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annotate c/feature-based-tracking.cpp @ 803:f7cf43b5ad3b dev

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work in progress on stabilization
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 01 Jun 2016 01:55:45 -0400
parents d3e8dd9f3ca4
children 17e54690af8a
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 #include <opencv2/calib3d.hpp>
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17
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18 #include <boost/foreach.hpp>
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19
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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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23 #include <cmath>
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24 #include <memory>
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25 #include <limits>
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26
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27 using namespace std;
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28 using namespace cv;
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29
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30 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
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31 for (int i = 0; i < (int)matches.size(); i++)
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32 {
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33 Point2f pt_new = query[matches[i].queryIdx].pt;
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34 Point2f pt_old = train[matches[i].trainIdx].pt;
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35 Point2f dist = pt_new - pt_old;
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36 if (norm(dist) < 20) {
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37 line(img, pt_new, pt_old, Scalar(125, 255, 125), 1);
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38 circle(img, pt_old, 2, Scalar(255, 0, 125), 1);
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39 }
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40 }
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41 }
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43 void drawOpticalFlow(const vector<Point2f>& prevPts, const vector<Point2f>& currPts, const vector<uchar> status, Mat& img) {
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44 for (unsigned int i=0; i<status.size(); i++) {
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45 if (status[i]) {
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46 line(img, prevPts[i], currPts[i], Scalar(125, 255, 125), 1);
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47 circle(img, prevPts[i], 2, Scalar(255, 0, 125), 1);
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48 }
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49 }
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50 }
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51
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52 struct FeaturePointMatch {
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53 FeatureTrajectoryPtr feature;
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54 int pointNum;
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56 FeaturePointMatch(FeatureTrajectoryPtr _feature, const int& _pointNum):
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57 feature(_feature), pointNum(_pointNum) {}
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58 };
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59
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60 inline void saveFeatures(vector<FeatureTrajectoryPtr>& features, TrajectoryDBAccess<Point2f>& db, const string& positionsTableName, const string& velocitiesTableName) {
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61 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
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62 features.clear();
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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 Mat refHomography = ::loadMat(params.homographyFilename, " ");
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67 Mat stabilizationHomography, homography = refHomography;
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68 if (params.stabilize && refHomography.empty())
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69 refHomography = Mat::eye(3, 3, CV_32FC1);
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70 //Mat invHomography;
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71 //if (params.display && !homography.empty())
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72 // invHomography = homography.inv();
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73
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74 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
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75 Size window = Size(params.windowSize, params.windowSize);
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77 int interpolationMethod = -1;
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78 if (params.interpolationMethod == 0)
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79 interpolationMethod = INTER_NEAREST;
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80 else if (params.interpolationMethod == 1)
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81 interpolationMethod = INTER_LINEAR;
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82 else if (params.interpolationMethod == 2)
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83 interpolationMethod = INTER_CUBIC;
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84 else if (params.interpolationMethod == 3)
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85 interpolationMethod = INTER_LANCZOS4;
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86 else
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87 cout << "Unsupported option " << interpolationMethod << " for interpolation method" << endl;
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88
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89 // BruteForceMatcher<Hamming> descMatcher;
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90 // vector<DMatch> matches;
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91
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92 if(params.videoFilename.empty()) {
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93 cout << "Empty video filename. Exiting." << endl;
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94 exit(0);
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95 }
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97 VideoCapture capture(params.videoFilename);
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98 if(!capture.isOpened()) {
