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annotate c/feature-based-tracking.cpp @ 412:97cb5c969ef2

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corrected grouping bug (last object type -1) and added script to rescale homographies
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sun, 01 Sep 2013 22:00:11 -0400
parents 31604ef1cad4
children ca5784652d57
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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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19 #include <boost/filesystem.hpp>
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21 #include "InputVideoFileModule.h"
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22 #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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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, const unsigned int& minNFeatures = 0) {
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63 /// \todo smoothing
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64 if (features.size() >= minNFeatures) {
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65 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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66 features.clear();
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67 }
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68 }
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69
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70 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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71 // BriefDescriptorExtractor brief(32);
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72 // const int DESIRED_FTRS = 500;
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73 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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74
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75 Mat homography = ::loadMat(params.homographyFilename, " ");
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76 Mat invHomography;
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77 if (params.display && !homography.empty())
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78 invHomography = homography.inv();
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79
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80 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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81 Size window = Size(params.windowSize, params.windowSize);
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82
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83 // BruteForceMatcher<Hamming> descMatcher;
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84 // vector<DMatch> matches;
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85
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86 boost::shared_ptr<InputFrameProviderIface> capture;
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87 if (fs::is_directory(fs::path(params.videoFilename)))
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88 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
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89 else if(!params.videoFilename.empty())
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90 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
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91 else
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92 cout << "No valid input parameters" << endl;
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93
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94 if(!capture->isOpen()) {
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95 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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96 exit(0);
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97 }
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99 Size videoSize = capture->getSize();
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100 unsigned int nFrames = capture->getNbFrames();
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101 cout << "Video " << params.videoFilename <<
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102 ": width=" << videoSize.width <<
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103 ", height=" << videoSize.height <<
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104 ", nframes=" << nFrames << endl;
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105
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106 Mat mask = imread(params.maskFilename, 0);
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107 if (mask.empty()) {
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108 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
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109 mask = Mat::ones(videoSize, CV_8UC1);
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110 }
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111
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112 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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113 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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114 trajectoryDB->connect(params.databaseFilename.c_str());
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115 trajectoryDB->createTable("positions");
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116 trajectoryDB->createTable("velocities");
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117 trajectoryDB->beginTransaction();
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119 std::vector<KeyPoint> prevKpts, currKpts;
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120 std::vector<Point2f> prevPts, currPts, newPts;
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121 std::vector<uchar> status;
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122 std::vector<float> errors;
127
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diff changeset
123 Mat prevDesc, currDesc;
128
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diff changeset
124
230
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diff changeset
125 std::vector<FeatureTrajectoryPtr> lostFeatures;
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diff changeset
126 std::vector<FeaturePointMatch> featurePointMatches;
163
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parents: 154
diff changeset
127
401
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128 //HOGDescriptor hog;
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129 //hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
193
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diff changeset
130
133
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parents: 132
diff changeset
131 int key = '?';
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parents: 132
diff changeset
132 unsigned int savedFeatureId=0;
278
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diff changeset
133 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
227
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diff changeset
134
278
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diff changeset
135 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
136 if (params.nFrames > 0)
278
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diff changeset
137 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
227
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138
400
7ef1071e3cc3 clean up of input classes for list of images and video files
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diff changeset
139 capture->setFrameNumber(params.frame1);
227
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140 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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141 bool success = capture->getNextFrame(frame);
278
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142
399
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diff changeset
143 if (!success || frame.empty() || frame.size() != videoSize)
278
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144 break;
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145
227
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146 if (frameNum%50 ==0)
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147 cout << "frame " << frameNum << endl;
278
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148
227
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diff changeset
149 //capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
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150
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151 // int emptyFrameNum = 0;
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152 // while (frame.empty()) {
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153 // cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
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154 // capture >> frame;//break;
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155 // emptyFrameNum++;
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156 // if (emptyFrameNum>=3000)
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157 // exit(0);
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158 // }
121
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159
127
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diff changeset
160 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
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diff changeset
161 // "normal" feature detectors: detect features here
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162 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
121
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163
128
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diff changeset
164 if (!prevPts.empty()) {
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165 //::keyPoints2Points(prevKpts, prevPts);
127
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diff changeset
166 currPts.clear();
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
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parents: 136
diff changeset
167 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
668710d4c773 updated computeTranslation with cv2
