repo/traffic-intelligence: c/feature-based-tracking.cpp annotate

annotate c/feature-based-tracking.cpp @ 924:a71455bd8367

work in progress on undistortion acceleration

author	Nicolas Saunier <nicolas.saunier@polymtl.ca>
date	Fri, 07 Jul 2017 18:01:45 -0400
parents	daa992ac6b44
children	dbd81710d515

rev	line source
136 0f790de9437e renamed Feature to Motion files and added code to test blob db Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 135 diff changeset	1 #include "Motion.hpp"
124 1e68e18b1aa5 renaming and working on klt Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 123 diff changeset	2 #include "Parameters.hpp"
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	3 #include "cvutils.hpp"
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	4 #include "utils.hpp"
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	5
124 1e68e18b1aa5 renaming and working on klt Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 123 diff changeset	6 #include "src/Trajectory.h"
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	7 #include "src/TrajectoryDBAccessList.h"
136 0f790de9437e renamed Feature to Motion files and added code to test blob db Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 135 diff changeset	8 #include "src/TrajectoryDBAccessBlob.h"
124 1e68e18b1aa5 renaming and working on klt Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 123 diff changeset	9
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	10 #include "opencv2/core/core.hpp"
165 50964af05a80 solved issue with header inclusion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 164 diff changeset	11 #include "opencv2/imgproc/imgproc.hpp"
50964af05a80 solved issue with header inclusion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 164 diff changeset	12 #include "opencv2/video/tracking.hpp"
50964af05a80 solved issue with header inclusion Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 164 diff changeset	13 #include "opencv2/features2d/features2d.hpp"
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	14 #include "opencv2/highgui/highgui.hpp"
193 a728fce85881 simple test of adding and using default HoG pedestrian detector Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 191 diff changeset	15 #include "opencv2/objdetect/objdetect.hpp"
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	16 #include "opencv2/calib3d/calib3d.hpp"
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	17
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	18 #include <boost/foreach.hpp>
125 28907fde9855 work on klt tracker (problem on computer at poly) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 124 diff changeset	19
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	20 #include <iostream>
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	21 #include <vector>
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	22 #include <ctime>
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	23 #include <cmath>
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	24 #include <memory>
679 576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	25 #include <limits>
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	26
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	27 using namespace std;
c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	28 using namespace cv;
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	29
123 df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	30 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	31 for (int i = 0; i < (int)matches.size(); i++)
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	32 {
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	33 Point2f pt_new = query[matches[i].queryIdx].pt;
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	34 Point2f pt_old = train[matches[i].trainIdx].pt;
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	35 Point2f dist = pt_new - pt_old;
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	36 if (norm(dist) < 20) {
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	37 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	38 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
123 df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	39 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	40 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	41 }
df3bdd8e50ba displays tracking from video and webcam Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 122 diff changeset	42
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	43 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	44 for (unsigned int i=0; i<status.size(); i++) {
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	45 if (status[i]) {
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	46 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	47 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	48 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	49 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	50 }
d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	51
132 45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	52 struct FeaturePointMatch {
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	53 FeatureTrajectoryPtr feature;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	54 int pointNum;
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	55
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	56 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	57 feature(_feature), pointNum(_pointNum) {}
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	58 };
45c64e68053c added drawing function for features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 130 diff changeset	59
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	60 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	61 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	62 features.clear();
140 8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	63 }
8de5e8256224 added function to save vectors of features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 139 diff changeset	64
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	65 void trackFeatures(const KLTFeatureTrackingParameters& params) {
147 0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	66 Mat homography = ::loadMat(params.homographyFilename, " ");
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	67 Mat invHomography;
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	68 if (params.display && !homography.empty())
0089fb29cd26 added projection of points and reprojection for display Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 146 diff changeset	69 invHomography = homography.inv();
144 b32947b002da added the code to read matrices from text files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 142 diff changeset	70
137 445e773c9be3 created the parameter structure to parse parameters (bug remaining) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 136 diff changeset	71 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	72 Size window = Size(params.windowSize, params.windowSize);
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	73
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	74 int interpolationMethod = -1;
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	75 if (params.interpolationMethod == 0)
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	76 interpolationMethod = INTER_NEAREST;
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	77 else if (params.interpolationMethod == 1)
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	78 interpolationMethod = INTER_LINEAR;
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	79 else if (params.interpolationMethod == 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	80 interpolationMethod = INTER_CUBIC;
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	81 else if (params.interpolationMethod == 3)
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	82 interpolationMethod = INTER_LANCZOS4;
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	83 else
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	84 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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	85
207 48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	86 // BruteForceMatcher<Hamming> descMatcher;
48f83ff769fd removed unused code that has changed in OpenCV 2.4 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 202 diff changeset	87 // vector<DMatch> matches;
122 654f1c748644 work on displaying matched features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 121 diff changeset	88
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	89 if(params.videoFilename.empty()) {
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	90 cout << "Empty video filename. Exiting." << endl;
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	91 exit(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	92 }
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	93
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	94 VideoCapture capture(params.videoFilename);
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	95 if(!capture.isOpened()) {
400 7ef1071e3cc3 clean up of input classes for list of images and video files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 399 diff changeset	96 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
7ef1071e3cc3 clean up of input classes for list of images and video files Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 399 diff changeset	97 exit(0);
