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annotate c/feature-based-tracking.cpp @ 1208:a07e455baaa6

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merged
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 26 Apr 2023 18:33:46 -0400
parents 164dab203037
children 051cf5bddc1f
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1 #include "Motion.hpp"
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2 #include "Parameters.hpp"
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3 #include "cvutils.hpp"
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4 #include "utils.hpp"
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5
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6 #include "src/Trajectory.h"
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7 #include "src/TrajectoryDBAccessList.h"
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8 #include "src/TrajectoryDBAccessBlob.h"
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9
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10 #include "opencv2/core.hpp"
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11 #include "opencv2/imgproc.hpp"
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12 #include "opencv2/video/tracking.hpp"
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13 #include "opencv2/features2d.hpp"
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14 #include "opencv2/highgui.hpp"
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15 #include "opencv2/videoio.hpp"
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16 #include "opencv2/objdetect.hpp"
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17 #include "opencv2/calib3d.hpp"
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18
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19 #include <boost/foreach.hpp>
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20 #include <boost/filesystem.hpp>
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21
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22 #include <iostream>
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23 #include <vector>
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24 #include <ctime>
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25 #include <cmath>
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26 #include <memory>
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27 #include <limits>
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29 namespace fs = boost::filesystem; // soon std
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31 using namespace std;
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32 using namespace cv;
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33
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34 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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35 for (int i = 0; i < (int)matches.size(); i++)
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36 {
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37 Point2f pt_new = query[matches[i].queryIdx].pt;
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38 Point2f pt_old = train[matches[i].trainIdx].pt;
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39 Point2f dist = pt_new - pt_old;
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40 if (norm(dist) < 20) {
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41 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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42 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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43 }
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44 }
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45 }
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47 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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48 for (unsigned int i=0; i<status.size(); i++) {
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49 if (status[i]) {
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50 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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51 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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52 }
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53 }
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54 }
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56 struct FeaturePointMatch {
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57 FeatureTrajectoryPtr feature;
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58 int pointNum;
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59
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60 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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61 feature(_feature), pointNum(_pointNum) {}
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62 };
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64 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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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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69 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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70 Mat homography = ::loadMat(::getRelativeFilename(params.parentDirname, params.homographyFilename), " ");
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71
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72 Mat invHomography;
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73 if (params.display && !homography.empty())
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74 invHomography = homography.inv();
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75
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76 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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77 Size window = Size(params.windowSize, params.windowSize);
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79 int interpolationMethod = -1;
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80 if (params.interpolationMethod == 0)
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81 interpolationMethod = INTER_NEAREST;
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82 else if (params.interpolationMethod == 1)
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83 interpolationMethod = INTER_LINEAR;
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84 else if (params.interpolationMethod == 2)
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85 interpolationMethod = INTER_CUBIC;
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86 else if (params.interpolationMethod == 3)
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87 interpolationMethod = INTER_LANCZOS4;
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88 else
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89 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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91 // BruteForceMatcher<Hamming> descMatcher;
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92 // vector<DMatch> matches;
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93
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94 if(params.videoFilename.empty()) {
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95 cout << "Empty video filename. Exiting." << endl;
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96 exit(0);
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97 }
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98
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99 VideoCapture capture(::getRelativeFilename(params.parentDirname, params.videoFilename));
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100 if(!capture.isOpened()) {
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101 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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102 exit(0);
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103 }
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104
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105 Size videoSize = Size(capture.get(CAP_PROP_FRAME_WIDTH), capture.get(CAP_PROP_FRAME_HEIGHT));
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106 unsigned int nFrames = capture.get(CAP_PROP_FRAME_COUNT);
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107 if (nFrames <= 0) {
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108 cout << "Guessing that the number of frames could not be read: " << nFrames << endl;
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109 nFrames = numeric_limits<int>::max();
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110 cout << "Setting arbitrarily high number for testing: " << nFrames << endl;
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111 }
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112
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113 cout << "Video " << params.videoFilename <<
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114 ": width=" << videoSize.width <<