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parents: 147
diff changeset
168 /// \todo try calcOpticalFlowFarneback
128
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169
230
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diff changeset
170 std::vector<Point2f> trackedPts;
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diff changeset
171 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
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diff changeset
172 while (iter != featurePointMatches.end()) {
135
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diff changeset
173 bool deleteFeature = false;
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174
132
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diff changeset
175 if (status[iter->pointNum]) {
147
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diff changeset
176 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
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parents: 134
diff changeset
177
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
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diff changeset
178 deleteFeature |= iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
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parents: 175
diff changeset
179 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
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parents: 138
diff changeset
180 if (deleteFeature)
138
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diff changeset
181 iter->feature->shorten();
139
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diff changeset
182 } else
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diff changeset
183 deleteFeature = true;
135
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diff changeset
184
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diff changeset
185 if (deleteFeature) {
134
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diff changeset
186 if (iter->feature->length() >= params.minFeatureTime) {
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diff changeset
187 iter->feature->setId(savedFeatureId);
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diff changeset
188 savedFeatureId++;
140
8de5e8256224 added function to save vectors of features
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diff changeset
189 lostFeatures.push_back(iter->feature);
134
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diff changeset
190 }
132
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diff changeset
191 iter = featurePointMatches.erase(iter);
138
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diff changeset
192 } else {
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diff changeset
193 trackedPts.push_back(currPts[iter->pointNum]);
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diff changeset
194 iter->pointNum = trackedPts.size()-1;
135
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diff changeset
195 iter++;
138
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196 }
132
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diff changeset
197 }
128
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diff changeset
198 currPts = trackedPts;
132
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diff changeset
199 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
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parents: 141
diff changeset
200 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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parents: 133
diff changeset
201
139
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parents: 138
diff changeset
202 if (params.display) {
134
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diff changeset
203 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
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diff changeset
204 fp.feature->draw(frame, invHomography, Colors::red());
193
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parents: 191
diff changeset
205 // object detection
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parents: 191
diff changeset
206 // vector<Rect> locations;
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diff changeset
207 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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diff changeset
208 // BOOST_FOREACH(Rect r, locations)
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parents: 191
diff changeset
209 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
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diff changeset
210 }
132
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diff changeset
211 //drawOpticalFlow(prevPts, currPts, status, frame);
134
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diff changeset
212
127
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diff changeset
213 // cout << matches.size() << " matches" << endl;
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diff changeset
214 // descMatcher.match(currDesc, prevDesc, matches);
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diff changeset
215 // cout << matches.size() << " matches" << endl;
128
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diff changeset
216 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
217 }
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
218
128
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diff changeset
219 // adding new features, using mask around existing feature positions
146
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diff changeset
220 Mat featureMask = mask.clone();
128
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diff changeset
221 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
222 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
223 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
224 featureMask.at<uchar>(i,j)=0;
130
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diff changeset
225 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
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diff changeset
226 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
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parents: 146
diff changeset
227 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
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diff changeset
228 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
229 currPts.push_back(p);
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diff changeset
230 }
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diff changeset
231 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
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parents: 128
diff changeset
232 //::keyPoints2Points(currKpts, currPts, false);
128
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diff changeset
233
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diff changeset
234 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
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diff changeset
235
134
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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)
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parents: 400
diff changeset
237 imshow("mask", featureMask*256);
134
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diff changeset
238 imshow("frame", frame);
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diff changeset
239 key = waitKey(2);
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diff changeset
240 }
127
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diff changeset
241 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
242 prevPts = currPts;
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diff changeset
243 //prevKpts = currKpts;
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diff changeset
244 //currDesc.copyTo(prevDesc);
121
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diff changeset
245 }
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diff changeset
246
142
a3532db00c28 added code to write velocities
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parents: 141
diff changeset
247 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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parents: 135
diff changeset
248 trajectoryDB->disconnect();
164
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249 }
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250
169
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251 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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252 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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253 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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254 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
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255 trajectoryDB->createObjectTable("objects", "objects_features");
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256 unsigned int savedObjectId=0;
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257
188
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258 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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259 // cout << trajectories.size() << endl;
174
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260 // std::clock_t c_start = std::clock();
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261 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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262 // std::clock_t c_end = std::clock();
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263 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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264
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265 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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266 // c_start = std::clock();
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267 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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268 // success = trajectoryDB->read(trajectory, i, "positions");
169
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269 // }
174
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270 // c_end = std::clock();
