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annotate c/feature-based-tracking.cpp @ 481:b6ad86ee7033

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implemented smoothing (requires latest trajectory management library version)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 02 Apr 2014 01:45:53 -0400
parents f43bc0b0ba74
children 41a72146685e 82c06ad62254
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1 #include "Motion.hpp"
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2 #include "Parameters.hpp"
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3 #include "cvutils.hpp"
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4 #include "utils.hpp"
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5
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6 #include "src/Trajectory.h"
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7 #include "src/TrajectoryDBAccessList.h"
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8 #include "src/TrajectoryDBAccessBlob.h"
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9
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10 #include "opencv2/core/core.hpp"
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11 #include "opencv2/imgproc/imgproc.hpp"
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12 #include "opencv2/video/tracking.hpp"
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13 #include "opencv2/features2d/features2d.hpp"
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14 #include "opencv2/highgui/highgui.hpp"
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15 #include "opencv2/objdetect/objdetect.hpp"
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16
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17 #include <boost/shared_ptr.hpp>
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18 #include <boost/foreach.hpp>
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19 #include <boost/filesystem.hpp>
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21 #include "InputVideoFileModule.h"
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22 #include "InputFrameListModule.h"
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24 #include <iostream>
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25 #include <vector>
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26 #include <ctime>
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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 /// \todo smoothing
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64 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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65 features.clear();
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66 }
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67
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68 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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69 // BriefDescriptorExtractor brief(32);
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70 // const int DESIRED_FTRS = 500;
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71 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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72
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73 Mat homography = ::loadMat(params.homographyFilename, " ");
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74 Mat invHomography;
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75 if (params.display && !homography.empty())
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76 invHomography = homography.inv();
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77
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78 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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79 Size window = Size(params.windowSize, params.windowSize);
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80
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81 // BruteForceMatcher<Hamming> descMatcher;
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82 // vector<DMatch> matches;
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83
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84 boost::shared_ptr<InputFrameProviderIface> capture;
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85 if (fs::is_directory(fs::path(params.videoFilename)))
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86 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
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87 else if(!params.videoFilename.empty())
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88 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
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89 else
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90 cout << "No valid input parameters" << endl;
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92 if(!capture->isOpen()) {
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93 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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94 exit(0);
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95 }
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97 Size videoSize = capture->getSize();
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98 unsigned int nFrames = capture->getNbFrames();
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99 cout << "Video " << params.videoFilename <<
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100 ": width=" << videoSize.width <<
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101 ", height=" << videoSize.height <<
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102 ", nframes=" << nFrames << endl;
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103
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104 Mat mask = imread(params.maskFilename, 0);
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105 if (mask.empty()) {
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106 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
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107 mask = Mat::ones(videoSize, CV_8UC1);
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108 }
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109
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110 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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111 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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112 trajectoryDB->connect(params.databaseFilename.c_str());
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113 trajectoryDB->createTable("positions");
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114 trajectoryDB->createTable("velocities");
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115 trajectoryDB->beginTransaction();
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117 std::vector<KeyPoint> prevKpts, currKpts;
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118 std::vector<Point2f> prevPts, currPts, newPts;
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119 std::vector<uchar> status;
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120 std::vector<float> errors;
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121 Mat prevDesc, currDesc;
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122
230
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diff changeset
123 std::vector<FeatureTrajectoryPtr> lostFeatures;
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diff changeset
124 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
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parents: 154
diff changeset
125
401
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diff changeset
126 //HOGDescriptor hog;
b829ebdc18e6 simplified input of directories of video frames (simply use the video filename parameter to point at the directory)
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diff changeset
127 //hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
193
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parents: 191
diff changeset
128
133
63dd4355b6d1 saving of feature positions in sqlite database
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parents: 132
diff changeset
129 int key = '?';
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parents: 132
diff changeset
130 unsigned int savedFeatureId=0;
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
131 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
227
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diff changeset
132
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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diff changeset
133 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
134 if (params.nFrames > 0)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
135 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
227
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parents: 225
diff changeset
136
400
7ef1071e3cc3 clean up of input classes for list of images and video files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 399
diff changeset
137 capture->setFrameNumber(params.frame1);
227
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parents: 225
diff changeset
138 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
139 bool success = capture->getNextFrame(frame);
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
140
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
141 if (!success || frame.empty() || frame.size() != videoSize)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
142 break;
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parents: 234
diff changeset
143
227
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parents: 225
diff changeset
144 if (frameNum%50 ==0)
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diff changeset
145 cout << "frame " << frameNum << endl;
121
c4d4b5b93add copied the video_homography opencv sample
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parents: 119
diff changeset
146
127
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diff changeset
147 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
121
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diff changeset
148
128
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diff changeset
149 if (!prevPts.empty()) {
127
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diff changeset
150 currPts.clear();
418
ca5784652d57 updated use of calcOpticalFlowPyrLK for new signature, added minEigThreshold parameter in configuration file
