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annotate c/feature-based-tracking.cpp @ 542:a3add9f751ef

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added differentiate function for curvilinear trajectories and modified the addPosition functions
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 07 Jul 2014 16:54:10 -0400
parents 5ad2f51ae42f
children 045d05cef9d0
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #include "Motion.hpp"
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2 #include "Parameters.hpp"
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3 #include "cvutils.hpp"
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4 #include "utils.hpp"
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5 #include "InputVideoFileModule.h"
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6 #include "InputFrameListModule.h"
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7
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8 #include "src/Trajectory.h"
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9 #include "src/TrajectoryDBAccessList.h"
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10 #include "src/TrajectoryDBAccessBlob.h"
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11
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12 #include "opencv2/core/core.hpp"
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13 #include "opencv2/imgproc/imgproc.hpp"
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14 #include "opencv2/video/tracking.hpp"
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15 #include "opencv2/features2d/features2d.hpp"
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16 #include "opencv2/highgui/highgui.hpp"
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17 #include "opencv2/objdetect/objdetect.hpp"
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18
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19 #include <boost/shared_ptr.hpp>
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20 #include <boost/foreach.hpp>
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21 #include <boost/filesystem.hpp>
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22
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23 #include <iostream>
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24 #include <vector>
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25 #include <ctime>
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26 #include <cmath>
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27
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28 using namespace std;
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29 using namespace cv;
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30 namespace fs = boost::filesystem;
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31
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32 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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33 for (int i = 0; i < (int)matches.size(); i++)
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34 {
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35 Point2f pt_new = query[matches[i].queryIdx].pt;
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36 Point2f pt_old = train[matches[i].trainIdx].pt;
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37 Point2f dist = pt_new - pt_old;
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38 if (norm(dist) < 20) {
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39 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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40 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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41 }
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42 }
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43 }
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45 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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46 for (unsigned int i=0; i<status.size(); i++) {
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47 if (status[i]) {
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48 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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49 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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50 }
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51 }
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52 }
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53
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54 struct FeaturePointMatch {
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55 FeatureTrajectoryPtr feature;
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56 int pointNum;
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57
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58 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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59 feature(_feature), pointNum(_pointNum) {}
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60 };
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61
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62 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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63 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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64 features.clear();
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65 }
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66
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67 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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68 // BriefDescriptorExtractor brief(32);
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69 // const int DESIRED_FTRS = 500;
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70 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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71
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72 Mat homography = ::loadMat(params.homographyFilename, " ");
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73 Mat invHomography;
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74 if (params.display && !homography.empty())
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75 invHomography = homography.inv();
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76
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77 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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78 Size window = Size(params.windowSize, params.windowSize);
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79
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80 int interpolationMethod = -1;
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81 if (params.interpolationMethod == 0)
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82 interpolationMethod = INTER_NEAREST;
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83 else if (params.interpolationMethod == 1)
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84 interpolationMethod = INTER_LINEAR;
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85 else if (params.interpolationMethod == 2)
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86 interpolationMethod = INTER_CUBIC;
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87 else if (params.interpolationMethod == 3)
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88 interpolationMethod = INTER_LANCZOS4;
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89 else
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90 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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91
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92 // BruteForceMatcher<Hamming> descMatcher;
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93 // vector<DMatch> matches;
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94
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95 boost::shared_ptr<InputFrameProviderIface> capture;
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96 if (fs::is_directory(fs::path(params.videoFilename)))
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97 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
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98 else if(!params.videoFilename.empty())
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99 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
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100 else
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101 cout << "No valid input parameters" << endl;
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102
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103 if(!capture->isOpen()) {
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104 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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105 exit(0);
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106 }
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107
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108 Size videoSize = capture->getSize();
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109 unsigned int nFrames = capture->getNbFrames();
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110 cout << "Video " << params.videoFilename <<
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111 ": width=" << videoSize.width <<
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112 ", height=" << videoSize.height <<
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113 ", nframes=" << nFrames << endl;
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114
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115 Mat map1, map2;
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116 if (params.undistort) {
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117 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
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118 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
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119 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
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120 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
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parents: 507
diff changeset
121 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
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
122 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
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
123
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
124 cout << "Undistorted width=" << videoSize.width <<
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 ", height=" << videoSize.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
126 }
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
127
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
128 Mat mask = imread(params.maskFilename, 0);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
129 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
130 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
131 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
132 }
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
133
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
134 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
135 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
136 trajectoryDB->connect(params.databaseFilename.c_str());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
137 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
138 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
139 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
140
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
141 std::vector<KeyPoint> prevKpts, currKpts;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
142 std::vector<Point2f> prevPts, currPts, newPts;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
143 std::vector<uchar> status;