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271 // 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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272
225
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273 trajectoryDB->createInstants("table");
221
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274
225
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275 unsigned int maxTrajectoryLength = 0;
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276 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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277 if (!success || maxTrajectoryLength == 0) {
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278 cout << "problem with trajectory length " << success << endl;
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279 exit(0);
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280 }
222
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281 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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282
191
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283 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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284
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285 // main loop
227
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286 unsigned int frameNum;
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287 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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288 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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289 firstFrameNum = MAX(firstFrameNum, params.frame1);
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290 if (params.nFrames>0)
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291 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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292 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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293 vector<int> trajectoryIds;
231
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294 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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295 if (frameNum%100 ==0)
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296 cout << "frame " << frameNum << endl;
222
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297 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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298 #if DEBUG
174
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299 cout << trajectoryIds.size() << " trajectories " << endl;
222
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300 #endif
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301 // vector<TrajectoryPoint2fPtr> positions, velocities;
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302 // trajectoryDB->read(positions, trajectoryIds, "positions");
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303 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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304 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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305 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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306 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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307 //cout << trajectoryId << " " << endl;
177
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308 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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309 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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310 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
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311 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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312 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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313 featureGraph.addFeature(ft);
174
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314 }
172
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315
222
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316 // check for connected components
225
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317 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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318 if (lastInstant > 0 && frameNum%10==0) {
225
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319 featureGraph.connectedComponents(lastInstant);
391
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320 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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321 featureGraph.getFeatureGroups(featureGroups);
225
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322 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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323 vector<unsigned int> featureNumbers;
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324 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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325 featureNumbers.push_back(featureGroups[i][j]->getId());
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326 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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327 savedObjectId++;
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328 }
188
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329 }
222
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330
225
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331 if (frameNum%100 ==0)
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332 cout << featureGraph.informationString() << endl;
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333 }
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334
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335 // save remaining objects
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336 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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337 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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338 featureGraph.getFeatureGroups(featureGroups);
225
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339 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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340 vector<unsigned int> featureNumbers;
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341 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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342 featureNumbers.push_back(featureGroups[i][j]->getId());
412
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343 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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344 savedObjectId++;
180
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345 }
169
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346
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347 trajectoryDB->endTransaction();
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348 trajectoryDB->disconnect();
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349 }
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350
164
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351 int main(int argc, char *argv[]) {
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352 KLTFeatureTrackingParameters params(argc, argv);
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353 cout << params.parameterDescription << endl;
234
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354
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355 if (params.trackFeatures) {
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356 cout << "The program tracks features" << endl;
164
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357 trackFeatures(params);
234
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358 } else if (params.groupFeatures) {
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359 cout << "The program groups features" << endl;
169
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360 groupFeatures(params);
234
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361 }
164
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362
117
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363 return 0;
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364 }
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365
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366 /* ------------------ DOCUMENTATION ------------------ */
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367
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368
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369 /*! \mainpage
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370
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371 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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372
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373 - \ref feature_based_tracking
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375 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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379 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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380
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381 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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382
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383 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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384
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385 \section License
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386
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387 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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388
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389 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 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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393 */