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99 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
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100 exit(0);
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101 }
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103 Size videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
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104 unsigned int nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
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105 if (nFrames <= 0) {
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106 cout << "Guessing that the number of frames could not be read: " << nFrames << endl;
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107 nFrames = numeric_limits<int>::max();
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108 cout << "Setting arbitrarily high number for testing: " << nFrames << endl;
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109 }
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110
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111 cout << "Video " << params.videoFilename <<
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112 ": width=" << videoSize.width <<
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113 ", height=" << videoSize.height <<
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114 ", nframes=" << nFrames << endl;
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116 Mat map1, map2;
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117 if (params.undistort) {
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118 Mat intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " ");
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119 Mat newIntrinsicCameraMatrix = intrinsicCameraMatrix.clone();
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120 videoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
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121 newIntrinsicCameraMatrix.at<float>(0,2) = videoSize.width/2.;
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
122 newIntrinsicCameraMatrix.at<float>(1,2) = videoSize.height/2.;
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3, 3, CV_32FC1), newIntrinsicCameraMatrix, videoSize, CV_32FC1, map1, map2);
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
124
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
125 cout << "Undistorted width=" << videoSize.width <<
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
126 ", 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
127 }
399
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
128
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
129 Mat mask = imread(params.maskFilename, 0);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
130 if (mask.empty()) {
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
131 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
509
935430b1d408 corrected mask bug in feature tracking, updated display-trajectories to display on undistorted image
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 507
diff changeset
132 mask = Mat::ones(videoSize, CV_8UC1);
363
68861b52a319 added message if mask not found/loaded
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 278
diff changeset
133 }
146
7150427c665e added loading of mask
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 145
diff changeset
134
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 542
diff changeset
135 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
136 //TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 137
diff changeset
137 trajectoryDB->connect(params.databaseFilename.c_str());
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
138 trajectoryDB->createTable("positions");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
139 trajectoryDB->createTable("velocities");
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
140 trajectoryDB->beginTransaction();
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
141
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
142 std::vector<KeyPoint> prevKpts, currKpts;
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
143 std::vector<Point2f> prevPts, currPts, newPts, homographyRefPts, homographyCurrPts;
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
144 std::vector<uchar> status, homographPtsStatus;
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
145 std::vector<float> errors, homographyErrors;
127
d19d6e63dd77 simple feature tracking and drawing working
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 125
diff changeset
146 Mat prevDesc, currDesc;
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
147
230
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
148 std::vector<FeatureTrajectoryPtr> lostFeatures;
bc4ea09b1743 compatibility modifications for visual studio compilation
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
149 std::vector<FeaturePointMatch> featurePointMatches;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 154
diff changeset
150
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
151 int key = '?';
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
152 unsigned int savedFeatureId=0;
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
153 Mat frame = Mat::zeros(1, 1, CV_8UC1), currentFrameBW, previousFrameBW, undistortedFrame, homographyFrameBW, homographyFrame;
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
154
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
155 if (params.stabilize) {
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
156 homographyFrame = imread(params.frameHomographyFilename);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
157 if (homographyFrame.empty())
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
158 cout << "Homography frame filename " << params.frameHomographyFilename << " could not be opened." << endl;
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
159 else {
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
160 if (params.undistort) {
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
161 remap(homographyFrame, undistortedFrame, map1, map2, interpolationMethod, BORDER_CONSTANT, 0.);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
162 homographyFrame = undistortedFrame;
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
163 }
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
164
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
165 cvtColor(homographyFrame, homographyFrameBW, CV_RGB2GRAY);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
166 goodFeaturesToTrack(homographyFrameBW, homographyRefPts, params.maxNFeatures, MAX(0.01, params.featureQuality), params.minFeatureDistanceKLT, mask, params.blockSize, params.useHarrisDetector, params.k); // take higher quality features?
