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annotate c/feature-based-tracking.cpp @ 496:b96ff16b1c81

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merged
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 01 May 2014 11:08:41 -0400
parents 82c06ad62254 41a72146685e
children 081a9da6f85b
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #include "Motion.hpp"
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2 #include "Parameters.hpp"
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3 #include "cvutils.hpp"
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4 #include "utils.hpp"
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5 #include "InputVideoFileModule.h"
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6 #include "InputFrameListModule.h"
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7
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8 #include "src/Trajectory.h"
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9 #include "src/TrajectoryDBAccessList.h"
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10 #include "src/TrajectoryDBAccessBlob.h"
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12 #include "opencv2/core/core.hpp"
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13 #include "opencv2/imgproc/imgproc.hpp"
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14 #include "opencv2/video/tracking.hpp"
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15 #include "opencv2/features2d/features2d.hpp"
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16 #include "opencv2/highgui/highgui.hpp"
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17 #include "opencv2/objdetect/objdetect.hpp"
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18
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19 #include <boost/shared_ptr.hpp>
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20 #include <boost/foreach.hpp>
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21 #include <boost/filesystem.hpp>
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22
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23 #include <iostream>
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24 #include <vector>
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25 #include <ctime>
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26
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27 using namespace std;
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28 using namespace cv;
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29 namespace fs = boost::filesystem;
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30
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31 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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32 for (int i = 0; i < (int)matches.size(); i++)
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33 {
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34 Point2f pt_new = query[matches[i].queryIdx].pt;
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35 Point2f pt_old = train[matches[i].trainIdx].pt;
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36 Point2f dist = pt_new - pt_old;
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37 if (norm(dist) < 20) {
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38 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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39 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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40 }
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41 }
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42 }
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44 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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45 for (unsigned int i=0; i<status.size(); i++) {
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46 if (status[i]) {
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47 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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48 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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49 }
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50 }
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51 }
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52
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53 struct FeaturePointMatch {
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54 FeatureTrajectoryPtr feature;
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55 int pointNum;
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56
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57 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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58 feature(_feature), pointNum(_pointNum) {}
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59 };
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60
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61 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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62 /// \todo smoothing
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63 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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64 features.clear();
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65 }
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66
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67 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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68 // BriefDescriptorExtractor brief(32);
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69 // const int DESIRED_FTRS = 500;
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70 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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71
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72 Mat homography = ::loadMat(params.homographyFilename, " ");
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73 Mat invHomography;
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74 if (params.display && !homography.empty())
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75 invHomography = homography.inv();
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76
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77 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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78 Size window = Size(params.windowSize, params.windowSize);
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79
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80 // BruteForceMatcher<Hamming> descMatcher;
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81 // vector<DMatch> matches;
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82
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83 boost::shared_ptr<InputFrameProviderIface> capture;
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84 if (fs::is_directory(fs::path(params.videoFilename)))
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85 capture = boost::shared_ptr<InputFrameListModule>(new InputFrameListModule(params.videoFilename));
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86 else if(!params.videoFilename.empty())
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87 capture = boost::shared_ptr<InputVideoFileModule>(new InputVideoFileModule(params.videoFilename));
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88 else
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89 cout << "No valid input parameters" << endl;
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90
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91 if(!capture->isOpen()) {
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92 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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93 exit(0);
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94 }
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96 Size videoSize = capture->getSize();
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97 unsigned int nFrames = capture->getNbFrames();
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98 cout << "Video " << params.videoFilename <<
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99 ": width=" << videoSize.width <<
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100 ", height=" << videoSize.height <<
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101 ", nframes=" << nFrames << endl;
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102
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103 Mat mask = imread(params.maskFilename, 0);
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104 if (mask.empty()) {
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105 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
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106 mask = Mat::ones(videoSize, CV_8UC1);
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107 }
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108
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109 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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110 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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111 trajectoryDB->connect(params.databaseFilename.c_str());
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112 trajectoryDB->createTable("positions");
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113 trajectoryDB->createTable("velocities");
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114 trajectoryDB->beginTransaction();
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116 std::vector<KeyPoint> prevKpts, currKpts;
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117 std::vector<Point2f> prevPts, currPts, newPts;
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118 std::vector<uchar> status;
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119 std::vector<float> errors;
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120 Mat prevDesc, currDesc;
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122 std::vector<FeatureTrajectoryPtr> lostFeatures;
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123 std::vector<FeaturePointMatch> featurePointMatches;
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parents: 154
diff changeset
124
401
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
125 //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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parents: 400
diff changeset
126 //hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
193
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parents: 191
diff changeset
127
133
63dd4355b6d1 saving of feature positions in sqlite database
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parents: 132
diff changeset
128 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database
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parents: 132
diff changeset
129 unsigned int savedFeatureId=0;
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
130 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
227
b7612c6d5702 cleaned the code
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parents: 225
