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annotate c/feature-based-tracking.cpp @ 400:7ef1071e3cc3

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clean up of input classes for list of images and video files
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 29 Jul 2013 18:06:55 -0400
parents c389fae9689a
children b829ebdc18e6
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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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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/shared_ptr.hpp>
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18 #include <boost/foreach.hpp>
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20 #include "InputVideoFileModule.h"
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21 #include "InputFrameListModule.h"
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24 #include <iostream>
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25 #include <vector>
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26 #include <ctime>
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28 using namespace std;
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29 using namespace cv;
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31 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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32 for (int i = 0; i < (int)matches.size(); i++)
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33 {
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34 Point2f pt_new = query[matches[i].queryIdx].pt;
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35 Point2f pt_old = train[matches[i].trainIdx].pt;
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36 Point2f dist = pt_new - pt_old;
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37 if (norm(dist) < 20) {
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38 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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39 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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40 }
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41 }
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42 }
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44 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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45 for (unsigned int i=0; i<status.size(); i++) {
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46 if (status[i]) {
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47 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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48 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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49 }
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50 }
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51 }
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52
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53 struct FeaturePointMatch {
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54 FeatureTrajectoryPtr feature;
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55 int pointNum;
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56
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57 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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58 feature(_feature), pointNum(_pointNum) {}
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59 };
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60
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61 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
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62 /// \todo smoothing
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63 if (features.size() >= minNFeatures) {
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64 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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65 features.clear();
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66 }
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67 }
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68
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69 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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70 // BriefDescriptorExtractor brief(32);
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71 // const int DESIRED_FTRS = 500;
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72 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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73
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74 Mat homography = ::loadMat(params.homographyFilename, " ");
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75 Mat invHomography;
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76 if (params.display && !homography.empty())
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77 invHomography = homography.inv();
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78
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79 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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80 Size window = Size(params.windowSize, params.windowSize);
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81
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82 // BruteForceMatcher<Hamming> descMatcher;
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83 // vector<DMatch> matches;
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84
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85 InputFrameProviderIface* capture = 0;
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86 if(!params.listFilename.empty() && !params.folderData.empty())
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87 capture = new InputFrameListModule(params.folderData, params.listFilename);
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88 else if(!params.videoFilename.empty())
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89 capture = new InputVideoFileModule(params.videoFilename);
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90 else
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91 cout << "No valid input parameters";
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92
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93 if(!capture->isOpen()) {
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94 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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95 exit(0);
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96 }
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98 Size videoSize = capture->getSize();
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99 unsigned int nFrames = capture->getNbFrames();
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100 cout << "Video " << params.videoFilename <<
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101 ": width=" << videoSize.width <<
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102 ", height=" << videoSize.height <<
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103 ", nframes=" << nFrames << endl;
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104
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105 Mat mask = imread(params.maskFilename, 0);
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106 if (mask.empty()) {
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107 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
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108 mask = Mat::ones(videoSize, CV_8UC1);
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109 }
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111 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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112 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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113 trajectoryDB->connect(params.databaseFilename.c_str());
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114 trajectoryDB->createTable("positions");
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115 trajectoryDB->createTable("velocities");
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116 trajectoryDB->beginTransaction();
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118 std::vector<KeyPoint> prevKpts, currKpts;
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119 std::vector<Point2f> prevPts, currPts, newPts;
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120 std::vector<uchar> status;
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121 std::vector<float> errors;
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122 Mat prevDesc, currDesc;
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123
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diff changeset
124 std::vector<FeatureTrajectoryPtr> lostFeatures;
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125 std::vector<FeaturePointMatch> featurePointMatches;
163
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126
193
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127 HOGDescriptor hog;
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128 hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
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diff changeset
129
133
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diff changeset
130 int key = '?';
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diff changeset
131 unsigned int savedFeatureId=0;
278
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132 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
227
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diff changeset
133
278
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diff changeset
134 unsigned int lastFrameNum = nFrames;
228
23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames)
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diff changeset
135 if (params.nFrames > 0)
278
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136 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
227
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137
400
7ef1071e3cc3 clean up of input classes for list of images and video files
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diff changeset
138 capture->setFrameNumber(params.frame1);
227
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139 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
