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annotate c/feature-based-tracking.cpp @ 278:f21ef87f98f1

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resolved issue 2 and problem with negative nframes parameter
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 14 Dec 2012 01:01:55 -0500
parents 2d34060db2e9
children 68861b52a319
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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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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17 #include <boost/shared_ptr.hpp>
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18 #include <boost/foreach.hpp>
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20 #include <iostream>
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21 #include <vector>
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22 #include <ctime>
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24 using namespace std;
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25 using namespace cv;
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27 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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28 for (int i = 0; i < (int)matches.size(); i++)
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29 {
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30 Point2f pt_new = query[matches[i].queryIdx].pt;
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31 Point2f pt_old = train[matches[i].trainIdx].pt;
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32 Point2f dist = pt_new - pt_old;
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33 if (norm(dist) < 20) {
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34 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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35 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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36 }
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37 }
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38 }
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40 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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41 for (unsigned int i=0; i<status.size(); i++) {
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42 if (status[i]) {
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43 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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44 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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45 }
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46 }
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47 }
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48
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49 struct FeaturePointMatch {
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50 FeatureTrajectoryPtr feature;
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51 int pointNum;
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52
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53 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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54 feature(_feature), pointNum(_pointNum) {}
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55 };
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56
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57 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName, const unsigned int& minNFeatures = 0) {
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58 /// \todo smoothing
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59 if (features.size() >= minNFeatures) {
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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
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65 void trackFeatures(const KLTFeatureTrackingParameters& params) {
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66 // BriefDescriptorExtractor brief(32);
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67 // const int DESIRED_FTRS = 500;
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68 // GridAdaptedFeatureDetector detector(new FastFeatureDetector(10, true), DESIRED_FTRS, 4, 4);
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69
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70 Mat homography = ::loadMat(params.homographyFilename, " ");
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71 Mat invHomography;
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72 if (params.display && !homography.empty())
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73 invHomography = homography.inv();
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74
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75 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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76 Size window = Size(params.windowSize, params.windowSize);
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77
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78 // BruteForceMatcher<Hamming> descMatcher;
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79 // vector<DMatch> matches;
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80
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81 VideoCapture capture;
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82 Size videoSize;
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83 unsigned int nFrames = 0;
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84 capture.open(params.videoFilename);
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85 if(capture.isOpened()) {
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86 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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87 nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
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88 cout << "Video " << params.videoFilename <<
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89 ": width=" << videoSize.width <<
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90 ", height=" << videoSize.height <<
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91 ", nframes=" << nFrames << endl;
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92 } else {
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93 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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94 exit(0);
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95 }
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96 // if (!capture.isOpened())
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97 // {
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98 // //help(argv);
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99 // cout << "capture device " << argv[1] << " failed to open!" << endl;
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100 // return 1;
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101 // }
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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 mask = Mat::ones(videoSize, CV_8UC1);
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106
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107 boost::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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108 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
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109 trajectoryDB->connect(params.databaseFilename.c_str());
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110 trajectoryDB->createTable("positions");
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111 trajectoryDB->createTable("velocities");
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112 trajectoryDB->beginTransaction();
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113
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114 std::vector<KeyPoint> prevKpts, currKpts;
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115 std::vector<Point2f> prevPts, currPts, newPts;
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116 std::vector<uchar> status;
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117 std::vector<float> errors;
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118 Mat prevDesc, currDesc;
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120 std::vector<FeatureTrajectoryPtr> lostFeatures;
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121 std::vector<FeaturePointMatch> featurePointMatches;
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123 HOGDescriptor hog;
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124 hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
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126 int key = '?';
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127 unsigned int savedFeatureId=0;
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128 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW;
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diff changeset
129
278
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diff changeset
130 unsigned int lastFrameNum = nFrames;
228
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diff changeset
131 if (params.nFrames > 0)
278
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diff changeset
132 lastFrameNum = MIN(params.frame1+static_cast<unsigned int>(params.nFrames), nFrames);
227
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diff changeset
133
278
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diff changeset
134 //capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227
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diff changeset
135 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
121
c4d4b5b93add copied the video_homography opencv sample
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diff changeset
136 capture >> frame;
278
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diff changeset
137
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diff changeset
138 if (frame.empty() || frame.size() != videoSize)
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diff changeset
139 break;
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diff changeset
140
227
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diff changeset
141 if (frameNum%50 ==0)
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diff changeset
142 cout << "frame " << frameNum << endl;
278
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diff changeset
143
227
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diff changeset
144 //capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
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diff changeset
145
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diff changeset
146 // int emptyFrameNum = 0;
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diff changeset
147 // while (frame.empty()) {
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148 // cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
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diff changeset
149 // capture >> frame;//break;
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150 // emptyFrameNum++;
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diff changeset
151 // if (emptyFrameNum>=3000)
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diff changeset
152 // exit(0);
