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annotate c/feature-based-tracking.cpp @ 802:d3e8dd9f3ca4 dev

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current dev for drone stabilization
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 31 May 2016 17:59:35 -0400
parents 2cade72d75ad
children f7cf43b5ad3b
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
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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/foreach.hpp>
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18
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19 #include <iostream>
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20 #include <vector>
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21 #include <ctime>
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22 #include <cmath>
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23 #include <memory>
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24 #include <limits>
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26 using namespace std;
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27 using namespace cv;
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29 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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30 for (int i = 0; i < (int)matches.size(); i++)
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31 {
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32 Point2f pt_new = query[matches[i].queryIdx].pt;
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33 Point2f pt_old = train[matches[i].trainIdx].pt;
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34 Point2f dist = pt_new - pt_old;
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35 if (norm(dist) < 20) {
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36 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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37 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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38 }
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39 }
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40 }
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42 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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43 for (unsigned int i=0; i<status.size(); i++) {
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44 if (status[i]) {
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45 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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46 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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47 }
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48 }
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49 }
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50
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51 struct FeaturePointMatch {
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52 FeatureTrajectoryPtr feature;
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53 int pointNum;
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54
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55 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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56 feature(_feature), pointNum(_pointNum) {}
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57 };
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58
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59 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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60 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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61 features.clear();
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62 }
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63
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64 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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65 Mat homography = ::loadMat(params.homographyFilename, " ");
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66 Mat invHomography;
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67 if (params.display && !homography.empty())
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68 invHomography = homography.inv();
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69
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70 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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71 Size window = Size(params.windowSize, params.windowSize);
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73 int interpolationMethod = -1;
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74 if (params.interpolationMethod == 0)
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75 interpolationMethod = INTER_NEAREST;
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76 else if (params.interpolationMethod == 1)
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77 interpolationMethod = INTER_LINEAR;
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78 else if (params.interpolationMethod == 2)
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79 interpolationMethod = INTER_CUBIC;
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80 else if (params.interpolationMethod == 3)
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81 interpolationMethod = INTER_LANCZOS4;
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82 else
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83 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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85 // BruteForceMatcher<Hamming> descMatcher;
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86 // vector<DMatch> matches;
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87
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88 if(params.videoFilename.empty()) {
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89 cout << "Empty video filename. Exiting." << endl;
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90 exit(0);
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91 }
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93 VideoCapture capture(params.videoFilename);
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94 if(!capture.isOpened()) {
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95 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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96 exit(0);
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97 }
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99 Size videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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100 unsigned int nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
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101 if (nFrames <= 0) {
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102 cout << "Guessing that the number of frames could not be read: " << nFrames << endl;
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103 nFrames = numeric_limits<int>::max();
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104 cout << "Setting arbitrarily high number for testing: " << nFrames << endl;
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105 }
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106
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107 cout << "Video " << params.videoFilename <<
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108 ": width=" << videoSize.width <<
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109 ", height=" << videoSize.height <<
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110 ", nframes=" << nFrames << endl;
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111
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112 Mat map1, map2;
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113 if (params.undistort) {
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114 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
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115 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
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116 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
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117 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
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118 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
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119 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
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parents: 507
diff changeset
120
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
121 cout << "Undistorted width=" << videoSize.width <<
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diff changeset
122 ", height=" << videoSize.height << endl;
507
081a9da6f85b first version with undistort implemented in the feature tracking process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 506 496
diff changeset
123 }
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
124
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
125 Mat mask = imread(params.maskFilename, 0);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
126 if (mask.empty()) {
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diff changeset
127 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
128 mask = Mat::ones(videoSize, CV_8UC1);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
129 }
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
130
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
131 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
132 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
133 trajectoryDB->connect(params.databaseFilename.c_str());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
134 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
135 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
136 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
137
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
138 std::vector<KeyPoint> prevKpts, currKpts;
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
139 std::vector<Point2f> prevPts, currPts, newPts, homographyRefPts, homographyCurrPts;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
140 std::vector<uchar> status, homographPtsStatus;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
141 std::vector<float> errors, homographyErrors;
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
142 Mat prevDesc, currDesc;
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
143
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
144 std::vector<FeatureTrajectoryPtr> lostFeatures;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
145 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
146
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
147 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
148 unsigned int savedFeatureId=0;
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
149 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame, homographyFrameBW;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
150
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
151 Mat homographyFrame = imread("/media/disk1/Research/Data/unb/Drone/S23-10-frame.png"); // reference frame for the homography, if option turned on
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
152 if (params.undistort) {
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
153 remap(homographyFrame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
154 homographyFrame = undistortedFrame;
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
155 }
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
156
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
157 cvtColor(homographyFrame, homographyFrameBW, CV_RGB2GRAY);
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
158 goodFeaturesToTrack(homographyFrameBW, homographyRefPts, params.maxNFeatures, MAX(0.01, params.featureQuality), params.minFeatureDistanceKLT, mask, params.blockSize, params.useHarrisDetector, params.k); // take higher quality features?
