Mercurial Hosting > traffic-intelligence

comparison c/Parameters.cpp @ 614:5e09583275a4

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Merged Nicolas/trafficintelligence into default
author Mohamed Gomaa <eng.m.gom3a@gmail.com>
date Fri, 05 Dec 2014 12:13:53 -0500
parents 935430b1d408
children 045d05cef9d0
comparison
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598:11f96bd08552 614:5e09583275a4
16 // configuration filename 16 // configuration filename
17 onlyCmdLine.add_options() 17 onlyCmdLine.add_options()
18 ("help,h", "displays this help message") 18 ("help,h", "displays this help message")
19 ("tf", "tracks features") 19 ("tf", "tracks features")
20 ("gf", "groups features") 20 ("gf", "groups features")
21 ("config-file", po::value<string>(&configurationFilename)->default_value("tracking.cfg"), "configuration file") 21 ("config-file", po::value<string>(&configurationFilename), "configuration file")
22 ; 22 ;
23 23
24 po::positional_options_description p; 24 po::positional_options_description p;
25 p.add("config-file", 1); 25 p.add("config-file", 1);
26 26
27 // common to cnnfiguration and command line 27 // common to cnnfiguration and command line
28 cmdLineAndFile.add_options() 28 cmdLineAndFile.add_options()
29 ("video-filename", po::value<string>(&videoFilename), "filename of the video to process") 29 ("video-filename", po::value<string>(&videoFilename), "filename of the video to process")
30 ("database-filename", po::value<string>(&databaseFilename), "filename of the database where results are saved") 30 ("database-filename", po::value<string>(&databaseFilename), "filename of the database where results are saved")
31 ("homography-filename", po::value<string>(&homographyFilename), "filename of the homography matrix") 31 ("homography-filename", po::value<string>(&homographyFilename), "filename of the homography matrix")
32 ("intrinsic-camera-filename", po::value<string>(&intrinsicCameraFilename), "filename of the homography matrix")
33 ("distortion-coefficients", po::value<std::vector<float> >(&distortionCoefficients)->multitoken(), "")
34 ("undistorted-size-multiplication", po::value<float>(&undistortedImageMultiplication), "undistorted image multiplication")
35 ("interpolation-method", po::value<int>(&interpolationMethod), "Interpolation method for remapping image when correcting for distortion: 0 for INTER_NEAREST - a nearest-neighbor interpolation; 1 for INTER_LINEAR - a bilinear interpolation (used by default); 2 for INTER_CUBIC - a bicubic interpolation over 4x4 pixel neighborhood; 3 for INTER_LANCZOS4")
32 ("mask-filename", po::value<string>(&maskFilename), "filename of the mask image (where features are detected)") 36 ("mask-filename", po::value<string>(&maskFilename), "filename of the mask image (where features are detected)")
37 ("undistort", po::value<bool>(&undistort), "undistort the video for feature tracking")
33 ("load-features", po::value<bool>(&loadFeatures), "load features from database") 38 ("load-features", po::value<bool>(&loadFeatures), "load features from database")
34 ("display", po::value<bool>(&display), "display trajectories on the video") 39 ("display", po::value<bool>(&display), "display trajectories on the video")
35 ("video-fps", po::value<float>(&videoFPS), "original video frame rate") 40 ("video-fps", po::value<float>(&videoFPS), "original video frame rate")
36 ("frame1", po::value<unsigned int>(&frame1), "first frame to process") 41 ("frame1", po::value<unsigned int>(&frame1), "first frame to process")
37 ("nframes", po::value<int>(&nFrames), "number of frame to process") 42 ("nframes", po::value<int>(&nFrames), "number of frame to process")
38 // feature tracking 43 // feature tracking
39 ("max-nfeatures", po::value<int>(&maxNFeatures), "maximum number of features added at each frame") 44 ("max-nfeatures", po::value<int>(&maxNFeatures), "maximum number of features added at each frame (1000s)")
40 ("feature-quality", po::value<float>(&featureQuality), "quality level of the good features to track") 45 ("feature-quality", po::value<float>(&featureQuality), "quality level of the good features to track (]0. 1?])")
41 ("min-feature-distanceklt", po::value<float>(&minFeatureDistanceKLT), "minimum distance between features") 46 ("min-feature-distanceklt", po::value<float>(&minFeatureDistanceKLT), "minimum distance between features (]0. 10?])")