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115 ", height=" << videoSize.height <<
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116 ", nframes=" << nFrames << endl;
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118 Mat map1, map2;
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119 Mat intrinsicCameraMatrix, newIntrinsicCameraMatrix;
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120 if (params.undistort) {
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121 intrinsicCameraMatrix = ::loadMat(::getRelativeFilename(params.parentDirname, params.intrinsicCameraFilename), " ");
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122 Size undistortedVideoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
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8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
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parents: 926
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123 newIntrinsicCameraMatrix = getDefaultNewCameraMatrix(intrinsicCameraMatrix, undistortedVideoSize, true);// for some reason, it's double type //getOptimalNewCameraMatrix(intrinsicCameraMatrix, params.distortionCoefficients, videoSize, 1, undistortedVideoSize);//, 0, true);
924
a71455bd8367 work in progress on undistortion acceleration
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parents: 815
diff changeset
124 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1) /* 0 ?*/, newIntrinsicCameraMatrix, undistortedVideoSize, CV_32FC1, map1, map2);
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
125
924
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parents: 815
diff changeset
126 cout << "Undistorted width=" << undistortedVideoSize.width <<
a71455bd8367 work in progress on undistortion acceleration
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diff changeset
127 ", height=" << undistortedVideoSize.height << endl;
507
081a9da6f85b first version with undistort implemented in the feature tracking process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 506 496
diff changeset
128 }
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.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
129
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
130 Mat mask = imread(::getRelativeFilename(params.parentDirname, params.maskFilename), 0);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
131 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded
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diff changeset
132 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
133 mask = Mat::ones(videoSize, CV_8UC1);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
134 }
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
135
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
136 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
137 trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
138 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
139 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
140 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
141
926
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diff changeset
142 std::vector<Point2f> prevPts, currPts, newPts, undistortedPts; // all points but undistortedPts are in image space
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
143 std::vector<uchar> status;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
144 std::vector<float> errors;
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
145 Mat prevDesc, currDesc;
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
146
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
147 std::vector<FeatureTrajectoryPtr> lostFeatures;
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parents: 207
diff changeset
148 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
149
133
63dd4355b6d1 saving of feature positions in sqlite database
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parents: 132
diff changeset
150 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database
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parents: 132
diff changeset
151 unsigned int savedFeatureId=0;
924
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
152 Mat frame, currentFrameBW, previousFrameBW, displayFrame; // = Mat::zeros(1, 1, CV_8UC1)
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
153
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
154 unsigned int lastFrameNum = nFrames;
228
23da16442433 minor modifications for unsigned int (nframes is now 0 to process all frames)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 227
diff changeset
155 if (params.nFrames > 0)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
156 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
157
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05ccd8ef150c updated to OpenCV4
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1020
diff changeset
158 capture.set(CAP_PROP_POS_FRAMES, params.frame1);
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
159 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
160 capture >> frame;
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parents: 654
diff changeset
161 if (frame.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
162 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
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diff changeset
163 break;
1020
9fb82fe0156f added quiet tracking mode
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1002
diff changeset
164 } else if (!params.quiet && (frameNum%50 ==0))
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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diff changeset
165 cout << "frame " << frameNum << endl;
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 716
diff changeset
166
1093
05ccd8ef150c updated to OpenCV4
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1020
diff changeset
167 cvtColor(frame, currentFrameBW, COLOR_RGB2GRAY);
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
168
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parents: 654
diff changeset
169 if (!prevPts.empty()) {
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diff changeset
170 currPts.clear();
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diff changeset
171 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);
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parents: 654
diff changeset
172 /// \todo try calcOpticalFlowFarneback
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
173
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parents: 924
diff changeset
174 if (params.undistort)
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
175 undistortPoints(currPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients);
926
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parents: 924
diff changeset
176 else
dbd81710d515 new feature tracking in image space with point undistortion
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parents: 924
diff changeset
177 undistortedPts =currPts;
924
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parents: 815
diff changeset
178
655
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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();
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parents: 654
diff changeset
181 while (iter != featurePointMatches.end()) {
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parents: 654
diff changeset
182 bool deleteFeature = false;
815
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
183
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
184 int currPtX = static_cast<int>(floor(currPts[iter->pointNum].x));
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
185 int currPtY = static_cast<int>(floor(currPts[iter->pointNum].y));
924
a71455bd8367 work in progress on undistortion acceleration
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parents: 815
diff changeset
186 if ((status[iter->pointNum] =! 0) &&
815
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
187 (currPtX >= 0) && (currPtX < videoSize.width) &&
daa992ac6b44 correcting bug with coordinates in mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
188 (currPtY >= 0) && (currPtY < videoSize.height) &&
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
189 (mask.at<uchar>(currPtY, currPtX) != 0)) {
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
190 iter->feature->addPoint(frameNum, undistortedPts[iter->pointNum], homography);
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 716
diff changeset
191
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
192 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
193 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
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parents: 654
diff changeset
194 if (deleteFeature)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
195 iter->feature->shorten();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
196 } else
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
197 deleteFeature = true;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
198
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
199 if (deleteFeature) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