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
159
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
160 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
161 if (params.nFrames > 0)
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
162 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
495
82c06ad62254 added parameter description with ranges
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
163
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
164 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
165 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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diff changeset
166 capture >> frame;
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parents: 654
diff changeset
167 if (frame.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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diff changeset
168 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
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diff changeset
169 break;
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diff changeset
170 } else if (frameNum%50 ==0)
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diff changeset
171 cout << "frame " << frameNum << endl;
532
018653d1db3c corrected bug with empty frames (the program will stop cleanly and store features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 509
diff changeset
172
802
d3e8dd9f3ca4 current dev for drone stabilization
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parents: 800
diff changeset
173 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
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parents: 800
diff changeset
174
655
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parents: 654
diff changeset
175 if (params.undistort) {
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
176 remap(currentFrameBW, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
177 currentFrameBW = undistortedFrame;
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
178 if (frame.size() != videoSize) {
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parents: 654
diff changeset
179 cout << "Different frame size " << frameNum << ", breaking ([" << frame.size().width << "x" << frame.size().height << "])" << endl;
534
d0419b1267dd fixing size issue when testing frames in main loop
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 533
diff changeset
180 break;
507
081a9da6f85b first version with undistort implemented in the feature tracking process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 506 496
diff changeset
181 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
182 }
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 716
diff changeset
183
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
184 if (!prevPts.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
185 currPts.clear();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
186 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
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parents: 654
diff changeset
187 /// \todo try calcOpticalFlowFarneback
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
188
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
189 // if there is stabilization todo
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
190 calcOpticalFlowPyrLK(homographyFrameBW, currentFrameBW, homographyRefPts, homographyCurrPts, homographPtsStatus, homographyErrors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
191
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
192 std::vector<Point2f> trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
193 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
194 while (iter != featurePointMatches.end()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
195 bool deleteFeature = false;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
196
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 716
diff changeset
197 if (status[iter->pointNum] && (mask.at<uchar>(static_cast<int>(round(currPts[iter->pointNum].y)), static_cast<int>(round(currPts[iter->pointNum].x))) != 0)) {
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
198 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 716
diff changeset
199
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
200 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
201 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
202 if (deleteFeature)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
203 iter->feature->shorten();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
204 } else
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parents: 654
diff changeset
205 deleteFeature = true;
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parents: 654
diff changeset
206
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
207 if (deleteFeature) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
208 if (iter->feature->length() >= params.minFeatureTime) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
209 iter->feature->setId(savedFeatureId);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
210 savedFeatureId++;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
211 iter->feature->movingAverage(params.nFramesSmoothing);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
212 lostFeatures.push_back(iter->feature);
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
213 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
214 iter = featurePointMatches.erase(iter);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
215 } else {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
216 trackedPts.push_back(currPts[iter->pointNum]);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
217 iter->pointNum = trackedPts.size()-1;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
218 iter++;
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
219 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
220 }
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
221 currPts = trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
222 assert(currPts.size() == featurePointMatches.size());
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
223 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
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parents: 654
diff changeset
224
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
225 if (params.display) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
226 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
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parents: 654
diff changeset
227 fp.feature->draw(frame, invHomography, Colors::red());
802
d3e8dd9f3ca4 current dev for drone stabilization
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parents: 800
diff changeset
228 Mat homoFeatures = frame.clone();
d3e8dd9f3ca4 current dev for drone stabilization
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parents: 800
diff changeset
229 // todo merge the ref frame and the current frame as in the Python example
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
230 }
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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parents: 654
diff changeset
231 }
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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232
655
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diff changeset
233 // adding new features, using mask around existing feature positions
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parents: 654
diff changeset
234 Mat featureMask = mask.clone();
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diff changeset
235 for (unsigned int n=0;n<currPts.size(); n++)
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parents: 654
diff changeset
236 for (int j=MAX(0, currPts[n].x-params.minFeatureDistanceKLT); j<MIN(videoSize.width, currPts[n].x+params.minFeatureDistanceKLT+1); j++)
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parents: 654
diff changeset
237 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
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diff changeset
238 featureMask.at<uchar>(i,j)=0;
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parents: 654
diff changeset
239 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
800
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diff changeset
240 BOOST_FOREACH(Point2f p, newPts) {
655
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diff changeset