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 412
diff changeset
151 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
154
668710d4c773 updated computeTranslation with cv2
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parents: 147
diff changeset
152 /// \todo try calcOpticalFlowFarneback
128
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diff changeset
153
230
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diff changeset
154 std::vector<Point2f> trackedPts;
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parents: 207
diff changeset
155 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
156 while (iter != featurePointMatches.end()) {
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
157 bool deleteFeature = false;
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parents: 134
diff changeset
158
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
159 if (status[iter->pointNum]) {
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
160 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
161
480
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diff changeset
162 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
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parents: 175
diff changeset
163 || !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
164 if (deleteFeature)
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
165 iter->feature->shorten();
139
47329bd16cc0 cleaned code, added condition on smooth displacement
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parents: 138
diff changeset
166 } else
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parents: 138
diff changeset
167 deleteFeature = true;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
168
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
169 if (deleteFeature) {
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
170 if (iter->feature->length() >= params.minFeatureTime) {
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parents: 133
diff changeset
171 iter->feature->setId(savedFeatureId);
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parents: 133
diff changeset
172 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
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parents: 480
diff changeset
173 iter->feature->movingAverage(params.nFramesSmoothing);
140
8de5e8256224 added function to save vectors of features
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parents: 139
diff changeset
174 lostFeatures.push_back(iter->feature);
134
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parents: 133
diff changeset
175 }
132
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parents: 130
diff changeset
176 iter = featurePointMatches.erase(iter);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
177 } else {
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parents: 137
diff changeset
178 trackedPts.push_back(currPts[iter->pointNum]);
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parents: 137
diff changeset
179 iter->pointNum = trackedPts.size()-1;
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
180 iter++;
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
181 }
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
182 }
128
536510f60854 new features generated as needed
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diff changeset
183 currPts = trackedPts;
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
184 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
185 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
186
139
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parents: 138
diff changeset
187 if (params.display) {
134
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diff changeset
188 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
189 fp.feature->draw(frame, invHomography, Colors::red());
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
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parents: 191
diff changeset
190 // object detection
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parents: 191
diff changeset
191 // vector<Rect> locations;
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diff changeset
192 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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parents: 191
diff changeset
193 // BOOST_FOREACH(Rect r, locations)
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diff changeset
194 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
47329bd16cc0 cleaned code, added condition on smooth displacement
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parents: 138
diff changeset
195 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
196 }
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
197
128
536510f60854 new features generated as needed
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diff changeset
198 // 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
199 Mat featureMask = mask.clone();
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
200 for (unsigned int n=0;n<currPts.size(); n++)
536510f60854 new features generated as needed
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parents: 127
diff changeset
201 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
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parents: 127
diff changeset
202 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
203 featureMask.at<uchar>(i,j)=0;
130
2a6e7a9a5c53 changed to goodFeaturesToTrack instead of generic detectors
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 128
diff changeset
204 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
205 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
206 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
207 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
45c64e68053c added drawing function for features
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parents: 130
diff changeset
208 currPts.push_back(p);
45c64e68053c added drawing function for features
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parents: 130
diff changeset
209 }
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
210
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
211 if (params.display) {
401
b829ebdc18e6 simplified input of directories of video frames (simply use the video filename parameter to point at the directory)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 400
diff changeset
212 imshow("mask", featureMask*256);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
213 imshow("frame", frame);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
214 key = waitKey(2);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
215 }
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
216 previousFrameBW = currentFrameBW.clone();
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
217 prevPts = currPts;
480
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
218 }
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
219
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
220 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
221 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
222 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
223 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
224 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
225 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
226 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
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parents: 480
diff changeset
227 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
228 }
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
229 iter++;
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
230 }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
231
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
232 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
233 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
234 }
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
235
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
236 void groupFeatures(const KLTFeatureTrackingParameters& params) {
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
237 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
238 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
239 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
b0b964ba9489 added early saving of objects
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parents: 194
diff changeset
240 trajectoryDB->createObjectTable("objects", "objects_features");
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
241 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects
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parents: 194
diff changeset
242
188
1435965d8181 work on connected components
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parents: 186
diff changeset
243 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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parents: 186
diff changeset
244 // cout << trajectories.size() << endl;
174
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
245 // std::clock_t c_start = std::clock();
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parents: 172
diff changeset
246 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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parents: 172
diff changeset
247 // std::clock_t c_end = std::clock();
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parents: 172
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248 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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249
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250 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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251 // c_start = std::clock();
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252 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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253 // success = trajectoryDB->read(trajectory, i, "positions");
169
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254 // }
174
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255 // c_end = std::clock();
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256 // 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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257
225
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258 trajectoryDB->createInstants("table");
221
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259