399
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140 bool success = capture->getNextFrame(frame);
278
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141
399
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142 if (!success || frame.empty() || frame.size() != videoSize)
278
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143 break;
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144
227
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145 if (frameNum%50 ==0)
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146 cout << "frame " << frameNum << endl;
278
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147
227
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diff changeset
148 //capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
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149
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150 // int emptyFrameNum = 0;
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151 // while (frame.empty()) {
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152 // cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
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153 // capture >> frame;//break;
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154 // emptyFrameNum++;
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155 // if (emptyFrameNum>=3000)
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156 // exit(0);
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157 // }
121
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158
127
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159 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
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160 // "normal" feature detectors: detect features here
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161 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
121
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162
128
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163 if (!prevPts.empty()) {
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164 //::keyPoints2Points(prevKpts, prevPts);
127
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165 currPts.clear();
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
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diff changeset
166 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
154
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167 /// \todo try calcOpticalFlowFarneback
128
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168
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diff changeset
169 std::vector<Point2f> trackedPts;
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170 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
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diff changeset
171 while (iter != featurePointMatches.end()) {
135
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172 bool deleteFeature = false;
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173
132
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diff changeset
174 if (status[iter->pointNum]) {
147
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diff changeset
175 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
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parents: 134
diff changeset
176
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
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diff changeset
177 deleteFeature |= iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
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178 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
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diff changeset
179 if (deleteFeature)
138
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diff changeset
180 iter->feature->shorten();
139
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181 } else
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182 deleteFeature = true;
135
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183
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184 if (deleteFeature) {
134
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185 if (iter->feature->length() >= params.minFeatureTime) {
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186 iter->feature->setId(savedFeatureId);
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187 savedFeatureId++;
140
8de5e8256224 added function to save vectors of features
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diff changeset
188 lostFeatures.push_back(iter->feature);
134
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189 }
132
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190 iter = featurePointMatches.erase(iter);
138
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diff changeset
191 } else {
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diff changeset
192 trackedPts.push_back(currPts[iter->pointNum]);
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193 iter->pointNum = trackedPts.size()-1;
135
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diff changeset
194 iter++;
138
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195 }
132
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196 }
128
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197 currPts = trackedPts;
132
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diff changeset
198 assert(currPts.size() == featurePointMatches.size());
142
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199 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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diff changeset
200
139
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diff changeset
201 if (params.display) {
134
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diff changeset
202 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
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diff changeset
203 fp.feature->draw(frame, invHomography, Colors::red());
193
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diff changeset
204 // object detection
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diff changeset
205 // vector<Rect> locations;
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206 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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diff changeset
207 // BOOST_FOREACH(Rect r, locations)
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diff changeset
208 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
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diff changeset
209 }
132
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diff changeset
210 //drawOpticalFlow(prevPts, currPts, status, frame);
134
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diff changeset
211
127
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diff changeset
212 // cout << matches.size() << " matches" << endl;
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diff changeset
213 // descMatcher.match(currDesc, prevDesc, matches);
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diff changeset
214 // cout << matches.size() << " matches" << endl;
128
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diff changeset
215 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
28907fde9855 work on klt tracker (problem on computer at poly)
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diff changeset
216 }
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diff changeset
217
128
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diff changeset
218 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
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diff changeset
219 Mat featureMask = mask.clone();
128
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diff changeset
220 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
221 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
222 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
223 featureMask.at<uchar>(i,j)=0;
130
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diff changeset
224 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
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diff changeset
225 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
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parents: 146
diff changeset
226 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
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diff changeset
227 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
228 currPts.push_back(p);
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diff changeset
229 }
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diff changeset
230 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
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diff changeset
231 //::keyPoints2Points(currKpts, currPts, false);
128
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diff changeset
232
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diff changeset
233 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
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diff changeset
234
134
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diff changeset
235 if (params.display) {
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diff changeset
236 imshow("frame", frame);
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diff changeset
237 imshow("mask", featureMask*256);
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diff changeset
238 key = waitKey(2);
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diff changeset
239 }
127
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diff changeset
240 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
241 prevPts = currPts;
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diff changeset
242 //prevKpts = currKpts;
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diff changeset
243 //currDesc.copyTo(prevDesc);
121
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diff changeset
244 }
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parents: 119
diff changeset
245
142
a3532db00c28 added code to write velocities
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parents: 141
diff changeset
246 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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parents: 135
diff changeset
247 trajectoryDB->disconnect();
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.
