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annotate c/Parameters.cpp @ 1020:9fb82fe0156f

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added quiet tracking mode
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 05 Jun 2018 14:33:31 -0400
parents 6c5ce3ec497e
children 83ca1493d55c
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1 #include "Parameters.hpp"
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2
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3 #include <boost/program_options.hpp>
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4 #include <boost/filesystem.hpp>
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5
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6 #include <iostream>
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7 #include <fstream>
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8
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9 namespace po = boost::program_options;
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10 namespace fs = boost::filesystem; // soon std
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11
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12 using namespace std;
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13
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14 KLTFeatureTrackingParameters::KLTFeatureTrackingParameters(const int argc, char* argv[]) {
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15 string configurationFilename;
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16 po::options_description onlyCmdLine("Command line only");
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17 po::options_description cmdLineAndFile("Command line and configuration file");
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18
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19 // configuration filename
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20 onlyCmdLine.add_options()
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21 ("help,h", "displays this help message")
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22 ("tf", "tracks features")
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23 ("gf", "groups features")
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24 ("loading-time", "report feature and object loading times")
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25 ("quiet", "mute printing of frame numbers")
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26 ("config-file", po::value<string>(&configurationFilename), "configuration file")
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27 ;
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29 po::positional_options_description p;
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30 p.add("config-file", 1);
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31
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32 // common to cnnfiguration and command line
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33 cmdLineAndFile.add_options()
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34 ("video-filename", po::value<string>(&videoFilename), "filename of the video to process")
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35 ("database-filename", po::value<string>(&databaseFilename), "filename of the database where results are saved")
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36 ("homography-filename", po::value<string>(&homographyFilename), "filename of the homography matrix")
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37 ("intrinsic-camera-filename", po::value<string>(&intrinsicCameraFilename), "filename of the homography matrix")
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38 ("distortion-coefficients", po::value<std::vector<float> >(&distortionCoefficients)->multitoken(), "")
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39 ("undistorted-size-multiplication", po::value<float>(&undistortedImageMultiplication), "undistorted image multiplication")
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40 ("interpolation-method", po::value<int>(&interpolationMethod), "Interpolation method for remapping image when correcting for distortion: 0 for INTER_NEAREST - a nearest-neighbor interpolation; 1 for INTER_LINEAR - a bilinear interpolation (used by default); 2 for INTER_CUBIC - a bicubic interpolation over 4x4 pixel neighborhood; 3 for INTER_LANCZOS4")
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41 ("mask-filename", po::value<string>(&maskFilename), "filename of the mask image (where features are detected)")
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42 ("undistort", po::value<bool>(&undistort), "undistort the video for feature tracking")
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43 ("load-features", po::value<bool>(&loadFeatures), "load features from database")
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44 ("display", po::value<bool>(&display), "display trajectories on the video")
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45 ("video-fps", po::value<float>(&videoFPS), "original video frame rate")
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46 ("frame1", po::value<unsigned int>(&frame1), "first frame to process")
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47 ("nframes", po::value<int>(&nFrames), "number of frame to process")
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48 // feature tracking
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49 ("max-nfeatures", po::value<int>(&maxNFeatures), "maximum number of features added at each frame (1000s)")
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50 ("feature-quality", po::value<float>(&featureQuality), "quality level of the good features to track (]0. 1?])")
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51 ("min-feature-distanceklt", po::value<float>(&minFeatureDistanceKLT), "minimum distance between features (]0. 10?])")
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52 ("block-size", po::value<int>(&blockSize), "size of the block for feature characteristics ([1 ?])")
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53 ("use-harris-detector", po::value<bool>(&useHarrisDetector), "use of Harris corner detector")
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54 ("k", po::value<float>(&k), "k parameter to detect good features to track (OpenCV)")
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55 ("window-size", po::value<int>(&windowSize), "size of the search window at each pyramid level ([1 ?])")
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56 ("pyramid-level", po::value<int>(&pyramidLevel), "maximal pyramid level in the feature tracking algorithm ([0 maxLevel=5?])")
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57 ("ndisplacements", po::value<unsigned int>(&nDisplacements), "number of displacements to test minimum feature motion ([2 4])")
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58 ("min-feature-displacement", po::value<float>(&minFeatureDisplacement), "minimum displacement per frame (in world space) to keep features (]0. 0.1?])")
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59 ("acceleration-bound", po::value<float>(&accelerationBound), "maximum feature acceleration (]1 3+])")
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60 ("deviation-bound", po::value<float>(&deviationBound), "maximum feature deviation (on cosine) (]0 1])")
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61 ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window) ([0 inf[")
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62 ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop optical flow (20-30?)")