diff changeset
131
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
132 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
133 if (params.nFrames > 0)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
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parents: 234
diff changeset
134 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
495
82c06ad62254 added parameter description with ranges
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parents: 481
diff changeset
135
400
7ef1071e3cc3 clean up of input classes for list of images and video files
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 399
diff changeset
136 capture->setFrameNumber(params.frame1);
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
137 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
138 bool success = capture->getNextFrame(frame);
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
139
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
140 if (!success || frame.empty() || frame.size() != videoSize)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
141 break;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
142
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
143 if (frameNum%50 ==0)
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parents: 225
diff changeset
144 cout << "frame " << frameNum << endl;
121
c4d4b5b93add copied the video_homography opencv sample
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parents: 119
diff changeset
145
127
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diff changeset
146 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
121
c4d4b5b93add copied the video_homography opencv sample
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parents: 119
diff changeset
147
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
148 if (!prevPts.empty()) {
127
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parents: 125
diff changeset
149 currPts.clear();
495
82c06ad62254 added parameter description with ranges
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diff changeset
150 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
154
668710d4c773 updated computeTranslation with cv2
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parents: 147
diff changeset
151 /// \todo try calcOpticalFlowFarneback
128
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diff changeset
152
230
bc4ea09b1743 compatibility modifications for visual studio compilation
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diff changeset
153 std::vector<Point2f> trackedPts;
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parents: 207
diff changeset
154 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
155 while (iter != featurePointMatches.end()) {
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
156 bool deleteFeature = false;
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
157
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
158 if (status[iter->pointNum]) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
159 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
160
480
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
161 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 175
diff changeset
162 || !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
163 if (deleteFeature)
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
164 iter->feature->shorten();
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
165 } else
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parents: 138
diff changeset
166 deleteFeature = true;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
167
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
168 if (deleteFeature) {
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
169 if (iter->feature->length() >= params.minFeatureTime) {
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
170 iter->feature->setId(savedFeatureId);
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parents: 133
diff changeset
171 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
172 iter->feature->movingAverage(params.nFramesSmoothing);
140
8de5e8256224 added function to save vectors of features
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parents: 139
diff changeset
173 lostFeatures.push_back(iter->feature);
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
174 }
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
175 iter = featurePointMatches.erase(iter);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
176 } else {
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
177 trackedPts.push_back(currPts[iter->pointNum]);
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parents: 137
diff changeset
178 iter->pointNum = trackedPts.size()-1;
135
32d2722d4028 added constraint on minimum displacement
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parents: 134
diff changeset
179 iter++;
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
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parents: 137
diff changeset
180 }
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
181 }
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
182 currPts = trackedPts;
132
45c64e68053c added drawing function for features
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parents: 130
diff changeset
183 assert(currPts.size() == featurePointMatches.size());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
184 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
185
139
47329bd16cc0 cleaned code, added condition on smooth displacement
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parents: 138
diff changeset
186 if (params.display) {
134
a617d0808bbc added test on feature length and display control
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parents: 133
diff changeset
187 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
0089fb29cd26 added projection of points and reprojection for display
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parents: 146
diff changeset
188 fp.feature->draw(frame, invHomography, Colors::red());
193
a728fce85881 simple test of adding and using default HoG pedestrian detector
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
189 // object detection
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parents: 191
diff changeset
190 // vector<Rect> locations;
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parents: 191
diff changeset
191 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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parents: 191
diff changeset
192 // BOOST_FOREACH(Rect r, locations)
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parents: 191
diff changeset
193 // 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
194 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
195 }
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
196
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
197 // 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
198 Mat featureMask = mask.clone();
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
199 for (unsigned int n=0;n<currPts.size(); n++)
536510f60854 new features generated as needed
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parents: 127
diff changeset
200 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
201 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
202 featureMask.at<uchar>(i,j)=0;
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
203 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
204 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 146
diff changeset
205 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
206 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
45c64e68053c added drawing function for features
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parents: 130
diff changeset
207 currPts.push_back(p);
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 130
diff changeset
208 }
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
209
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
210 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
211 imshow("mask", featureMask*256);
134
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
212 imshow("frame", frame);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
213 key = waitKey(2);
a617d0808bbc added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 133
diff changeset
214 }
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
215 previousFrameBW = currentFrameBW.clone();
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
216 prevPts = currPts;
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
217 }
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
218
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
219 // save the remaining currently tracked features
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
220 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
221 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
222 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
223 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
224 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
225 iter->feature->movingAverage(params.nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
226 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
227 }
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
228 iter++;
f43bc0b0ba74 cleaning code
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parents: 418
diff changeset
229 }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
230
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
231 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
232 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
233 }
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
234
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
235 void groupFeatures(const KLTFeatureTrackingParameters& params) {
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
236 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
237 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
238 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
239 trajectoryDB->createObjectTable("objects", "objects_features");
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
240 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
241
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
242 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
1435965d8181 work on connected components
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parents: 186
diff changeset
243 // cout << trajectories.size() << endl;
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
244 // std::clock_t c_start = std::clock();
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parents: 172
diff changeset
245 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
246 // std::clock_t c_end = std::clock();
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parents: 172
diff changeset
247 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
248
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
249 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
ec9734015d53 tested loading trajectory by id numbers
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250 // c_start = std::clock();
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251 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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252 // success = trajectoryDB->read(trajectory, i, "positions");