200 if (iter->feature->length() >= params.minFeatureTime) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
201 iter->feature->setId(savedFeatureId);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
202 savedFeatureId++;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
203 iter->feature->movingAverage(params.nFramesSmoothing);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
204 lostFeatures.push_back(iter->feature);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
205 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
206 iter = featurePointMatches.erase(iter);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
207 } else {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
208 trackedPts.push_back(currPts[iter->pointNum]);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
209 iter->pointNum = trackedPts.size()-1;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
210 iter++;
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
211 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
212 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
213 currPts = trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
214 assert(currPts.size() == featurePointMatches.size());
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
215 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
933
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parents: 926
diff changeset
216
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
217 if (params.display) {
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
218 if (params.undistort)
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
219 remap(frame, displayFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
220 else
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
221 displayFrame = frame.clone();
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
222 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
223 fp.feature->draw(displayFrame, invHomography, newIntrinsicCameraMatrix, Colors::red());
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
224 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
225 }
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 716
diff changeset
226
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
227 // adding new features, using mask around existing feature positions
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
228 Mat featureMask = mask.clone();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
229 for (unsigned int n=0;n<currPts.size(); n++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
230 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
231 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
232 featureMask.at<uchar>(i,j)=0;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
233 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
1119
164dab203037 corrected bug for empty new points in array for undistortPoints
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1093
diff changeset
234 if (params.undistort && newPts.size() > 0)
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 926
diff changeset
235 undistortPoints(newPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients);
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
236 else
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
237 undistortedPts = newPts;
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
238
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
239 for (unsigned int i=0; i<newPts.size(); i++) {
1119
164dab203037 corrected bug for empty new points in array for undistortPoints
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1093
diff changeset
240 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, undistortedPts[i], homography));
164dab203037 corrected bug for empty new points in array for undistortPoints
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1093
diff changeset
241 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
164dab203037 corrected bug for empty new points in array for undistortPoints
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1093
diff changeset
242 currPts.push_back(newPts[i]);
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
243 }
926
dbd81710d515 new feature tracking in image space with point undistortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 924
diff changeset
244
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
245 if (params.display && !displayFrame.empty()) {
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
246 imshow("mask", featureMask*256);
924
a71455bd8367 work in progress on undistortion acceleration
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 815
diff changeset
247 imshow("frame", displayFrame);
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
248 key = waitKey(2);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
249 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
250 previousFrameBW = currentFrameBW.clone();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
251 prevPts = currPts;
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
252 }
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
253
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
254 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
255 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
256 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
257 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
258 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
259 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
260 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
261 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
262 }
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
263 iter++;
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
264 }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
265
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
266 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
267 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
268 }
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
269
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
270 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
271 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
272 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
202
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
273 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
274 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
275
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
276 trajectoryDB->createInstants("table");
710
70a3cdf0dbb3 unsucessful acceleration idea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 679
diff changeset
277 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster
70a3cdf0dbb3 unsucessful acceleration idea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 679
diff changeset
278 //trajectoryDB->createIndex("velocities","trajectory_id");
221
bc93e87a2108 cleaned and corrected connected components and feature groups
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 219
diff changeset
279
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
280 unsigned int maxTrajectoryLength = 0;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
281 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
282 if (!success || maxTrajectoryLength == 0) {
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
283 cout << "problem with trajectory length " << success << endl;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
284 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
285 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
286 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
287
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 189
diff changeset
288 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
289
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
290 // main loop
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
291 unsigned int frameNum;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
292 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
293 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
294 firstFrameNum = MAX(firstFrameNum, params.frame1);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
295 if (params.nFrames>0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
296 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
297 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
298 vector<int> trajectoryIds;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
299 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
1020
9fb82fe0156f added quiet tracking mode
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1002
diff changeset
300 if (!params.quiet && (frameNum%100 ==0))
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
301 cout << "frame " << frameNum << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
302 #if DEBUG
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
303 cout << trajectoryIds.size() << " trajectories " << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
304 #endif
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
305 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
306 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
307 featureGraph.addFeature(ft);