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153 // }
121
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diff changeset
154
127
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diff changeset
155 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
130
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156 // "normal" feature detectors: detect features here
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157 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
121
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158
128
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diff changeset
159 if (!prevPts.empty()) {
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160 //::keyPoints2Points(prevKpts, prevPts);
127
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diff changeset
161 currPts.clear();
137
445e773c9be3 created the parameter structure to parse parameters (bug remaining)
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parents: 136
diff changeset
162 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(3 /*static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS)*/, params.maxNumberTrackingIterations, params.minTrackingError), 0.5 /* unused */, 0); // OPTFLOW_USE_INITIAL_FLOW
154
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diff changeset
163 /// \todo try calcOpticalFlowFarneback
128
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164
230
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diff changeset
165 std::vector<Point2f> trackedPts;
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diff changeset
166 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
132
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diff changeset
167 while (iter != featurePointMatches.end()) {
135
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diff changeset
168 bool deleteFeature = false;
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169
132
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diff changeset
170 if (status[iter->pointNum]) {
147
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diff changeset
171 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
135
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diff changeset
172
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
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diff changeset
173 deleteFeature |= iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
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parents: 175
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174 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
139
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parents: 138
diff changeset
175 if (deleteFeature)
138
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diff changeset
176 iter->feature->shorten();
139
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diff changeset
177 } else
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diff changeset
178 deleteFeature = true;
135
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diff changeset
179
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parents: 134
diff changeset
180 if (deleteFeature) {
134
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diff changeset
181 if (iter->feature->length() >= params.minFeatureTime) {
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diff changeset
182 iter->feature->setId(savedFeatureId);
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diff changeset
183 savedFeatureId++;
140
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diff changeset
184 lostFeatures.push_back(iter->feature);
134
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185 }
132
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diff changeset
186 iter = featurePointMatches.erase(iter);
138
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diff changeset
187 } else {
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diff changeset
188 trackedPts.push_back(currPts[iter->pointNum]);
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189 iter->pointNum = trackedPts.size()-1;
135
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diff changeset
190 iter++;
138
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191 }
132
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192 }
128
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diff changeset
193 currPts = trackedPts;
132
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diff changeset
194 assert(currPts.size() == featurePointMatches.size());
142
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195 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
134
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diff changeset
196
139
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diff changeset
197 if (params.display) {
134
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diff changeset
198 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
147
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diff changeset
199 fp.feature->draw(frame, invHomography, Colors::red());
193
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diff changeset
200 // object detection
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diff changeset
201 // vector<Rect> locations;
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diff changeset
202 // hog.detectMultiScale(frame, locations, 0, Size(8,8), Size(32,32), 1.05, 2);
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diff changeset
203 // BOOST_FOREACH(Rect r, locations)
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diff changeset
204 // rectangle(frame, r.tl(), r.br(), cv::Scalar(0,255,0), 3);
139
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diff changeset
205 }
132
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diff changeset
206 //drawOpticalFlow(prevPts, currPts, status, frame);
134
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diff changeset
207
127
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diff changeset
208 // cout << matches.size() << " matches" << endl;
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diff changeset
209 // descMatcher.match(currDesc, prevDesc, matches);
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diff changeset
210 // cout << matches.size() << " matches" << endl;
128
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diff changeset
211 //drawMatchesRelative(prevKpts, currKpts, matches, frame);
125
28907fde9855 work on klt tracker (problem on computer at poly)
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parents: 124
diff changeset
212 }
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diff changeset
213
128
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diff changeset
214 // adding new features, using mask around existing feature positions
146
7150427c665e added loading of mask
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diff changeset
215 Mat featureMask = mask.clone();
128
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diff changeset
216 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
217 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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diff changeset
218 for (int i=MAX(0, currPts[n].y-params.minFeatureDistanceKLT); i<MIN(videoSize.height, currPts[n].y+params.minFeatureDistanceKLT+1); i++)
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diff changeset
219 featureMask.at<uchar>(i,j)=0;
130
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diff changeset
220 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.windowSize, params.useHarrisDetector, params.k);
132
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diff changeset
221 BOOST_FOREACH(Point2f p, newPts) { //for (unsigned int i=0; i<newPts.size(); i++) {
147
0089fb29cd26 added projection of points and reprojection for display
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diff changeset
222 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
132
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diff changeset
223 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
224 currPts.push_back(p);
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diff changeset
225 }
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diff changeset
226 // currPts.insert(currPts.end(), newPts.begin(), newPts.end());
130
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diff changeset
227 //::keyPoints2Points(currKpts, currPts, false);
128
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diff changeset
228
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diff changeset
229 //brief.compute(currentFrameBW, currKpts, currDesc); //Compute brief descriptors at each keypoint location
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diff changeset
230
134
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diff changeset
231 if (params.display) {
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diff changeset
232 imshow("frame", frame);
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diff changeset
233 imshow("mask", featureMask*256);
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diff changeset
234 key = waitKey(2);
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diff changeset
235 }
127
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diff changeset
236 previousFrameBW = currentFrameBW.clone();
128
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diff changeset
237 prevPts = currPts;
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diff changeset
238 //prevKpts = currKpts;
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diff changeset
239 //currDesc.copyTo(prevDesc);
121
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diff changeset
240 }
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diff changeset
241
142
a3532db00c28 added code to write velocities
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parents: 141
diff changeset
242 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
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parents: 135
diff changeset
243 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
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parents: 163
diff changeset
244 }
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parents: 163
diff changeset
245
169
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
246 void groupFeatures(const KLTFeatureTrackingParameters& params) {
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parents: 168
diff changeset
247 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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diff changeset
248 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
5f705809d37a created groupFeatures function
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parents: 168
diff changeset
249 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
b0b964ba9489 added early saving of objects
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parents: 194
diff changeset
250 trajectoryDB->createObjectTable("objects", "objects_features");
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parents: 194
diff changeset
251 unsigned int savedObjectId=0;
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parents: 194
diff changeset
252
188
1435965d8181 work on connected components
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diff changeset
253 // vector<boost::shared_ptr<Trajectory<Point2f> > > trajectories;
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diff changeset
