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annotate c/feature-based-tracking.cpp @ 509:935430b1d408

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corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 23 May 2014 16:27:26 -0400
parents 081a9da6f85b
children 018653d1db3c
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 #include "InputVideoFileModule.h"
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6 #include "InputFrameListModule.h"
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7
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8 #include "src/Trajectory.h"
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9 #include "src/TrajectoryDBAccessList.h"
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10 #include "src/TrajectoryDBAccessBlob.h"
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12 #include "opencv2/core/core.hpp"
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13 #include "opencv2/imgproc/imgproc.hpp"
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14 #include "opencv2/video/tracking.hpp"
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15 #include "opencv2/features2d/features2d.hpp"
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16 #include "opencv2/highgui/highgui.hpp"
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17 #include "opencv2/objdetect/objdetect.hpp"
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18
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19 #include <boost/shared_ptr.hpp>
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20 #include <boost/foreach.hpp>
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21 #include <boost/filesystem.hpp>
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22
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23 #include <iostream>
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24 #include <vector>
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25 #include <ctime>
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26 #include <cmath>
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27
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28 using namespace std;
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29 using namespace cv;
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30 namespace fs = boost::filesystem;
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31
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32 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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33 for (int i = 0; i < (int)matches.size(); i++)
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34 {
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35 Point2f pt_new = query[matches[i].queryIdx].pt;
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36 Point2f pt_old = train[matches[i].trainIdx].pt;
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37 Point2f dist = pt_new - pt_old;
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38 if (norm(dist) < 20) {
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39 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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40 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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41 }
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42 }
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43 }
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45 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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46 for (unsigned int i=0; i<status.size(); i++) {
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47 if (status[i]) {
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48 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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49 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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50 }
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51 }
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52 }
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53
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54 struct FeaturePointMatch {
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55 FeatureTrajectoryPtr feature;
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56 int pointNum;
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57
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58 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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59 feature(_feature), pointNum(_pointNum) {}
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60 };
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61
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62 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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63 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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64 features.clear();
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65 }
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66
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67 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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68 // BriefDescriptorExtractor brief(32);
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69 // const int DESIRED_FTRS = 500;
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70 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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71
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72 Mat homography = ::loadMat(params.homographyFilename, " ");
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73 Mat invHomography;
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74 if (params.display && !homography.empty())
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75 invHomography = homography.inv();
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76 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
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77 //cout << intrinsicCameraMatrix << endl;
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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 int interpolationMethod = -1;
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83 if (params.interpolationMethod == 0)
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84 interpolationMethod = INTER_NEAREST;
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85 else if (params.interpolationMethod == 1)
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86 interpolationMethod = INTER_LINEAR;
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87 else if (params.interpolationMethod == 2)
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88 interpolationMethod = INTER_CUBIC;
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89 else if (params.interpolationMethod == 3)
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90 interpolationMethod = INTER_LANCZOS4;
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91 else
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92 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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93
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94 // BruteForceMatcher<Hamming> descMatcher;
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95 // vector<DMatch> matches;
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96
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97 boost::shared_ptr<InputFrameProviderIface> capture;
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98 if (fs::is_directory(fs::path(params.videoFilename)))
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99 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
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100 else if(!params.videoFilename.empty())
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101 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
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102 else
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103 cout << "No valid input parameters" << endl;
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104
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105 if(!capture->isOpen()) {
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106 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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107 exit(0);
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108 }
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109
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110 Size videoSize = capture->getSize();
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111 unsigned int nFrames = capture->getNbFrames();
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112 cout << "Video " << params.videoFilename <<
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113 ": width=" << videoSize.width <<
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114 ", height=" << videoSize.height <<
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115 ", nframes=" << nFrames << endl;
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117 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
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118 Mat map1, map2;
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119 if (params.undistort) {
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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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diff changeset
121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
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diff changeset
122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
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diff changeset
123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
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parents: 507
diff changeset
124
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parents: 507
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.