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63 ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop optical flow (0.3-0.01)")
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64 ("min-feature-eig-threshold", po::value<float>(&minFeatureEigThreshold)->default_value(1e-4), "minimum eigen value of a 2x2 normal matrix of optical flow equations (10^-4)")
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65 ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping [5 20+]")
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66 ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping (in world space) (ped: [0.5m 2m+], cars: [1.7m 4m+])")
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67 ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping (in world space) (< mm-connection-distance, empirically ~ mm-connection-distance / 2.5)")
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68 ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping (in world space) (unused)")
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69 ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping (unused)")
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70 ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis (]1 3+])")
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71 // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn")
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72 // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn")
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73 // Safety Analysis
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74 ("max-predicted-speed", po::value<float>(&maxPredictedSpeed)->default_value(50.), "maximum speed when predicting future motion (km/h)")
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75 ("prediction-time-horizon", po::value<float>(&predictionTimeHorizon)->default_value(5.), "time horizon for collision prediction (s)")
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76 ("collision-distance", po::value<float>(&collisionDistance)->default_value(1.8), "collision distance threshold (m)")
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77 ("crossing-zones", po::value<bool>(&crossingZones)->default_value(false), "option to compute crossing zones and predicted PET")
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78 ("prediction-method", po::value<string>(&predictionMethod)->default_value("na"), "prediction method")
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79 ("npredicted-trajectories", po::value<int>(&nPredictedTrajectories)->default_value(1), "number of predicted trajectories (use depends on prediction method)")
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80 ("min-acceleration", po::value<float>(&minAcceleration)->default_value(-9.1), "minimum acceleration for input distribution (m/s2) (used only for evasive action distributions)")
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81 ("max-acceleration", po::value<float>(&maxAcceleration)->default_value(2.), "maximum acceleration for input distribution (m/s2)")
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82 ("max-steering", po::value<float>(&maxSteering)->default_value(0.5), "maximum steering for input distribution (rad/s)")
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83 ("use-features-prediction", po::value<bool>(&useFeaturesForPrediction)->default_value(false), "use feature positions and velocities for prediction")
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84 ;
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85
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86 po::options_description cmdLine;
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87 cmdLine.add(onlyCmdLine).add(cmdLineAndFile);
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88 try {
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89 po::variables_map vm;
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90 store(po::command_line_parser(argc, argv).
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91 options(cmdLine).positional(p).allow_unregistered().run(), vm);
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92 notify(vm);
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93
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94 if (vm.count("config-file") == 0) {
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95 cout << "Missing configuration file" << endl;
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96 cout << cmdLine << endl;
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97 exit(0);
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98 }
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99
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100 cout << "Using configuration file " << configurationFilename << endl;
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101 parentDirname = fs::path(configurationFilename).parent_path().string();
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102
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103 ifstream configurationFile(configurationFilename.c_str());
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104 store(po::parse_config_file(configurationFile, cmdLineAndFile, true), vm);
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105 notify(vm);
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106
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107 parameterDescription = getParameterDescription(cmdLineAndFile, vm);
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108
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109 trackFeatures = vm.count("tf")>0;
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110 groupFeatures = vm.count("gf")>0;
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111 loadingTime = vm.count("loading-time")>0;
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112 quiet = vm.count("quiet")>0;
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113
137
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114 if (vm.count("help")) {
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115 cout << cmdLine << endl;
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116 // cout << "Positional options:";
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117 // for (unsigned int i=0; i<p.max_total_count(); i++)
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118 // cout << " " << p.name_for_position(i);
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119 // cout << endl;
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120 exit(0);
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121 }
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122 } catch(exception& e) {
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123 cout << e.what() << endl;
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124 }
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125 }
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126
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127 string KLTFeatureTrackingParameters::getParameterDescription(po::options_description& options, const po::variables_map& vm, const string& separator /* = " " */) const {
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128 stringstream stream;
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129 vector<boost::shared_ptr<po::option_description> > optionsVec = options.options();
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130 for (unsigned int i=0; i<optionsVec.size(); ++i) {
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131 boost::any value = vm[optionsVec[i]->long_name()].value();
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132 if (value.type() == typeid(bool))
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133 stream << boost::any_cast<bool>(value) << separator;
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134 else if (value.type() == typeid(int))
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135 stream << boost::any_cast<int>(value) << separator;
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136 else if (value.type() == typeid(unsigned int))
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137 stream << boost::any_cast<unsigned int>(value) << separator;
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138 else if (value.type() == typeid(float))
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139 stream << boost::any_cast<float>(value) << separator;
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140 else if (value.type() == typeid(string))
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141 stream << boost::any_cast<string>(value) << separator;
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142 else if (value.type() == typeid(vector<float>)) {
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143 for (unsigned int j=0; j<boost::any_cast<vector<float> >(value).size(); j++)
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144 stream << boost::any_cast<vector<float> >(value)[j] << separator;
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145 } else
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146 cerr << "the type of the option " << optionsVec[i]->long_name() << " (" << i << ") is not int, float or string." << endl;
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147 }
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148
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149 return stream.str();
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150 }