225
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260 unsigned int maxTrajectoryLength = 0;
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261 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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262 if (!success || maxTrajectoryLength == 0) {
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263 cout << "problem with trajectory length " << success << endl;
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264 exit(0);
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265 }
222
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266 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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267
191
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268 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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269
169
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270 // main loop
227
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271 unsigned int frameNum;
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272 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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273 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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274 firstFrameNum = MAX(firstFrameNum, params.frame1);
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275 if (params.nFrames>0)
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276 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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277 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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278 vector<int> trajectoryIds;
231
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279 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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280 if (frameNum%100 ==0)
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281 cout << "frame " << frameNum << endl;
222
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282 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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283 #if DEBUG
174
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284 cout << trajectoryIds.size() << " trajectories " << endl;
222
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285 #endif
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286 // vector<TrajectoryPoint2fPtr> positions, velocities;
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287 // trajectoryDB->read(positions, trajectoryIds, "positions");
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288 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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289 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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290 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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291 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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292 //cout << trajectoryId << " " << endl;
177
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293 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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294 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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295 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
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296 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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297 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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298 featureGraph.addFeature(ft);
174
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299 }
172
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300
222
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301 // check for connected components
225
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302 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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303 if (lastInstant > 0 && frameNum%10==0) {
225
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304 featureGraph.connectedComponents(lastInstant);
391
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305 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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306 featureGraph.getFeatureGroups(featureGroups);
225
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307 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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308 vector<unsigned int> featureNumbers;
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309 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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310 featureNumbers.push_back(featureGroups[i][j]->getId());
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311 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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312 savedObjectId++;
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313 }
188
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314 }
222
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315
225
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316 if (frameNum%100 ==0)
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317 cout << featureGraph.informationString() << endl;
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318 }
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319
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320 // save remaining objects
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321 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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322 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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323 featureGraph.getFeatureGroups(featureGroups);
225
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324 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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325 vector<unsigned int> featureNumbers;
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326 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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327 featureNumbers.push_back(featureGroups[i][j]->getId());
412
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328 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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329 savedObjectId++;
180
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330 }
169
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331
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332 trajectoryDB->endTransaction();
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333 trajectoryDB->disconnect();
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334 }
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335
164
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336 int main(int argc, char *argv[]) {
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337 KLTFeatureTrackingParameters params(argc, argv);
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338 cout << params.parameterDescription << endl;
234
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339
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340 if (params.trackFeatures) {
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341 cout << "The program tracks features" << endl;
164
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342 trackFeatures(params);
234
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343 } else if (params.groupFeatures) {
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344 cout << "The program groups features" << endl;
169
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345 groupFeatures(params);
234
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346 }
164
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347
117
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348 return 0;
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349 }
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350
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351 /* ------------------ DOCUMENTATION ------------------ */
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352
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353
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354 /*! \mainpage
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355
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356 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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357
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358 - \ref feature_based_tracking
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359
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360 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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361
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362 */
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363
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364 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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365
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366 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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367
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368 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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369
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370 \section License
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371
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372 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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373
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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374 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>
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375
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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376 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:
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377
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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378 */