
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21 #include <ctime>
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22 #include <cmath>
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23 #include <memory>
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24 #include <limits>
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26 using namespace std;
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27 using namespace cv;
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29 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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30 for (int i = 0; i < (int)matches.size(); i++)
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31 {
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32 Point2f pt_new = query[matches[i].queryIdx].pt;
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33 Point2f pt_old = train[matches[i].trainIdx].pt;
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34 Point2f dist = pt_new - pt_old;
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35 if (norm(dist) < 20) {
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36 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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37 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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38 }
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39 }
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40 }
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42 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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43 for (unsigned int i=0; i<status.size(); i++) {
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44 if (status[i]) {
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45 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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46 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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47 }
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48 }
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49 }
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50
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51 struct FeaturePointMatch {
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52 FeatureTrajectoryPtr feature;
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53 int pointNum;
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54
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55 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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56 feature(_feature), pointNum(_pointNum) {}
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57 };
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58
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59 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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60 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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61 features.clear();
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62 }
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63
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64 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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65 // BriefDescriptorExtractor brief(32);
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66 // const int DESIRED_FTRS = 500;
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67 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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68
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69 Mat homography = ::loadMat(params.homographyFilename, " ");
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70 Mat invHomography;
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71 if (params.display && !homography.empty())
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72 invHomography = homography.inv();
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73
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74 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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75 Size window = Size(params.windowSize, params.windowSize);
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77 int interpolationMethod = -1;
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78 if (params.interpolationMethod == 0)
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79 interpolationMethod = INTER_NEAREST;
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80 else if (params.interpolationMethod == 1)
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81 interpolationMethod = INTER_LINEAR;
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82 else if (params.interpolationMethod == 2)
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83 interpolationMethod = INTER_CUBIC;
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84 else if (params.interpolationMethod == 3)
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85 interpolationMethod = INTER_LANCZOS4;
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86 else
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87 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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88
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89 // BruteForceMatcher<Hamming> descMatcher;
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90 // vector<DMatch> matches;
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91
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92 if(params.videoFilename.empty()) {
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93 cout << "Empty video filename. Exiting." << endl;
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94 exit(0);
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95 }
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97 VideoCapture capture(params.videoFilename);
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98 if(!capture.isOpened()) {
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99 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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100 exit(0);
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101 }
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103 Size videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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104 unsigned int nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
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105 if (nFrames <= 0) {
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106 cout << "Guessing that the number of frames could not be read: " << nFrames << endl;
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107 nFrames = numeric_limits<int>::max();
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108 cout << "Setting arbitrarily high number for testing: " << nFrames << endl;
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109 }
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110
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111 cout << "Video " << params.videoFilename <<
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112 ": width=" << videoSize.width <<
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113 ", height=" << videoSize.height <<
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114 ", nframes=" << nFrames << endl;
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116 Mat map1, map2;
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117 if (params.undistort) {
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118 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
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119 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
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120 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
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121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
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122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
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parents: 507
diff changeset
123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
124
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
125 cout << "Undistorted width=" << videoSize.width <<
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diff changeset
126 ", height=" << videoSize.height << endl;
507
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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
146
7150427c665e added loading of mask
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diff changeset
129 Mat mask = imread(params.maskFilename, 0);
363
68861b52a319 added message if mask not found/loaded
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diff changeset
130 if (mask.empty()) {
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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
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132 mask = Mat::ones(videoSize, CV_8UC1);
363
68861b52a319 added message if mask not found/loaded
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diff changeset
133 }
146
7150427c665e added loading of mask
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parents: 145
diff changeset
134
654
045d05cef9d0 updating to c++11 capabilities
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diff changeset
135 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
136 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