241 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
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242 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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243 currPts.push_back(p);
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244 }
128
536510f60854 new features generated as needed
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parents: 127
diff changeset
245
655
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diff changeset
246 if (params.display) {
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247 imshow("mask", featureMask*256);
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248 imshow("frame", frame);
802
d3e8dd9f3ca4 current dev for drone stabilization
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diff changeset
249 //imshow("ref homography", )
655
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diff changeset
250 key = waitKey(2);
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251 }
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252 previousFrameBW = currentFrameBW.clone();
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diff changeset
253 prevPts = currPts;
480
f43bc0b0ba74 cleaning code
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diff changeset
254 }
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
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255
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diff changeset
256 // save the remaining currently tracked features
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257 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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diff changeset
258 while (iter != featurePointMatches.end()) {
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diff changeset
259 if (iter->feature->length() >= params.minFeatureTime) {
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
260 iter->feature->setId(savedFeatureId);
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diff changeset
261 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
262 iter->feature->movingAverage(params.nFramesSmoothing);
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diff changeset
263 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
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264 }
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265 iter++;
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266 }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
267
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
268 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
269 trajectoryDB->disconnect();
164
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parents: 163
diff changeset
270 }
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diff changeset
271
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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diff changeset
272 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654
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diff changeset
273 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
274 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
b0b964ba9489 added early saving of objects
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parents: 194
diff changeset
275 trajectoryDB->createObjectTable("objects", "objects_features");
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parents: 194
diff changeset
276 unsigned int savedObjectId=0;
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parents: 194
diff changeset
277
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
278 trajectoryDB->createInstants("table");
710
70a3cdf0dbb3 unsucessful acceleration idea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 679
diff changeset
279 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster
70a3cdf0dbb3 unsucessful acceleration idea
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parents: 679
diff changeset
280 //trajectoryDB->createIndex("velocities","trajectory_id");
221
bc93e87a2108 cleaned and corrected connected components and feature groups
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 219
diff changeset
281
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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diff changeset
282 unsigned int maxTrajectoryLength = 0;
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diff changeset
283 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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parents: 222
diff changeset
284 if (!success || maxTrajectoryLength == 0) {
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285 cout << "problem with trajectory length " << success << endl;
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diff changeset
286 exit(0);
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diff changeset
287 }
222
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288 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
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parents: 207
diff changeset
289
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 189
diff changeset
290 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
3a4eef37384f method to add features and vertices to graph
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diff changeset
291
169
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292 // main loop
227
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diff changeset
293 unsigned int frameNum;
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diff changeset
294 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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diff changeset
295 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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parents: 222
diff changeset
296 firstFrameNum = MAX(firstFrameNum, params.frame1);
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diff changeset
297 if (params.nFrames>0)
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diff changeset
298 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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parents: 222
diff changeset
299 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
300 vector<int> trajectoryIds;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
301 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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parents: 222
diff changeset
302 if (frameNum%100 ==0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
303 cout << "frame " << frameNum << endl;
222
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diff changeset
304 #if DEBUG
174
ec9734015d53 tested loading trajectory by id numbers
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diff changeset
305 cout << trajectoryIds.size() << " trajectories " << endl;
222
426321b46e44 temporary trajectory instants table
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diff changeset
306 #endif
174
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
307 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
308 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
309 featureGraph.addFeature(ft);
174
ec9734015d53 tested loading trajectory by id numbers
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diff changeset
310 }
172
e508bb0cbb64 modified comments
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parents: 169
diff changeset
311
222
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diff changeset
312 // check for connected components
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
313 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
314 if (lastInstant > 0 && frameNum%10==0) {
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
315 featureGraph.connectedComponents(lastInstant);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
316 vector<vector<FeatureTrajectoryPtr> > featureGroups;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
317 featureGraph.getFeatureGroups(featureGroups);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
318 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
319 vector<unsigned int> featureNumbers;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
320 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
321 featureNumbers.push_back(featureGroups[i][j]->getId());
716
85af65b6d531 corrected major bug slowing feature grouping
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 710