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parents: 391
diff changeset
248 delete capture;
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.
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parents: 391
diff changeset
249
164
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250 }
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251
169
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252 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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253 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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254 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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255 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
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256 trajectoryDB->createObjectTable("objects", "objects_features");
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257 unsigned int savedObjectId=0;
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258
188
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259 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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260 // cout << trajectories.size() << endl;
174
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261 // std::clock_t c_start = std::clock();
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262 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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263 // std::clock_t c_end = std::clock();
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264 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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265
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266 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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267 // c_start = std::clock();
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268 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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269 // success = trajectoryDB->read(trajectory, i, "positions");
169
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270 // }
174
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271 // c_end = std::clock();
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272 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
169
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273
225
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274 trajectoryDB->createInstants("table");
221
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275
225
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276 unsigned int maxTrajectoryLength = 0;
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277 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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278 if (!success || maxTrajectoryLength == 0) {
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279 cout << "problem with trajectory length " << success << endl;
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280 exit(0);
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281 }
222
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282 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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283
191
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284 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
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285
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286 // main loop
227
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287 unsigned int frameNum;
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288 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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289 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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290 firstFrameNum = MAX(firstFrameNum, params.frame1);
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291 if (params.nFrames>0)
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292 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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293 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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294 vector<int> trajectoryIds;
231
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295 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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296 if (frameNum%100 ==0)
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297 cout << "frame " << frameNum << endl;
222
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298 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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299 #if DEBUG
174
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300 cout << trajectoryIds.size() << " trajectories " << endl;
222
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301 #endif
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302 // vector<TrajectoryPoint2fPtr> positions, velocities;
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303 // trajectoryDB->read(positions, trajectoryIds, "positions");
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304 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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305 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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306 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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307 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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308 //cout << trajectoryId << " " << endl;
177
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309 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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310 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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311 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
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312 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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313 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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314 featureGraph.addFeature(ft);
174
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315 }
172
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316
222
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317 // check for connected components
225
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318 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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319 if (lastInstant > 0 && frameNum%10==0) {
225
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320 featureGraph.connectedComponents(lastInstant);
391
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321 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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322 featureGraph.getFeatureGroups(featureGroups);
225
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323 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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324 vector<unsigned int> featureNumbers;
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325 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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326 featureNumbers.push_back(featureGroups[i][j]->getId());
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327 trajectoryDB->writeObject(savedObjectId, featureNumbers, -1, 1, string("objects"), string("objects_features"));
225
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328 savedObjectId++;
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329 }
188
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330 }
222
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331
225
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332 if (frameNum%100 ==0)
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333 cout << featureGraph.informationString() << endl;
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334 }
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335
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336 // save remaining objects
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337 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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338 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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339 featureGraph.getFeatureGroups(featureGroups);
225
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340 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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341 vector<unsigned int> featureNumbers;
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342 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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343 featureNumbers.push_back(featureGroups[i][j]->getId());
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344 trajectoryDB->writeObject(savedObjectId, featureNumbers, -1, 1, string("objects"), string("objects_features"));
225
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345 savedObjectId++;
180
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346 }
169
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347
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348 trajectoryDB->endTransaction();
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349 trajectoryDB->disconnect();
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350 }
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351
164
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352 int main(int argc, char *argv[]) {
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353 KLTFeatureTrackingParameters params(argc, argv);
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354 cout << params.parameterDescription << endl;
234
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355
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356 if (params.trackFeatures) {
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357 cout << "The program tracks features" << endl;
164
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358 trackFeatures(params);
234
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359 } else if (params.groupFeatures) {
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360 cout << "The program groups features" << endl;
169
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361 groupFeatures(params);
234
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362 }
164
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363
117
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364 return 0;
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365 }
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366
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367 /* ------------------ DOCUMENTATION ------------------ */
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368
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369
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370 /*! \mainpage
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371
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372 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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373
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374 - \ref feature_based_tracking
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375
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376 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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377
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378 */
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380 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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381
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382 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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383
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384 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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385
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386 \section License
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387
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388 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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389
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390 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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391
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392 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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393
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394 */