bc4ea09b1743 compatibility modifications for visual studio compilation
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
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parents: 207
diff changeset
147 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
150 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
151 unsigned int savedFeatureId=0;
507
081a9da6f85b first version with undistort implemented in the feature tracking process
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parents: 506 496
diff changeset
152 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame;
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
400
7ef1071e3cc3 clean up of input classes for list of images and video files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 399
diff changeset
158 capture->setFrameNumber(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++) {
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
160 bool success = capture->getNextFrame(frame);
534
d0419b1267dd fixing size issue when testing frames in main loop
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 533
diff changeset
161 if (!success || frame.empty()) {
533
e37f38274d4f fixed compiling issue with size()
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 532
diff changeset
162 cout << "Empty frame " << frameNum << ", breaking (" << success << " " << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
532
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
163 break;
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
164 } else if (frameNum%50 ==0)
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
165 cout << "frame " << frameNum << endl;
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
166
507
081a9da6f85b first version with undistort implemented in the feature tracking process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 506 496
diff changeset
167 if (params.undistort) {
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
168 remap(frame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
507
081a9da6f85b first version with undistort implemented in the feature tracking process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 506 496
diff changeset
169 frame = undistortedFrame;
534
d0419b1267dd fixing size issue when testing frames in main loop
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 533
diff changeset
170
d0419b1267dd fixing size issue when testing frames in main loop
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 533
diff changeset
171 if (frame.size() != videoSize) {
d0419b1267dd fixing size issue when testing frames in main loop
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 533
diff changeset
172 cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl;
d0419b1267dd fixing size issue when testing frames in main loop
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 533
diff changeset
173 break;
d0419b1267dd fixing size issue when testing frames in main loop
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 533
diff changeset
174 }
507
081a9da6f85b first version with undistort implemented in the feature tracking process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 506 496
diff changeset
175 }
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
176
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
177
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
178 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
179
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
180 if (!prevPts.empty()) {
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
181 currPts.clear();
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
182 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
154
668710d4c773 updated computeTranslation with cv2
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
183 /// \todo try calcOpticalFlowFarneback
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
184
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
185 std::vector<Point2f> trackedPts;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
186 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
187 while (iter != featurePointMatches.end()) {
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
188 bool deleteFeature = false;
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
189
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
190 if (status[iter->pointNum]) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
191 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
192
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
193 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 175
diff changeset
194 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
195 if (deleteFeature)
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
196 iter->feature->shorten();
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
197 } else
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
198 deleteFeature = true;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
199
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
200 if (deleteFeature) {
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
201 if (iter->feature->length() >= params.minFeatureTime) {
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
202 iter->feature->setId(savedFeatureId);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
203 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
204 iter->feature->movingAverage(params.nFramesSmoothing);
140
8de5e8256224 added function to save vectors of features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 139
diff changeset
205 lostFeatures.push_back(iter->feature);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
206 }
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
207 iter = featurePointMatches.erase(iter);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
208 } else {
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
209 trackedPts.push_back(currPts[iter->pointNum]);
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
210 iter->pointNum = trackedPts.size()-1;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
211 iter++;
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
212 }
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
213 }
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
214 currPts = trackedPts;
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
215 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
216 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
217
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
218 if (params.display) {
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
219 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
220 fp.feature->draw(frame, invHomography, Colors::red());
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
221 // object detection
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
222 // vector<Rect> locations;
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
223 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
224 // BOOST_FOREACH(Rect r, locations)
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
225 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
226 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
227 }
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
228
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
229 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
230 Mat featureMask = mask.clone();
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
231 for (unsigned int n=0;n<currPts.size(); n++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
232 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
233 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
234 featureMask.at<uchar>(i,j)=0;
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
235 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
236 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
237 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
238 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
239 currPts.push_back(p);
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
240 }
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
241
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
242 if (params.display) {
401
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243 imshow("mask", featureMask*256);
134
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244 imshow("frame", frame);
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245 key = waitKey(2);
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246 }
127
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247 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
248 prevPts = currPts;
480
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249 }
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250
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251 // save the remaining currently tracked features
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252 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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253 while (iter != featurePointMatches.end()) {
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254 if (iter->feature->length() >= params.minFeatureTime) {
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255 iter->feature->setId(savedFeatureId);
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256 savedFeatureId++;
481
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257 iter->feature->movingAverage(params.nFramesSmoothing);
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258 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
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259 }
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260 iter++;
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261 }
121
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262
142
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263 trajectoryDB->endTransaction();
136
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264 trajectoryDB->disconnect();
164
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265 }
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266
169
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267 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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268 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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269 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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270 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
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271 trajectoryDB->createObjectTable("objects", "objects_features");
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272 unsigned int savedObjectId=0;
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273
188
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274 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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275 // cout << trajectories.size() << endl;
174
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276 // std::clock_t c_start = std::clock();
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277 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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278 // std::clock_t c_end = std::clock();
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279 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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280
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281 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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282 // c_start = std::clock();
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283 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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284 // success = trajectoryDB->read(trajectory, i, "positions");
169
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285 // }
174
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286 // c_end = std::clock();
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287 // 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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288