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parents: 391
diff changeset
128
146
7150427c665e added loading of mask
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parents: 145
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
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diff changeset
132 mask = Mat::ones(videoSize, CV_8UC1);
363
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diff changeset
133 }
146
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parents: 145
diff changeset
134
140
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parents: 139
diff changeset
135 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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parents: 135
diff changeset
136 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
138
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parents: 137
diff changeset
137 trajectoryDB->connect(params.databaseFilename.c_str());
142
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parents: 141
diff changeset
138 trajectoryDB->createTable("positions");
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parents: 141
diff changeset
139 trajectoryDB->createTable("velocities");
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parents: 141
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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diff changeset
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
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diff changeset
146 Mat prevDesc, currDesc;
128
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diff changeset
147
230
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diff changeset
148 std::vector<FeatureTrajectoryPtr> lostFeatures;
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diff changeset
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
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diff changeset
154
278
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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)
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parents: 227
diff changeset
156 if (params.nFrames > 0)
278
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parents: 234
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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parents: 481
diff changeset
158
400
7ef1071e3cc3 clean up of input classes for list of images and video files
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parents: 399
diff changeset
159 capture->setFrameNumber(params.frame1);
227
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parents: 225
diff changeset
160 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
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
161 bool success = capture->getNextFrame(frame);
507
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parents: 506 496
diff changeset
162 if (params.undistort) {
509
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parents: 507
diff changeset
163 remap(frame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
507
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diff changeset
164 frame = undistortedFrame;
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diff changeset
165 }
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diff changeset
166 //if (!success || frame.empty() || frame.size() != videoSize)
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diff changeset
167 //break;
278
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parents: 234
diff changeset
168
227
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parents: 225
diff changeset
169 if (frameNum%50 ==0)
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parents: 225
diff changeset
170 cout << "frame " << frameNum << endl;
121
c4d4b5b93add copied the video_homography opencv sample
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parents: 119
diff changeset
171
127
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diff changeset
172 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
121
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parents: 119
diff changeset
173
128
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diff changeset
174 if (!prevPts.empty()) {
127
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diff changeset
175 currPts.clear();
495
82c06ad62254 added parameter description with ranges
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parents: 481
diff changeset
176 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);
154
668710d4c773 updated computeTranslation with cv2
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parents: 147
diff changeset
177 /// \todo try calcOpticalFlowFarneback
128
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diff changeset
178
230
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diff changeset
179 std::vector<Point2f> trackedPts;
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diff changeset
180 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
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parents: 130
diff changeset
181 while (iter != featurePointMatches.end()) {
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
182 bool deleteFeature = false;
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parents: 134
diff changeset
183
132
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parents: 130
diff changeset
184 if (status[iter->pointNum]) {
147
0089fb29cd26 added projection of points and reprojection for display
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diff changeset
185 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
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parents: 134
diff changeset
186
480
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parents: 418
diff changeset
187 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
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parents: 175
diff changeset
188 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
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parents: 138
diff changeset
189 if (deleteFeature)
138
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parents: 137
diff changeset
190 iter->feature->shorten();
139
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parents: 138
diff changeset
191 } else
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parents: 138
diff changeset
192 deleteFeature = true;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
193
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
194 if (deleteFeature) {
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
195 if (iter->feature->length() >= params.minFeatureTime) {
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parents: 133
diff changeset
196 iter->feature->setId(savedFeatureId);
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parents: 133
diff changeset
197 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
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parents: 480
diff changeset
198 iter->feature->movingAverage(params.nFramesSmoothing);
140
8de5e8256224 added function to save vectors of features
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parents: 139
diff changeset
199 lostFeatures.push_back(iter->feature);
134
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parents: 133
diff changeset
200 }
132
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parents: 130
diff changeset
201 iter = featurePointMatches.erase(iter);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
202 } else {
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parents: 137
diff changeset
203 trackedPts.push_back(currPts[iter->pointNum]);
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parents: 137
diff changeset
204 iter->pointNum = trackedPts.size()-1;
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
205 iter++;
138
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parents: 137
diff changeset
206 }
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
207 }
128
536510f60854 new features generated as needed
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diff changeset
208 currPts = trackedPts;
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
209 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
210 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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parents: 133
diff changeset
211
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
212 if (params.display) {
134
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parents: 133
diff changeset
213 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
214 fp.feature->draw(frame, invHomography, Colors::red());
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
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parents: 191
diff changeset
215 // object detection
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parents: 191
diff changeset
216 // vector<Rect> locations;
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parents: 191
diff changeset
217 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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parents: 191
diff changeset
218 // BOOST_FOREACH(Rect r, locations)
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parents: 191
diff changeset
219 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
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parents: 138
diff changeset
220 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
221 }
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
222
128
536510f60854 new features generated as needed
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diff changeset
223 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
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parents: 145
diff changeset
224 Mat featureMask = mask.clone();
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
225 for (unsigned int n=0;n<currPts.size(); n++)
536510f60854 new features generated as needed
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parents: 127
diff changeset
226 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
536510f60854 new features generated as needed
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parents: 127
diff changeset
227 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
228 featureMask.at<uchar>(i,j)=0;
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
229 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
230 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
231 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
232 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
45c64e68053c added drawing function for features
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parents: 130
diff changeset
233 currPts.push_back(p);
45c64e68053c added drawing function for features
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parents: 130
diff changeset
234 }
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
235
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
236 if (params.display) {
401
b829ebdc18e6 simplified input of directories of video frames (simply use the video filename parameter to point at the directory)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 400
diff changeset
237 imshow("mask", featureMask*256);
134
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parents: 133
diff changeset
238 imshow("frame", frame);
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parents: 133
diff changeset
239 key = waitKey(2);
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parents: 133
diff changeset
240 }
127
d19d6e63dd77 simple feature tracking and drawing working
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parents: 125
diff changeset
241 previousFrameBW = currentFrameBW.clone();
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
242 prevPts = currPts;
480
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243 }
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244
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245 // save the remaining currently tracked features
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246 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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247 while (iter != featurePointMatches.end()) {
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248 if (iter->feature->length() >= params.minFeatureTime) {
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249 iter->feature->setId(savedFeatureId);
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250 savedFeatureId++;
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251 iter->feature->movingAverage(params.nFramesSmoothing);
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252 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
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253 }
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254 iter++;
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255 }
121
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256
142
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257 trajectoryDB->endTransaction();
136
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258 trajectoryDB->disconnect();
164
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259 }