254 // cout << trajectories.size() << endl;
174
ec9734015d53 tested loading trajectory by id numbers
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parents: 172
diff changeset
255 // std::clock_t c_start = std::clock();
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256 // success = trajectoryDB->read(trajectories, "positions"); // TODO load velocities as well in a FeatureTrajectory object // attention, velocities lack the first instant
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257 // std::clock_t c_end = std::clock();
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258 // cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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259
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260 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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261 // c_start = std::clock();
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262 // for (unsigned int i = 0; i<trajectories.size(); ++i) {
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263 // success = trajectoryDB->read(trajectory, i, "positions");
169
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264 // }
174
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265 // c_end = std::clock();
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266 // 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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267
225
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268 trajectoryDB->createInstants("table");
221
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269
225
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270 unsigned int maxTrajectoryLength = 0;
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271 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
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272 if (!success || maxTrajectoryLength == 0) {
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273 cout << "problem with trajectory length " << success << endl;
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274 exit(0);
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275 }
222
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276 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
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277
191
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278 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
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279
169
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280 // main loop
227
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281 unsigned int frameNum;
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282 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
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283 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
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284 firstFrameNum = MAX(firstFrameNum, params.frame1);
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285 if (params.nFrames>0)
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286 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
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287 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
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288 vector<int> trajectoryIds;
231
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289 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
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290 if (frameNum%100 ==0)
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291 cout << "frame " << frameNum << endl;
222
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292 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
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293 #if DEBUG
174
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294 cout << trajectoryIds.size() << " trajectories " << endl;
222
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295 #endif
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296 // vector<TrajectoryPoint2fPtr> positions, velocities;
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297 // trajectoryDB->read(positions, trajectoryIds, "positions");
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298 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
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299 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
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300 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
174
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301 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
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302 //cout << trajectoryId << " " << endl;
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303 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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304 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
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305 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
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306 // stringstream ss;ss << *ft; cout << ss.str() << endl;
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307 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
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308 featureGraph.addFeature(ft);
174
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309 }
172
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310
222
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311 // check for connected components
225
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312 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
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313 if (lastInstant > 0 && frameNum%10==0) {
225
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314 featureGraph.connectedComponents(lastInstant);
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315 vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups();
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316 for (unsigned int i=0; i<featureGroups.size(); ++i) {
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317 trajectoryDB->writeObject(savedObjectId, featureGroups[i], -1, 1, string("objects"), string("objects_features"));
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318 savedObjectId++;
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319 }
188
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320 }
222
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321
225
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322 if (frameNum%100 ==0)
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323 cout << featureGraph.informationString() << endl;
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324 }
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325
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326 // save remaining objects
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327 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
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328 vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups();
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329 for (unsigned int i=0; i<featureGroups.size(); ++i) {
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330 trajectoryDB->writeObject(savedObjectId, featureGroups[i], -1, 1, string("objects"), string("objects_features"));
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331 savedObjectId++;
180
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332 }
169
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333
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334 trajectoryDB->endTransaction();
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335 trajectoryDB->disconnect();
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336 }
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337
164
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338 int main(int argc, char *argv[]) {
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339 KLTFeatureTrackingParameters params(argc, argv);
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340 cout << params.parameterDescription << endl;
234
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341
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342 if (params.trackFeatures) {
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343 cout << "The program tracks features" << endl;
164
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344 trackFeatures(params);
234
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345 } else if (params.groupFeatures) {
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346 cout << "The program groups features" << endl;
169
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347 groupFeatures(params);
234
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348 }
164
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349
117
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350 return 0;
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351 }
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352
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353 /* ------------------ DOCUMENTATION ------------------ */
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354
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355
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356 /*! \mainpage
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357
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358 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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359
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360 - \ref feature_based_tracking
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361
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362 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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363
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364 */
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365
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366 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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367
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368 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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369
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370 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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371
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372 \section License
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373
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374 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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375
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376 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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377
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378 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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379
fea680fb03ee created main feature based tracking file and minimum doxygen documentation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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