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annotate c/feature-based-tracking.cpp @ 145:7bf8084e720f

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removed bug with loadMat and added diagnosis code for empty frames
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 29 Aug 2011 19:20:37 -0400
parents b32947b002da
children 7150427c665e
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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/highgui/highgui.hpp"
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12 //#include "opencv2/imgproc/imgproc.hpp"
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13 #include "opencv2/features2d/features2d.hpp"
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15 #include <boost/shared_ptr.hpp>
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16 #include <boost/foreach.hpp>
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18 #include <iostream>
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19 //#include <list>
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20 #include <vector>
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21
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22 using namespace std;
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23 using namespace cv;
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25 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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26 for (int i = 0; i < (int)matches.size(); i++)
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27 {
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28 Point2f pt_new = query[matches[i].queryIdx].pt;
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29 Point2f pt_old = train[matches[i].trainIdx].pt;
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30 Point2f dist = pt_new - pt_old;
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31 if (norm(dist) < 20) {
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32 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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33 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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34 }
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35 }
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36 }
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38 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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39 for (unsigned int i=0; i<status.size(); i++) {
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40 if (status[i]) {
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41 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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42 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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43 }
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44 }
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45 }
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47 struct FeaturePointMatch {
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48 FeatureTrajectoryPtr feature;
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49 int pointNum;
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50
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51 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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52 feature(_feature), pointNum(_pointNum) {}
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53 };
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54
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55 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
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56 if (features.size() >= minNFeatures) {
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57 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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58 features.clear();
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59 }
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60 }
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62 int main(int argc, char *argv[]) {
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63 // BriefDescriptorExtractor brief(32);
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64 // const int DESIRED_FTRS = 500;
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65 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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67 VideoCapture capture;
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68 Mat frame, currentFrameBW, previousFrameBW;
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69
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70 KLTFeatureTrackingParameters params(argc, argv);
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71 cout << params.parameterDescription << endl;
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72
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73 Mat m = ::loadMat(params.homographyFilename, " ");
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74 //cout << m << endl;
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76 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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77 Size window = Size(params.windowSize, params.windowSize);
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78
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79 BruteForceMatcher<Hamming> descMatcher;
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80 vector<DMatch> matches;
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81 Size videoSize;
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83 // if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
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84 // capture.open(argc == 2 ? argv[1][0] - '0' : 0);
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85 // else if( argc >= 2 )
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86 // {
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87 // capture.open(argv[1]);
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88 // if( capture.isOpened() )
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89 // videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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90 // cout << "Video " << argv[1] <<
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91 // ": width=" << videoSize.width <<
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92 // ", height=" << videoSize.height <<
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93 // ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
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94 // if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt)
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95 // {
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96 // sscanf(argv[2], "%d", &params.frame1);
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97 // cout << "seeking to frame #" << params.frame1 << endl;
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98 // //cap.set(CV_CAP_PROP_POS_FRAMES, pos);
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99 // for (int i=0; i<params.frame1; i++)
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100 // capture >> frame;
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101 // }
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102 // }
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103
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104 capture.open(params.videoFilename);
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105 if(capture.isOpened()) {
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106 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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107 cout << "Video " << params.videoFilename <<
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108 ": width=" << videoSize.width <<
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109 ", height=" << videoSize.height <<
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110 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
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111 } else {
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112 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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113 exit(0);
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114 }
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115 // if (!capture.isOpened())
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116 // {
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117 // //help(argv);
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118 // cout << "capture device " << argv[1] << " failed to open!" << endl;
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119 // return 1;
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120 // }
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122 // database
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123 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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124 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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125 trajectoryDB->connect(params.databaseFilename.c_str());
142
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126 trajectoryDB->createTable("positions");
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127 trajectoryDB->createTable("velocities");
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128 trajectoryDB->beginTransaction();
133
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129
124
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diff changeset
130 vector<KeyPoint> prevKpts, currKpts;
130
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131 vector<Point2f> prevPts, currPts, newPts;
127
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132 vector<uchar> status;
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133 vector<float> errors;
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diff changeset
134 Mat prevDesc, currDesc;
128
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135
140
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136 vector<FeatureTrajectoryPtr> lostFeatures;
132
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137 vector<FeaturePointMatch> featurePointMatches;
130
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138
133
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139 int key = '?';
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140 unsigned int savedFeatureId=0;
141
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141 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