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
167 }
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
168 }
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
169
278
f21ef87f98f1 resolved issue 2 and problem with negative nframes parameter
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 234
diff changeset
170 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
171 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
172 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
173
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
174 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
175 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
655
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
176 capture >> frame;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
177 if (frame.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
178 cout << "Empty frame " << frameNum << ", breaking (" << frame.empty() << " [" << frame.size().width << "x" << frame.size().height << "])" << endl;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
179 break;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
180 } else if (frameNum%50 ==0)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
181 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
182
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
183 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
184
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
185 if (params.undistort) {
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
186 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
187 currentFrameBW = undistortedFrame;
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
188 if (frame.size() != videoSize) {
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
189 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
190 break;
507
081a9da6f85b first version with undistort implemented in the feature tracking process
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 506 496
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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
192 }
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
193
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
194 if (!prevPts.empty()) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
195 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
196 calcOpticalFlowPyrLK(previousFrameBW, currentFrameBW, prevPts, currPts, status, errors, window, params.pyramidLevel, TermCriteria(static_cast<int>(TermCriteria::COUNT)+static_cast<int>(TermCriteria::EPS) /* = 3 */, params.maxNumberTrackingIterations, params.minTrackingError), /* int flags = */ 0, params.minFeatureEigThreshold);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
197 /// \todo try calcOpticalFlowFarneback
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
198
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
199 if (params.stabilize) {
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
200 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);
802
d3e8dd9f3ca4 current dev for drone stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 800
diff changeset
201
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
202 std::vector<Point2f> homographyRefPts2, homographyCurrPts2;
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
203 for (unsigned int i=0; i<homographyRefPts.size(); i++)
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
204 if (homographPtsStatus[i]) {
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
205 homographyRefPts2.push_back(homographyRefPts[i]);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
206 homographyCurrPts2.push_back(homographyCurrPts[i]);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
207 }
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
208 stabilizationHomography = findHomography(homographyCurrPts2, homographyRefPts2, CV_RANSAC, params.stabilizeRansacReprojThreshold);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
209 if (stabilizationHomography.empty())
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
210 homography = refHomography;
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
211 else
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
212 homography = stabilizationHomography*refHomography;
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
213 }
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
214
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
215 std::vector<Point2f> trackedPts;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
216 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
217 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
218 bool deleteFeature = false;
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
219
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
220 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
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
221 iter->feature->addPoint(frameNum, currPts[iter->pointNum], homography);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
222 deleteFeature = iter->feature->isDisplacementSmall(params.nDisplacements, minTotalFeatureDisplacement)
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
223 || !iter->feature->isMotionSmooth(params.accelerationBound, params.deviationBound);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
224 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
225 iter->feature->shorten();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
226 } else
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
227 deleteFeature = true;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
228
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
229 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
230 if (iter->feature->length() >= params.minFeatureTime) {
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
231 iter->feature->setId(savedFeatureId);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
232 savedFeatureId++;
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
233 iter->feature->movingAverage(params.nFramesSmoothing);
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
234 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
235 }
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
236 iter = featurePointMatches.erase(iter);
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diff changeset
237 } else {
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diff changeset
238 trackedPts.push_back(currPts[iter->pointNum]);
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diff changeset
239 iter->pointNum = trackedPts.size()-1;
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diff changeset
240 iter++;
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
241 }
125
28907fde9855 work on klt tracker (problem on computer at poly)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 124
diff changeset
242 }
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
243 currPts = trackedPts;
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parents: 654
diff changeset
244 assert(currPts.size() == featurePointMatches.size());
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diff changeset
245 saveFeatures(lostFeatures, *trajectoryDB, "positions", "velocities");
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diff changeset
246
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diff changeset
247 if (params.display) {
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
248 cout << featurePointMatches.size() << endl;
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
249 BOOST_FOREACH(FeaturePointMatch fp, featurePointMatches)
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
250 fp.feature->draw(frame, homography.inv(), Colors::red());
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
251 }
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diff changeset
252 }
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
253
655
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diff changeset
254 // adding new features, using mask around existing feature positions
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diff changeset
255 Mat featureMask = mask.clone();
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parents: 654
diff changeset
256 for (unsigned int n=0;n<currPts.size(); n++)
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diff changeset
257 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
258 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
259 featureMask.at<uchar>(i,j)=0;
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diff changeset
260 goodFeaturesToTrack(currentFrameBW, newPts, params.maxNFeatures, params.featureQuality, params.minFeatureDistanceKLT, featureMask, params.blockSize, params.useHarrisDetector, params.k);