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260
169
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261 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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262 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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263 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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264 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
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265 trajectoryDB->createObjectTable("objects", "objects_features");
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266 unsigned int savedObjectId=0;
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267
188
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268 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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269 // cout << trajectories.size() << endl;
174
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270 // std::clock_t c_start = std::clock();
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271 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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272 // std::clock_t c_end = std::clock();
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273 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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274
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275 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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276 // c_start = std::clock();
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277 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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278 // success = trajectoryDB->read(trajectory, i, "positions");
169
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279 // }
174
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280 // c_end = std::clock();
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281 // 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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282
225
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283 trajectoryDB->createInstants("table");
221
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284
225
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285 unsigned int maxTrajectoryLength = 0;
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286 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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287 if (!success || maxTrajectoryLength == 0) {
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288 cout << "problem with trajectory length " << success << endl;
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289 exit(0);
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290 }
222
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291 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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292
191
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293 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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294
169
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295 // main loop
227
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296 unsigned int frameNum;
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297 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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298 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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299 firstFrameNum = MAX(firstFrameNum, params.frame1);
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300 if (params.nFrames>0)
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301 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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302 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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303 vector<int> trajectoryIds;
231
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304 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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305 if (frameNum%100 ==0)
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306 cout << "frame " << frameNum << endl;
222
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307 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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308 #if DEBUG
174
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309 cout << trajectoryIds.size() << " trajectories " << endl;
222
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310 #endif
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311 // vector<TrajectoryPoint2fPtr> positions, velocities;
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312 // trajectoryDB->read(positions, trajectoryIds, "positions");
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313 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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314 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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315 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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316 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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317 //cout << trajectoryId << " " << endl;
177
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318 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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319 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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320 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
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321 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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322 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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323 featureGraph.addFeature(ft);
174
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324 }
172
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diff changeset
325
222
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diff changeset
326 // check for connected components
225
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327 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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diff changeset
328 if (lastInstant > 0 && frameNum%10==0) {
225
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diff changeset
329 featureGraph.connectedComponents(lastInstant);
391
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diff changeset
330 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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diff changeset
331 featureGraph.getFeatureGroups(featureGroups);
225
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diff changeset
332 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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diff changeset
333 vector<unsigned int> featureNumbers;
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diff changeset
334 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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diff changeset
335 featureNumbers.push_back(featureGroups[i][j]->getId());
411
31604ef1cad4 added hog functions and the display of road user types if known
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diff changeset
336 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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337 savedObjectId++;
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338 }
188
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339 }
222
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diff changeset
340
225
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diff changeset
341 if (frameNum%100 ==0)
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342 cout << featureGraph.informationString() << endl;
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diff changeset
343 }
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344
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345 // save remaining objects
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diff changeset
346 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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diff changeset
347 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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diff changeset
348 featureGraph.getFeatureGroups(featureGroups);
225
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349 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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diff changeset
350 vector<unsigned int> featureNumbers;
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diff changeset
351 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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diff changeset
352 featureNumbers.push_back(featureGroups[i][j]->getId());
412
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diff changeset
353 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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diff changeset
354 savedObjectId++;
180
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diff changeset
355 }
169
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diff changeset
356
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diff changeset
357 trajectoryDB->endTransaction();
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358 trajectoryDB->disconnect();
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diff changeset
359 }
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diff changeset
360
164
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diff changeset
361 int main(int argc, char *argv[]) {
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362 KLTFeatureTrackingParameters params(argc, argv);
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diff changeset
363 cout << params.parameterDescription << endl;
234
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diff changeset
364
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365 if (params.trackFeatures) {
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366 cout << "The program tracks features" << endl;
164
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diff changeset
367 trackFeatures(params);
234
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368 } else if (params.groupFeatures) {
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369 cout << "The program groups features" << endl;
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370 groupFeatures(params);
234
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371 }
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372
117
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373 return 0;
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374 }
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375
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376 /* ------------------ DOCUMENTATION ------------------ */
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377
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378
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379 /*! \mainpage
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380
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381 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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382
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383 - \ref feature_based_tracking
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384
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385 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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386
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387 */
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388
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389 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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390
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391 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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392
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393 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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394
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395 \section License
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396
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397 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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398
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399 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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400
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401 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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402
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403 */