169
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253 // }
174
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254 // c_end = std::clock();
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255 // 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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256
225
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257 trajectoryDB->createInstants("table");
221
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258
225
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259 unsigned int maxTrajectoryLength = 0;
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260 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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261 if (!success || maxTrajectoryLength == 0) {
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262 cout << "problem with trajectory length " << success << endl;
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263 exit(0);
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264 }
222
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265 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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266
191
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267 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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268
169
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269 // main loop
227
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270 unsigned int frameNum;
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271 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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272 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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273 firstFrameNum = MAX(firstFrameNum, params.frame1);
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274 if (params.nFrames>0)
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275 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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276 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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277 vector<int> trajectoryIds;
231
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278 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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279 if (frameNum%100 ==0)
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280 cout << "frame " << frameNum << endl;
222
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281 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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282 #if DEBUG
174
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283 cout << trajectoryIds.size() << " trajectories " << endl;
222
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284 #endif
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285 // vector<TrajectoryPoint2fPtr> positions, velocities;
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286 // trajectoryDB->read(positions, trajectoryIds, "positions");
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287 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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288 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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289 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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290 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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291 //cout << trajectoryId << " " << endl;
177
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292 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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293 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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294 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
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295 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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296 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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297 featureGraph.addFeature(ft);
174
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298 }
172
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299
222
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300 // check for connected components
225
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301 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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302 if (lastInstant > 0 && frameNum%10==0) {
225
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303 featureGraph.connectedComponents(lastInstant);
391
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304 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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305 featureGraph.getFeatureGroups(featureGroups);
225
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306 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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307 vector<unsigned int> featureNumbers;
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308 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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309 featureNumbers.push_back(featureGroups[i][j]->getId());
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310 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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311 savedObjectId++;
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312 }
188
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313 }
222
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314
225
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315 if (frameNum%100 ==0)
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316 cout << featureGraph.informationString() << endl;
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317 }
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318
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319 // save remaining objects
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320 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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321 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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322 featureGraph.getFeatureGroups(featureGroups);
225
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323 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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324 vector<unsigned int> featureNumbers;
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325 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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326 featureNumbers.push_back(featureGroups[i][j]->getId());
412
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327 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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328 savedObjectId++;
180
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329 }
169
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330
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331 trajectoryDB->endTransaction();
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332 trajectoryDB->disconnect();
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333 }
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334
164
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335 int main(int argc, char *argv[]) {
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336 KLTFeatureTrackingParameters params(argc, argv);
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337 cout << params.parameterDescription << endl;
234
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338
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339 if (params.trackFeatures) {
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340 cout << "The program tracks features" << endl;
164
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341 trackFeatures(params);
234
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342 } else if (params.groupFeatures) {
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343 cout << "The program groups features" << endl;
169
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344 groupFeatures(params);
234
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345 }
164
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346
117
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347 return 0;
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348 }
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349
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350 /* ------------------ DOCUMENTATION ------------------ */
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351
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352
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353 /*! \mainpage
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354
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355 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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356
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357 - \ref feature_based_tracking
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358
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359 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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360
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361 */
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362
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363 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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364
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365 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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366
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367 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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368
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369 \section License
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370
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371 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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372
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373 If you make use of this piece of software, please cite one of my paper, e.g. N. Saunier, T. Sayed and K. Ismail. Large Scale Automated Analysis of Vehicle Interactions and Collisions. Transportation Research Record: Journal of the Transportation Research Board, 2147:42-50, 2010. I would be very happy in any case to know about any use of the code, and to discuss any opportunity for collaboration.
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374
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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375 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
376
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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377 */