225
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289 trajectoryDB->createInstants("table");
221
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diff changeset
290
225
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diff changeset
291 unsigned int maxTrajectoryLength = 0;
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diff changeset
292 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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diff changeset
293 if (!success || maxTrajectoryLength == 0) {
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294 cout << "problem with trajectory length " << success << endl;
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diff changeset
295 exit(0);
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296 }
222
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297 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
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298
191
0e60a306d324 added basic code to identify features and save them (crash)
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diff changeset
299 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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300
169
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301 // main loop
227
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diff changeset
302 unsigned int frameNum;
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diff changeset
303 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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diff changeset
304 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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diff changeset
305 firstFrameNum = MAX(firstFrameNum, params.frame1);
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diff changeset
306 if (params.nFrames>0)
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diff changeset
307 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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diff changeset
308 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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diff changeset
309 vector<int> trajectoryIds;
231
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diff changeset
310 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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diff changeset
311 if (frameNum%100 ==0)
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diff changeset
312 cout << "frame " << frameNum << endl;
222
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313 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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diff changeset
314 #if DEBUG
174
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diff changeset
315 cout << trajectoryIds.size() << " trajectories " << endl;
222
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diff changeset
316 #endif
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diff changeset
317 // vector<TrajectoryPoint2fPtr> positions, velocities;
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318 // trajectoryDB->read(positions, trajectoryIds, "positions");
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319 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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diff changeset
320 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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diff changeset
321 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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diff changeset
322 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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diff changeset
323 //cout << trajectoryId << " " << endl;
177
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diff changeset
324 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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diff changeset
325 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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diff changeset
326 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
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diff changeset
327 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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diff changeset
328 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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diff changeset
329 featureGraph.addFeature(ft);
174
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diff changeset
330 }
172
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diff changeset
331
222
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diff changeset
332 // check for connected components
225
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diff changeset
333 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
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parents: 230 228
diff changeset
334 if (lastInstant > 0 && frameNum%10==0) {
225
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diff changeset
335 featureGraph.connectedComponents(lastInstant);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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diff changeset
336 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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diff changeset
337 featureGraph.getFeatureGroups(featureGroups);
225
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diff changeset
338 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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diff changeset
339 vector<unsigned int> featureNumbers;
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diff changeset
340 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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diff changeset
341 featureNumbers.push_back(featureGroups[i][j]->getId());
411
31604ef1cad4 added hog functions and the display of road user types if known
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diff changeset
342 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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diff changeset
343 savedObjectId++;
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diff changeset
344 }
188
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diff changeset
345 }
222
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diff changeset
346
225
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diff changeset
347 if (frameNum%100 ==0)
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diff changeset
348 cout << featureGraph.informationString() << endl;
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diff changeset
349 }
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diff changeset
350
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diff changeset
351 // save remaining objects
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diff changeset
352 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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diff changeset
353 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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diff changeset
354 featureGraph.getFeatureGroups(featureGroups);
225
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diff changeset
355 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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diff changeset
356 vector<unsigned int> featureNumbers;
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diff changeset
357 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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diff changeset
358 featureNumbers.push_back(featureGroups[i][j]->getId());
412
97cb5c969ef2 corrected grouping bug (last object type -1) and added script to rescale homographies
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parents: 411
diff changeset
359 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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diff changeset
360 savedObjectId++;
180
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diff changeset
361 }
169
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diff changeset
362
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diff changeset
363 trajectoryDB->endTransaction();
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diff changeset
364 trajectoryDB->disconnect();
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diff changeset
365 }
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diff changeset
366
164
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diff changeset
367 int main(int argc, char *argv[]) {
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368 KLTFeatureTrackingParameters params(argc, argv);
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369 cout << params.parameterDescription << endl;
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370
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371 if (params.trackFeatures) {
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372 cout << "The program tracks features" << endl;
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373 trackFeatures(params);
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374 } else if (params.groupFeatures) {
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375 cout << "The program groups features" << endl;
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376 groupFeatures(params);
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377 } else {
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378 cout << "Main option missing or misspelt" << endl;
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379 }
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380
117
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381 return 0;
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382 }
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383
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384 /* ------------------ DOCUMENTATION ------------------ */
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385
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386
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387 /*! \mainpage
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388
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389 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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390
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391 - \ref feature_based_tracking
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392
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393 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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394
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395 */
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396
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397 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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398
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399 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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400
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401 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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402
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403 \section License
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404
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405 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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406
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407 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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408
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409 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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410
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411 */