diff changeset
322 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown type */, 1, string("objects"), string("objects_features"));
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
323 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
324 }
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
325 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
326
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
327 if (frameNum%100 ==0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features
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parents: 222
diff changeset
328 cout << featureGraph.informationString() << endl;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
329 }
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
330
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
331 // save remaining objects
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
332 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
333 vector<vector<FeatureTrajectoryPtr> > featureGroups;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
334 featureGraph.getFeatureGroups(featureGroups);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
335 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
336 vector<unsigned int> featureNumbers;
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
337 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 363
diff changeset
338 featureNumbers.push_back(featureGroups[i][j]->getId());
412
97cb5c969ef2 corrected grouping bug (last object type -1) and added script to rescale homographies
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 411
diff changeset
339 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
340 savedObjectId++;
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
341 }
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
342
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
343 trajectoryDB->endTransaction();
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
344 trajectoryDB->disconnect();
654
045d05cef9d0 updating to c++11 capabilities
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parents: 542
diff changeset
345 }
045d05cef9d0 updating to c++11 capabilities
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parents: 542
diff changeset
346
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
347 void loadingTimes(const KLTFeatureTrackingParameters& params) {
045d05cef9d0 updating to c++11 capabilities
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parents: 542
diff changeset
348 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
349 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
045d05cef9d0 updating to c++11 capabilities
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parents: 542
diff changeset
350
045d05cef9d0 updating to c++11 capabilities
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parents: 542
diff changeset
351 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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352 //cout << trajectories.size() << endl;
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353 std::clock_t c_start = std::clock();
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354 success = trajectoryDB->read(trajectories, "positions");
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355 std::clock_t c_end = std::clock();
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356 if (!success)
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357 cout << "Issue with db reading" << endl;
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358 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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359
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360 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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361 c_start = std::clock();
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362 for (unsigned int i = 0; i<trajectories.size(); ++i) {
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363 success = trajectoryDB->read(trajectory, i, "positions");
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364 }
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365 c_end = std::clock();
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366 cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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367
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368 trajectoryDB->endTransaction();
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369 trajectoryDB->disconnect();
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370 }
169
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371
164
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372 int main(int argc, char *argv[]) {
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373 KLTFeatureTrackingParameters params(argc, argv);
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374 cout << params.parameterDescription << endl;
654
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375
234
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376 if (params.trackFeatures) {
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377 cout << "The program tracks features" << endl;
164
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378 trackFeatures(params);
234
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379 } else if (params.groupFeatures) {
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380 cout << "The program groups features" << endl;
169
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381 groupFeatures(params);
654
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382 } else if (params.loadingTime) {
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383 cout << "The program reports loading times" << endl;
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384 loadingTimes(params);
542
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385 } else {
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386 cout << "Main option missing or misspelt" << endl;
234
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387 }
164
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388
117
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389 return 0;
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390 }
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391
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392 /* ------------------ DOCUMENTATION ------------------ */
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393
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394
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395 /*! \mainpage
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396
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397 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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398
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399 - \ref feature_based_tracking
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400
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401 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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402
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403 */
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404
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405 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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406
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407 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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408
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409 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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410
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411 \section License
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412
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413 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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414
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415 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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416
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417 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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418
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419 */