138 c1b260b48d2a corrected initialization bugs and feature shortening before saving Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 137 diff changeset	98 }
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	99
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	100 Size videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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	101 unsigned int nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
679 576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	102 if (nFrames <= 0) {
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	103 cout << "Guessing that the number of frames could not be read: " << nFrames << endl;
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	104 nFrames = numeric_limits<int>::max();
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	105 cout << "Setting arbitrarily high number for testing: " << nFrames << endl;
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	106 }
576d9ea4b41a small update to deal with videos where the number of frames cannot be read Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 655 diff changeset	107
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	108 cout << "Video " << params.videoFilename <<
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	109 ": width=" << videoSize.width <<
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	110 ", height=" << videoSize.height <<
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	111 ", nframes=" << nFrames << endl;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	112
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	113 Mat map1, map2;
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	114 Mat intrinsicCameraMatrix, newIntrinsicCameraMatrix;
507 081a9da6f85b first version with undistort implemented in the feature tracking process Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 506 496 diff changeset	115 if (params.undistort) {
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	116 intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	117 //videoSize = Size(static_cast<int>(round(videoSize.widthparams.undistortedImageMultiplication)), static_cast<int>(round(videoSize.heightparams.undistortedImageMultiplication)));
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	118 // newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	119 // newIntrinsicCameraMatrix.at<float>(0,2) = undistortedVideoSize.width/2.;
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	120 // newIntrinsicCameraMatrix.at<float>(1,2) = undistortedVideoSize.height/2.;
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	121 Size undistortedVideoSize = Size(static_cast<int>(round(videoSize.widthparams.undistortedImageMultiplication)), static_cast<int>(round(videoSize.heightparams.undistortedImageMultiplication)));
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	122 newIntrinsicCameraMatrix = getDefaultNewCameraMatrix(intrinsicCameraMatrix, undistortedVideoSize, true);//getOptimalNewCameraMatrix(intrinsicCameraMatrix, params.distortionCoefficients, videoSize, 1, undistortedVideoSize);//, 0, true);
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	123 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	124
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	125 cout << "Undistorted width=" << undistortedVideoSize.width <<
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	126 ", 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	127 }
399 c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file. Jean-Philippe Jodoin <jpjodoin@gmail.com> parents: 391 diff changeset	128
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	129 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	130 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 278 diff changeset	131 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	132 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	133 }
146 7150427c665e added loading of mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 145 diff changeset	134
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	135 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::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	136 //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	137 trajectoryDB->connect(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
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	142 std::vector<KeyPoint> prevKpts, currKpts;
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	143 std::vector<Point2f> prevPts, currPts, newPts, undistortedPts;
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	144 std::vector<uchar> status;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	145 std::vector<float> errors;
127 d19d6e63dd77 simple feature tracking and drawing working Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 125 diff changeset	146 Mat prevDesc, currDesc;
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	147
230 bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	148 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	149 std::vector<FeaturePointMatch> featurePointMatches;
163 cde87a07eb58 added graph structures Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 154 diff changeset	150
133 63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	151 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 132 diff changeset	152 unsigned int savedFeatureId=0;
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	153 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	154
278 f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 234 diff changeset	155 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	156 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	157 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	158
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	159 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	160 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	161 capture >> frame;
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	162 if (frame.empty()) {
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	163 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
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	164 break;
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	165 } else if (frameNum%50 ==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	166 cout << "frame " << frameNum << 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	167
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	168 // if (params.undistort) {
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	169 // remap(frame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	170 // frame = undistortedFrame;
534 d0419b1267dd fixing size issue when testing frames in main loop Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 533 diff changeset	171
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	172 // if (frame.size() != videoSize) {
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	173 // cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl;
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	174 // break;
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	175 // }
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	176 // }
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	177
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	178 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
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	179
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	180 if (!prevPts.empty()) {
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	181 currPts.clear();
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	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);
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	183 /// \todo try calcOpticalFlowFarneback
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	184
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	185 if (params.undistort) {
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	186 undistortPoints(currPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients, noArray(), newIntrinsicCameraMatrix);
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	187 //currPts = undistortedPts;
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	188 }
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	189
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	190 std::vector<Point2f> 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	191 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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	192 while (iter != featurePointMatches.end()) {
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 bool deleteFeature = false;
815 daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	194
daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	195 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	196 int currPtY = static_cast<int>(floor(currPts[iter->pointNum].y));
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	197 if ((status[iter->pointNum] =! 0) &&
815 daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	198 (currPtX >= 0) && (currPtX < videoSize.width) &&
daa992ac6b44 correcting bug with coordinates in mask Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 800 diff changeset	199 (currPtY >= 0) && (currPtY < videoSize.height) &&
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	200 (mask.at<uchar>(currPtY, currPtX) != 0)) { // todo check point in mask in image space