800
2cade72d75ad modified so there is no tracking outside of the mask (does not continue if features can still be matched) as requested
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parents: 716
diff changeset
261 BOOST_FOREACH(Point2f p, newPts) {
655
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diff changeset
262 FeatureTrajectoryPtr f = FeatureTrajectoryPtr(new FeatureTrajectory(frameNum, p, homography));
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diff changeset
263 featurePointMatches.push_back(FeaturePointMatch(f, currPts.size()));
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diff changeset
264 currPts.push_back(p);
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diff changeset
265 }
128
536510f60854 new features generated as needed
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 127
diff changeset
266
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
267 if (params.display) {
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diff changeset
268 imshow("mask", featureMask*256);
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diff changeset
269 imshow("frame", frame);
803
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
270 if (params.stabilize && !stabilizationHomography.empty()) {
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
271 Mat warped, vis;
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
272 warpPerspective(frame, warped, stabilizationHomography, videoSize);
f7cf43b5ad3b work in progress on stabilization
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parents: 802
diff changeset
273 addWeighted(homographyFrame, 0.5, warped, 0.5, 0.0, vis);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
274 imshow("warped frame", vis);
f7cf43b5ad3b work in progress on stabilization
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 802
diff changeset
275 }
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>
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diff changeset
276 key = waitKey(2);
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
277 }
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
278 previousFrameBW = currentFrameBW.clone();
39fa1c998b29 removed the abstract class to represent folders of images or video files since the capability is now built in OpenCV
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
279 prevPts = currPts;
480
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
280 }
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
281
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
282 // save the remaining currently tracked features
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
283 std::vector<FeaturePointMatch>::iterator iter = featurePointMatches.begin();
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
284 while (iter != featurePointMatches.end()) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
285 if (iter->feature->length() >= params.minFeatureTime) {
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
286 iter->feature->setId(savedFeatureId);
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
287 savedFeatureId++;
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
288 iter->feature->movingAverage(params.nFramesSmoothing);
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 480
diff changeset
289 iter->feature->write(*trajectoryDB, "positions", "velocities");
480
f43bc0b0ba74 cleaning code
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diff changeset
290 }
f43bc0b0ba74 cleaning code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
291 iter++;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 418
diff changeset
292 }
121
c4d4b5b93add copied the video_homography opencv sample
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
293
142
a3532db00c28 added code to write velocities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 141
diff changeset
294 trajectoryDB->endTransaction();
136
0f790de9437e renamed Feature to Motion files and added code to test blob db
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 135
diff changeset
295 trajectoryDB->disconnect();
164
76610dcf3b8d added test code to read trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
296 }
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
297
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
298 void groupFeatures(const KLTFeatureTrackingParameters& params) {
654
045d05cef9d0 updating to c++11 capabilities
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parents: 542
diff changeset
299 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
300 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
202
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
301 trajectoryDB->createObjectTable("objects", "objects_features");
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
302 unsigned int savedObjectId=0;
b0b964ba9489 added early saving of objects
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
303
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
304 trajectoryDB->createInstants("table");
710
70a3cdf0dbb3 unsucessful acceleration idea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 679
diff changeset
305 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster
70a3cdf0dbb3 unsucessful acceleration idea
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 679
diff changeset
306 //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
307
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
308 unsigned int maxTrajectoryLength = 0;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
309 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
310 if (!success || maxTrajectoryLength == 0) {
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
311 cout << "problem with trajectory length " << success << endl;
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Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
312 exit(0);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
313 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
314 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
219
841a1714f702 added comments for future development
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 207
diff changeset
315
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 189
diff changeset
316 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
317
169
5f705809d37a created groupFeatures function
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 168
diff changeset
318 // main loop
227
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
319 unsigned int frameNum;
b7612c6d5702 cleaned the code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 225
diff changeset
320 unsigned int firstFrameNum = -1, lastFrameNum = -1;
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
321 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
322 firstFrameNum = MAX(firstFrameNum, params.frame1);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
323 if (params.nFrames>0)
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
324 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
325 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
326 vector<int> trajectoryIds;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
327 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
328 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
329 cout << "frame " << frameNum << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
330 #if DEBUG
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
331 cout << trajectoryIds.size() << " trajectories " << endl;
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
332 #endif
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
333 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
334 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
335 featureGraph.addFeature(ft);
174
ec9734015d53 tested loading trajectory by id numbers
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 172
diff changeset
336 }
172
e508bb0cbb64 modified comments
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 169
diff changeset
337
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
338 // 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
339 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
231
249d65ff6c35 merged modifications for windows
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 230 228
diff changeset
340 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
341 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
342 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
343 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
344 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
345 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