137 trajectoryDB->connect(params.databaseFilename.c_str());
142
a3532db00c28 added code to write velocities
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diff changeset
138 trajectoryDB->createTable("positions");
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diff changeset
139 trajectoryDB->createTable("velocities");
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diff changeset
140 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
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parents: 132
diff changeset
141
230
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diff changeset
142 std::vector<KeyPoint> prevKpts, currKpts;
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143 std::vector<Point2f> prevPts, currPts, newPts;
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diff changeset
144 std::vector<uchar> status;
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diff changeset
145 std::vector<float> errors;
127
d19d6e63dd77 simple feature tracking and drawing working
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parents: 125
diff changeset
146 Mat prevDesc, currDesc;
128
536510f60854 new features generated as needed
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diff changeset
147
230
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148 std::vector<FeatureTrajectoryPtr> lostFeatures;
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149 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
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parents: 154
diff changeset
150
133
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diff changeset
151 int key = '?';
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diff changeset
152 unsigned int savedFeatureId=0;
507
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diff changeset
153 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame;
227
b7612c6d5702 cleaned the code
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diff changeset
154
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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diff changeset
155 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>
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diff changeset
156 if (params.nFrames > 0)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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diff changeset
157 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
495
82c06ad62254 added parameter description with ranges
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158
655
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159 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227
b7612c6d5702 cleaned the code
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160 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
655
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161 capture >> frame;
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162 if (frame.empty()) {
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163 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
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164 break;
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165 } else if (frameNum%50 ==0)
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166 cout << "frame " << frameNum << endl;
532
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
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167
655
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168 if (params.undistort) {
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169 remap(frame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
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170 frame = undistortedFrame;
534
d0419b1267dd fixing size issue when testing frames in main loop
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diff changeset
171
655
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172 if (frame.size() != videoSize) {
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173 cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl;
534
d0419b1267dd fixing size issue when testing frames in main loop
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diff changeset
174 break;
507
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diff changeset
175 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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diff changeset
176 }
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
177
121
c4d4b5b93add copied the video_homography opencv sample
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parents: 119
diff changeset
178
655
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179 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
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180
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181 if (!prevPts.empty()) {
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182 currPts.clear();
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183 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);
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184 /// \todo try calcOpticalFlowFarneback
128
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diff changeset
185
655
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186 std::vector<Point2f> trackedPts;
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187 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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188 while (iter != featurePointMatches.end()) {
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diff changeset
189 bool deleteFeature = false;
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
190
655
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diff changeset
191 if (status[iter->pointNum]) {
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diff changeset
192 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
193
655
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194 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
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195 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
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diff changeset
196 if (deleteFeature)
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diff changeset
197 iter->feature->shorten();
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diff changeset
198 } else
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diff changeset
199 deleteFeature = true;
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diff changeset
200
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diff changeset
201 if (deleteFeature) {
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diff changeset
202 if (iter->feature->length() >= params.minFeatureTime) {
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diff changeset
203 iter->feature->setId(savedFeatureId);
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diff changeset
204 savedFeatureId++;
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diff changeset
205 iter->feature->movingAverage(params.nFramesSmoothing);
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diff changeset
206 lostFeatures.push_back(iter->feature);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
207 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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diff changeset
208 iter = featurePointMatches.erase(iter);
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diff changeset
209 } else {
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diff changeset
210 trackedPts.push_back(currPts[iter->pointNum]);
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diff changeset
211 iter->pointNum = trackedPts.size()-1;
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diff changeset
212 iter++;
139
47329bd16cc0 cleaned code, added condition on smooth displacement
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parents: 138
diff changeset
213 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
214 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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diff changeset
215 currPts = trackedPts;
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diff changeset
216 assert(currPts.size() == featurePointMatches.size());
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diff changeset
217 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
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diff changeset
218
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diff changeset
219 if (params.display) {
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diff changeset
220 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
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diff changeset
221 fp.feature->draw(frame, invHomography, Colors::red());
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diff changeset
222 // object detection
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diff changeset
223 // vector<Rect> locations;
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diff changeset
224 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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diff changeset
225 // BOOST_FOREACH(Rect r, locations)
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diff changeset
226 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
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diff changeset
227 }
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diff changeset
228 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
229
655
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diff changeset
230 // adding new features, using mask around existing feature positions