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	201 if (params.undistort)
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	202 iter->feature->addPoint(frameNum, undistortedPts[iter->pointNum], homography);
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	203 else
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	204 iter->feature->addPoint(frameNum, currPts[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	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 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	207 \|\| !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
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 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	209 iter->feature->shorten();
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 } 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	211 deleteFeature = true;
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	212
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 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	214 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	215 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	216 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	217 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	218 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	219 }
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	220 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	221 } 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	222 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	223 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	224 iter++;
139 47329bd16cc0 cleaned code, added condition on smooth displacement Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 138 diff changeset	225 }
125 28907fde9855 work on klt tracker (problem on computer at poly) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 124 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	227 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	228 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	229 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
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
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 if (params.display) {
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	232 if (params.undistort)
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	233 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	234 else
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	235 displayFrame = frame.clone();
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	236
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	237 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	238 fp.feature->draw(displayFrame, invHomography, Colors::red());
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	239 }
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	240 }
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	241
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	242 // 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	243 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 Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 654 diff changeset	244 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	245 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	246 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	247 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	248 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	249 if (params.undistort) {
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	250 undistortPoints(newPts, undistortedPts, intrinsicCameraMatrix, params.distortionCoefficients, noArray(), newIntrinsicCameraMatrix);
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	251 //newPts = undistortedPts;
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	252 }
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	253 //BOOST_FOREACH(Point2f p, newPts) {
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	254 for (unsigned int i=0; i<newPts.size(); i++) {
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	255 FeatureTrajectoryPtr f;
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	256 if (params.undistort) // write function
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	257 f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, undistortedPts[i], homography));
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	258 else
a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	259 f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, newPts[i], homography));
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	260 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	261 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	262 }
128 536510f60854 new features generated as needed Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 127 diff changeset	263
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	264 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	265 imshow("mask", featureMask*256);
924 a71455bd8367 work in progress on undistortion acceleration Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 815 diff changeset	266 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	267 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	268 }
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	269 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	270 prevPts = currPts;
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	271 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	272
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	273 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	274 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	275 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	276 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	277 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	278 savedFeatureId++;
481 b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	279 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 480 diff changeset	280 iter->feature->write(*trajectoryDB, "positions", "velocities");
480 f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	281 }
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	282 iter++;
f43bc0b0ba74 cleaning code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 418 diff changeset	283 }
121 c4d4b5b93add copied the video_homography opencv sample Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 119 diff changeset	284
142 a3532db00c28 added code to write velocities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 141 diff changeset	285 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	286 trajectoryDB->disconnect();
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	287 }
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	288
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	289 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	290 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	291 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202 b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	292 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	293 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 194 diff changeset	294
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	295 trajectoryDB->createInstants("table");
710 70a3cdf0dbb3 unsucessful acceleration idea Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 679 diff changeset	296 //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	297 //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	298
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	299 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	300 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	301 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	302 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	303 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	304 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	305 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219 841a1714f702 added comments for future development Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 207 diff changeset	306
191 0e60a306d324 added basic code to identify features and save them (crash) Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 189 diff changeset	307 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	308
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	309 // main loop
227 b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	310 unsigned int frameNum;
b7612c6d5702 cleaned the code Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 225 diff changeset	311 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	312 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	313 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	314 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	315 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	316 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	317 vector<int> trajectoryIds;
231 249d65ff6c35 merged modifications for windows Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 230 228 diff changeset	318 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	319 if (frameNum%100 ==0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	320 cout << "frame " << frameNum << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	321 #if DEBUG
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	322 cout << trajectoryIds.size() << " trajectories " << endl;