121
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142 capture >> frame;
134
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143 cout << frameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
145
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144 int emptyFrameNum = 0;
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145 while (frame.empty()) {
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146 cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
123
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147 capture >> frame;//break;
145
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148 emptyFrameNum++;
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149 if (emptyFrameNum>=3000)
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150 exit(0);
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151 }
121
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152
127
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153 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
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154
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155 // "normal" feature detectors: detect features here
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156 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
121
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157
128
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158 if (!prevPts.empty()) {
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159 //::keyPoints2Points(prevKpts, prevPts);
127
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diff changeset
160 currPts.clear();
137
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161 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), 0.5 /* unused */, 0); // OPTFLOW_USE_INITIAL_FLOW
128
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162
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163 vector<Point2f> trackedPts;
132
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164 vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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diff changeset
165 while (iter != featurePointMatches.end()) {
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166 bool deleteFeature = false;
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167
132
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168 if (status[iter->pointNum]) {
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169 iter->feature->addPoint(frameNum, currPts[iter->pointNum]);
135
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170
139
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171 deleteFeature |= iter->feature->smallDisplacement(params.nDisplacements, minTotalFeatureDisplacement)
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172 || !iter->feature->motionSmooth(params.accelerationBound, params.deviationBound);
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173 if (deleteFeature)
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174 iter->feature->shorten();
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175 } else
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176 deleteFeature = true;
135
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177
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178 if (deleteFeature) {
134
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179 if (iter->feature->length() >= params.minFeatureTime) {
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180 iter->feature->setId(savedFeatureId);
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181 savedFeatureId++;
139
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diff changeset
182 /// \todo smoothing
140
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183 //iter->feature->write(*trajectoryDB);
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184 lostFeatures.push_back(iter->feature);
134
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185 }
132
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186 iter = featurePointMatches.erase(iter);
138
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187 } else {
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188 trackedPts.push_back(currPts[iter->pointNum]);
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189 iter->pointNum = trackedPts.size()-1;
135
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diff changeset
190 iter++;
138
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191 }
132
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192 }
128
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193 currPts = trackedPts;
132
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194 assert(currPts.size() == featurePointMatches.size());
142
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195 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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diff changeset
196
139
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197 if (params.display) {
134
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198 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
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199 fp.feature->draw(frame, Colors::red());
139
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200 }
132
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201 //drawOpticalFlow(prevPts, currPts, status, frame);
134
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202
127
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203 // cout << matches.size() << " matches" << endl;
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204 // descMatcher.match(currDesc, prevDesc, matches);
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205 // cout << matches.size() << " matches" << endl;
128
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diff changeset
206 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
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diff changeset
207 }
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diff changeset
208
128
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diff changeset
209 // adding new features, using mask around existing feature positions
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diff changeset
210 Mat featureMask = Mat::ones(videoSize, CV_8UC1);
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diff changeset
211 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
212 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
213 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
214 featureMask.at<uchar>(i,j)=0;
130
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diff changeset
215 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
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diff changeset
216 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
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diff changeset
217 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p));
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diff changeset
218 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
219 currPts.push_back(p);
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220 }
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diff changeset
221 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
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diff changeset
222 //::keyPoints2Points(currKpts, currPts, false);
128
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diff changeset
223
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diff changeset
224 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
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diff changeset
225
134
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diff changeset
226 if (params.display) {
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diff changeset
227 imshow("frame", frame);
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228 imshow("mask", featureMask*256);
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229 key = waitKey(2);
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230 }
127
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diff changeset
231 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
232 prevPts = currPts;
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233 //prevKpts = currKpts;
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diff changeset
234 //currDesc.copyTo(prevDesc);
121
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diff changeset
235 }
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diff changeset
236
142
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diff changeset
237 trajectoryDB->endTransaction();
136
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diff changeset
238 trajectoryDB->disconnect();
117
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239 return 0;
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240 }
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241
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242
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parents:
diff changeset
243 /* ------------------ DOCUMENTATION ------------------ */
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244
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245
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diff changeset
246 /*! \mainpage
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247
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248 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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249
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250 - \ref feature_based_tracking
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251
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252 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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253
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254 */
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256 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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258 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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260 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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261
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262 \section License
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264 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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266 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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268 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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270 */