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diff changeset
231 Mat featureMask = mask.clone();
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diff changeset
232 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
233 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
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diff changeset
234 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
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diff changeset
235 featureMask.at<uchar>(i,j)=0;
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diff changeset
236 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
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diff changeset
237 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
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diff changeset
238 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
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diff changeset
239 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
240 currPts.push_back(p);
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241 }
128
536510f60854 new features generated as needed
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diff changeset
242
655
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diff changeset
243 if (params.display) {
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244 imshow("mask", featureMask*256);
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245 imshow("frame", frame);
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diff changeset
246 key = waitKey(2);
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247 }
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248 previousFrameBW = currentFrameBW.clone();
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diff changeset
249 prevPts = currPts;
480
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250 }
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251
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252 // save the remaining currently tracked features
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253 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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254 while (iter != featurePointMatches.end()) {
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255 if (iter->feature->length() >= params.minFeatureTime) {
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diff changeset
256 iter->feature->setId(savedFeatureId);
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257 savedFeatureId++;
481
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258 iter->feature->movingAverage(params.nFramesSmoothing);
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259 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
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260 }
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261 iter++;
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262 }
121
c4d4b5b93add copied the video_homography opencv sample
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263
142
a3532db00c28 added code to write velocities
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diff changeset
264 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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265 trajectoryDB->disconnect();
164
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266 }
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267
169
5f705809d37a created groupFeatures function
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diff changeset
268 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654
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269 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
169
5f705809d37a created groupFeatures function
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diff changeset
270 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
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271 trajectoryDB->createObjectTable("objects", "objects_features");
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272 unsigned int savedObjectId=0;
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273
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
274 trajectoryDB->createInstants("table");
710
70a3cdf0dbb3 unsucessful acceleration idea
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275 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster
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276 //trajectoryDB->createIndex("velocities","trajectory_id");
221
bc93e87a2108 cleaned and corrected connected components and feature groups
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parents: 219
diff changeset
277
225
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diff changeset
278 unsigned int maxTrajectoryLength = 0;
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diff changeset
279 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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diff changeset
280 if (!success || maxTrajectoryLength == 0) {
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281 cout << "problem with trajectory length " << success << endl;
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diff changeset
282 exit(0);
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diff changeset
283 }
222
426321b46e44 temporary trajectory instants table
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diff changeset
284 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
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parents: 207
diff changeset
285
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
286 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
3a4eef37384f method to add features and vertices to graph
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diff changeset
287
169
5f705809d37a created groupFeatures function
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288 // main loop
227
b7612c6d5702 cleaned the code
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diff changeset
289 unsigned int frameNum;
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diff changeset
290 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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291 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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diff changeset
292 firstFrameNum = MAX(firstFrameNum, params.frame1);
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diff changeset
293 if (params.nFrames>0)
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diff changeset
294 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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diff changeset
295 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
296 vector<int> trajectoryIds;
231
249d65ff6c35 merged modifications for windows
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diff changeset
297 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
298 if (frameNum%100 ==0)
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diff changeset
299 cout << "frame " << frameNum << endl;
222
426321b46e44 temporary trajectory instants table
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diff changeset
300 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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diff changeset
301 #if DEBUG
174
ec9734015d53 tested loading trajectory by id numbers
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diff changeset
302 cout << trajectoryIds.size() << " trajectories " << endl;
222
426321b46e44 temporary trajectory instants table
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diff changeset
303 #endif
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diff changeset
304 // vector<TrajectoryPoint2fPtr> positions, velocities;
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diff changeset
305 // trajectoryDB->read(positions, trajectoryIds, "positions");
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diff changeset
306 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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diff changeset
307 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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diff changeset
308 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
ec9734015d53 tested loading trajectory by id numbers
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diff changeset
309 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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diff changeset
310 //cout << trajectoryId << " " << endl;
654
045d05cef9d0 updating to c++11 capabilities
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diff changeset
311 // std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
312 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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parents: 176
diff changeset
313 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
314 // stringstream ss;ss << *ft; cout << ss.str() << endl;
3a4eef37384f method to add features and vertices to graph
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parents: 179
diff changeset
315 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
3a4eef37384f method to add features and vertices to graph
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parents: 179
diff changeset
316 featureGraph.addFeature(ft);
174
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diff changeset
317 }
172
e508bb0cbb64 modified comments
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parents: 169
diff changeset
318
222
426321b46e44 temporary trajectory instants table