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	323 #endif
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	324 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
177 ae2286b1a3fd added loading FeatureTrajectory from database, printing Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 176 diff changeset	325 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	326 featureGraph.addFeature(ft);
174 ec9734015d53 tested loading trajectory by id numbers Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 172 diff changeset	327 }
172 e508bb0cbb64 modified comments Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 169 diff changeset	328
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	329 // 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	330 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231 249d65ff6c35 merged modifications for windows Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 230 228 diff changeset	331 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	332 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	333 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	334 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	335 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	336 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	337 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	338 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	339 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	340 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	341 }
188 1435965d8181 work on connected components Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 186 diff changeset	342 }
222 426321b46e44 temporary trajectory instants table Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 221 diff changeset	343
225 d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	344 if (frameNum%100 ==0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	345 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	346 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	347
d4d3b1e8a9f1 added code to process only needed frames based on saved features Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 222 diff changeset	348 // 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	349 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	350 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	351 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	352 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	353 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	354 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	355 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	356 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	357 savedObjectId++;
180 3a4eef37384f method to add features and vertices to graph Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 179 diff changeset	358 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	359
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	360 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	361 trajectoryDB->disconnect();
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	362 }
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	363
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	364 void loadingTimes(const KLTFeatureTrackingParameters& params) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	365 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	366 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	367
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	368 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	369 //cout << trajectories.size() << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	370 std::clock_t c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	371 success = trajectoryDB->read(trajectories, "positions");
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	372 std::clock_t c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	373 if (!success)
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	374 cout << "Issue with db reading" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	375 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	376
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	377 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	378 c_start = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	379 for (unsigned int i = 0; i<trajectories.size(); ++i) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	380 success = trajectoryDB->read(trajectory, i, "positions");
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	381 }
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	382 c_end = std::clock();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	383 cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	384
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	385 trajectoryDB->endTransaction();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	386 trajectoryDB->disconnect();
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	387 }
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	388
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	389 int main(int argc, char *argv[]) {
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	390 KLTFeatureTrackingParameters params(argc, argv);
76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	391 cout << params.parameterDescription << endl;
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	392
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	393 if (params.trackFeatures) {
2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	394 cout << "The program tracks features" << endl;
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	395 trackFeatures(params);
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	396 } else if (params.groupFeatures) {
2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	397 cout << "The program groups features" << endl;
169 5f705809d37a created groupFeatures function Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 168 diff changeset	398 groupFeatures(params);
654 045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	399 } else if (params.loadingTime) {
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	400 cout << "The program reports loading times" << endl;
045d05cef9d0 updating to c++11 capabilities Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 542 diff changeset	401 loadingTimes(params);
542 a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 535 diff changeset	402 } else {
a3add9f751ef added differentiate function for curvilinear trajectories and modified the addPosition functions Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 535 diff changeset	403 cout << "Main option missing or misspelt" << endl;
234 2d34060db2e9 removed included code that put track feature option always to true Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 231 diff changeset	404 }
164 76610dcf3b8d added test code to read trajectories Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: 163 diff changeset	405
117 fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	406 return 0;
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	407 }
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	408
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	409 /* ------------------ DOCUMENTATION ------------------ */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	410
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	411
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	412 /*! \mainpage
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	413
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	414 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	415
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	416 - \ref feature_based_tracking
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	417
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	418 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).
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	419
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	420 */
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	421
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	422 /*! \page feature_based_tracking Feature-based Tracking: User Manual
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	423
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	424 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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	425
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	426 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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	427
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	428 \section License
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	429
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	430 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	431
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	432 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.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	433
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	434 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	435
fea680fb03ee created main feature based tracking file and minimum doxygen documentation Nicolas Saunier <nicolas.saunier@polymtl.ca> parents: diff changeset	436 */

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annotate c/feature-based-tracking.cpp @ 924:a71455bd8367