346 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
347 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
348 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
349 savedObjectId++;
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
350 }
188
1435965d8181 work on connected components
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 186
diff changeset
351 }
222
426321b46e44 temporary trajectory instants table
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 221
diff changeset
352
225
d4d3b1e8a9f1 added code to process only needed frames based on saved features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 222
diff changeset
353 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
354 cout << featureGraph.informationString() << endl;
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355 }
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356
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357 // save remaining objects
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358 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
391
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359 vector<vector<FeatureTrajectoryPtr> > featureGroups;
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360 featureGraph.getFeatureGroups(featureGroups);
225
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361 for (unsigned int i=0; i<featureGroups.size(); ++i) {
391
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362 vector<unsigned int> featureNumbers;
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363 for (unsigned int j=0; j<featureGroups[i].size(); ++j)
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364 featureNumbers.push_back(featureGroups[i][j]->getId());
412
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365 trajectoryDB->writeObject(savedObjectId, featureNumbers, 0 /* unknown */, 1, string("objects"), string("objects_features"));
225
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366 savedObjectId++;
180
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367 }
169
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368
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369 trajectoryDB->endTransaction();
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370 trajectoryDB->disconnect();
654
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371 }
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372
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373 void loadingTimes(const KLTFeatureTrackingParameters& params) {
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374 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
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375 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
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376
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377 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
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378 //cout << trajectories.size() << endl;
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379 std::clock_t c_start = std::clock();
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380 success = trajectoryDB->read(trajectories, "positions");
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381 std::clock_t c_end = std::clock();
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382 if (!success)
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383 cout << "Issue with db reading" << endl;
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384 cout << "Loaded " << trajectories.size() << " trajectories in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
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385
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386 std::shared_ptr<Trajectory<cv::Point2f> > trajectory;
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387 c_start = std::clock();
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388 for (unsigned int i = 0; i<trajectories.size(); ++i) {
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389 success = trajectoryDB->read(trajectory, i, "positions");
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390 }
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391 c_end = std::clock();
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392 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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393
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394 trajectoryDB->endTransaction();
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395 trajectoryDB->disconnect();
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396 }
169
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397
164
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398 int main(int argc, char *argv[]) {
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399 KLTFeatureTrackingParameters params(argc, argv);
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400 cout << params.parameterDescription << endl;
654
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401
234
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402 if (params.trackFeatures) {
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403 cout << "The program tracks features" << endl;
164
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404 trackFeatures(params);
234
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405 } else if (params.groupFeatures) {
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406 cout << "The program groups features" << endl;
169
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407 groupFeatures(params);
654
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408 } else if (params.loadingTime) {
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409 cout << "The program reports loading times" << endl;
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410 loadingTimes(params);
542
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411 } else {
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412 cout << "Main option missing or misspelt" << endl;
234
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413 }
164
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414
117
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415 return 0;
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416 }
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417
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418 /* ------------------ DOCUMENTATION ------------------ */
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419
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420
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421 /*! \mainpage
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422
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423 This project is a collection of software tools for transportation called Traffic Intelligence. Other documents are:
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424
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425 - \ref feature_based_tracking
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426
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427 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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428
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429 */
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430
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431 /*! \page feature_based_tracking Feature-based Tracking: User Manual
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432
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433 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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434
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435 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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436
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437 \section License
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438
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439 The code is licensed under the MIT open source license (http://www.opensource.org/licenses/mit-license).
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440
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441 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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442
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443 Contact me at nicolas.saunier@polymtl.ca and learn more about my work at http://nicolas.saunier.confins.net.
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444
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445 */