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
308 }
172
e508bb0cbb64 modified comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 169
diff changeset
309
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
310 // check for connected components
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
311 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
312 if (lastInstant > 0 && frameNum%10==0) {
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
313 featureGraph.connectedComponents(lastInstant);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
314 vector<vector<FeatureTrajectoryPtr> > featureGroups;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
315 featureGraph.getFeatureGroups(featureGroups);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
316 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
317 vector<unsigned int> featureNumbers;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
318 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
319 featureNumbers.push_back(featureGroups[i][j]->getId());
716
85af65b6d531 corrected major bug slowing feature grouping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 710
diff changeset
320 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown type */, 1, string("objects"), string("objects_features"));
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
321 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
322 }
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
323 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
324
1020
9fb82fe0156f added quiet tracking mode
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 1002
diff changeset
325 if (!params.quiet && (frameNum%100 ==0))
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
326 cout << featureGraph.informationString() << endl;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
327 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
328
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
329 // save remaining objects
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
330 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
331 vector<vector<FeatureTrajectoryPtr> > featureGroups;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
332 featureGraph.getFeatureGroups(featureGroups);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
333 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
334 vector<unsigned int> featureNumbers;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
335 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
336 featureNumbers.push_back(featureGroups[i][j]->getId());
412
97cb5c969ef2 corrected grouping bug (last object type -1) and added script to rescale homographies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
337 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
338 savedObjectId++;
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
339 }
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
340
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
341 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
342 trajectoryDB->disconnect();
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
343 }
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
344
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
345 void loadingTimes(const KLTFeatureTrackingParameters& params) {
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
346 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
1002
6c5ce3ec497e improved handling of path for feature based tracking
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 933
diff changeset
347 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
348
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
349 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
350 //cout << trajectories.size() << endl;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
351 std::clock_t c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
352 success = trajectoryDB->read(trajectories, "positions");
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
353 std::clock_t c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
354 if (!success)
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
355 cout << "Issue with db reading" << endl;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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356 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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357
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358 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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359 c_start = std::clock();
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360 for (unsigned int i = 0; i<trajectories.size(); ++i) {
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361 success = trajectoryDB->read(trajectory, i, "positions");
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362 }
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363 c_end = std::clock();
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364 cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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365
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366 trajectoryDB->endTransaction();
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367 trajectoryDB->disconnect();
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368 }
169
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369
164
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370 int main(int argc, char *argv[]) {
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371 KLTFeatureTrackingParameters params(argc, argv);
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372 cout << params.parameterDescription << endl;
654
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373
234
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374 if (params.trackFeatures) {
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375 cout << "The program tracks features" << endl;
164
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376 trackFeatures(params);
234
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377 } else if (params.groupFeatures) {
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378 cout << "The program groups features" << endl;
169
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379 groupFeatures(params);
654
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380 } else if (params.loadingTime) {
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381 cout << "The program reports loading times" << endl;
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382 loadingTimes(params);
542
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383 } else {
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384 cout << "Main option missing or misspelt" << endl;
234
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385 }
164
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386
117
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387 return 0;
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388 }
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389
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390 /* ------------------ DOCUMENTATION ------------------ */
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391
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392
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393 /*! \mainpage
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394
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395 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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396
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397 - \ref feature_based_tracking
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398
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399 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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400
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401 */
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402
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403 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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404
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405 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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406
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407 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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408
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409 \section License
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410
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411 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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412
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413 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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414
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415 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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416
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417 */