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parents: 221
diff changeset
319 // 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
320 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
321 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
322 featureGraph.connectedComponents(lastInstant);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 363
diff changeset
323 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
324 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
325 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
326 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
327 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
328 featureNumbers.push_back(featureGroups[i][j]->getId());
411
31604ef1cad4 added hog functions and the display of road user types if known
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 401
diff changeset
329 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
330 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
331 }
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
332 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
333
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
334 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
335 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
336 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
337
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
338 // 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
339 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
340 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
341 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
342 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
343 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
344 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
345 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
346 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
347 savedObjectId++;
180
3a4eef37384f method to add features and vertices to graph
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parents: 179
diff changeset
348 }
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
349
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
350 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
351 trajectoryDB->disconnect();
654
045d05cef9d0 updating to c++11 capabilities
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parents: 542
diff changeset
352 }
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
353
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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354 void loadingTimes(const KLTFeatureTrackingParameters& params) {
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355 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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356 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
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357
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358 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
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359 //cout << trajectories.size() << endl;
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360 std::clock_t c_start = std::clock();
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361 success = trajectoryDB->read(trajectories, "positions");
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362 std::clock_t c_end = std::clock();
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363 if (!success)
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364 cout << "Issue with db reading" << endl;
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365 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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366
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367 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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368 c_start = std::clock();
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369 for (unsigned int i = 0; i<trajectories.size(); ++i) {
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370 success = trajectoryDB->read(trajectory, i, "positions");
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371 }
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372 c_end = std::clock();
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373 cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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374
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375 trajectoryDB->endTransaction();
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376 trajectoryDB->disconnect();
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377 }
169
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378
164
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379 int main(int argc, char *argv[]) {
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380 KLTFeatureTrackingParameters params(argc, argv);
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381 cout << params.parameterDescription << endl;
654
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382
234
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383 if (params.trackFeatures) {
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384 cout << "The program tracks features" << endl;
164
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385 trackFeatures(params);
234
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386 } else if (params.groupFeatures) {
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387 cout << "The program groups features" << endl;
169
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388 groupFeatures(params);
654
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389 } else if (params.loadingTime) {
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390 cout << "The program reports loading times" << endl;
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391 loadingTimes(params);
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392 } else {
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393 cout << "Main option missing or misspelt" << endl;
234
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394 }
164
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395
117
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396 return 0;
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397 }
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398
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399 /* ------------------ DOCUMENTATION ------------------ */
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400
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401
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402 /*! \mainpage
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403
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404 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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405
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406 - \ref feature_based_tracking
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407
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408 The code is partially self-described using the doxygen tool and comment formatting. The documentation can be extracted using doxygen, typing \c doxygen in the main directory (or <tt>make doc</tt> on a system with the Makefile tool installed).
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409
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410 */
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411
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412 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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413
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414 This document describes a software tool for object tracking in video data, developed for road traffic monitoring and safety diagnosis. It is part of a larger collection of software tools for transportation called Traffic Intelligence.
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415
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416 The tool relies on feature-based tracking, a robust object tracking methods, particularly suited for the extraction of traffic data such as trajectories and speeds. The best description of this method is given in <a href="http://nicolas.saunier.confins.net/data/saunier06crv.html">this paper</a>. The program has a command line interface and this document will shortly explain how to use the tool. Keep in mind this is a work in progress and major changes are continuously being made.
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417
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418 \section License
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419
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420 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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421
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422 If you make use of this piece of software, please cite one of my paper, e.g. N. Saunier, T. Sayed and K. Ismail. Large Scale Automated Analysis of Vehicle Interactions and Collisions. Transportation Research Record: Journal of the Transportation Research Board, 2147:42-50, 2010. I would be very happy in any case to know about any use of the code, and to discuss any opportunity for collaboration.
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423
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424 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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425
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426 */