42 ("window-size", po::value<int>(&windowSize), "size of the search window at each pyramid level") 47 ("block-size", po::value<int>(&blockSize), "size of the block for feature characteristics ([1 ?])")
43 ("use-harris-detector", po::value<bool>(&useHarrisDetector), "use of Harris corner detector") 48 ("use-harris-detector", po::value<bool>(&useHarrisDetector), "use of Harris corner detector")
44 ("k", po::value<float>(&k), "k parameter to detect good features to track (OpenCV)") 49 ("k", po::value<float>(&k), "k parameter to detect good features to track (OpenCV)")
45 ("pyramid-level", po::value<int>(&pyramidLevel), "maximal pyramid level in the feature tracking algorithm") 50 ("window-size", po::value<int>(&windowSize), "size of the search window at each pyramid level ([1 ?])")
46 ("ndisplacements", po::value<unsigned int>(&nDisplacements), "number of displacement to test minimum feature motion") 51 ("pyramid-level", po::value<int>(&pyramidLevel), "maximal pyramid level in the feature tracking algorithm ([0 maxLevel=5?])")
47 ("min-feature-displacement", po::value<float>(&minFeatureDisplacement), "minimum displacement to keep features") 52 ("ndisplacements", po::value<unsigned int>(&nDisplacements), "number of displacements to test minimum feature motion ([2 4])")
48 ("acceleration-bound", po::value<float>(&accelerationBound), "maximum feature acceleration") 53 ("min-feature-displacement", po::value<float>(&minFeatureDisplacement), "minimum displacement per frame (in world space) to keep features (]0. 0.1?])")
49 ("deviation-bound", po::value<float>(&deviationBound), "maximum feature deviation") 54 ("acceleration-bound", po::value<float>(&accelerationBound), "maximum feature acceleration (]1 3+])")
50 ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window)") 55 ("deviation-bound", po::value<float>(&deviationBound), "maximum feature deviation (on cosine) (]0 1])")
51 ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop feature tracking") 56 ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window) ([0 inf[")
52 ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop feature tracking") 57 ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop optical flow (20-30?)")
53 ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping") 58 ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop optical flow (0.3-0.01)")
54 ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping") 59 ("min-feature-eig-threshold", po::value<float>(&minFeatureEigThreshold)->default_value(1e-4), "minimum eigen value of a 2x2 normal matrix of optical flow equations (10^-4)")
55 ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping") 60 ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping [5 20+]")
56 ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping") 61 ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping (in world space) (ped: [0.5m 2m+], cars: [1.7m 4m+])")
57 ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping") 62 ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping (in world space) (< mm-connection-distance, empirically ~ mm-connection-distance / 2.5)")
58 ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis") 63 ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping (in world space) (unused)")
59 ; 64 ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping (unused)")
65 ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis (]1 3+])")
60 // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn") 66 // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn")
61 // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn") 67 // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn")
62 68 // Safety Analysis
63 69 ("max-predicted-speed", po::value<float>(&maxPredictedSpeed)->default_value(50.), "maximum speed when predicting future motion (km/h)")
70 ("prediction-time-horizon", po::value<float>(&predictionTimeHorizon)->default_value(5.), "time horizon for collision prediction (s)")
71 ("collision-distance", po::value<float>(&collisionDistance)->default_value(1.8), "collision distance threshold (m)")
72 ("crossing-zones", po::value<bool>(&crossingZones)->default_value(false), "option to compute crossing zones and predicted PET")
73 ("prediction-method", po::value<string>(&predictionMethod)->default_value("na"), "prediction method")
74 ("npredicted-trajectories", po::value<int>(&nPredictedTrajectories)->default_value(1), "number of predicted trajectories (use depends on prediction method)")
75 ("min-acceleration", po::value<float>(&minAcceleration)->default_value(-9.1), "minimum acceleration for input distribution (m/s2) (used only for evasive action distributions)")
76 ("max-acceleration", po::value<float>(&maxAcceleration)->default_value(2.), "maximum acceleration for input distribution (m/s2)")
77 ("max-steering", po::value<float>(&maxSteering)->default_value(0.5), "maximum steering for input distribution (rad/s)")
78 ("use-features-prediction", po::value<bool>(&useFeaturesForPrediction)->default_value(false), "use feature positions and velocities for prediction")
79 ;
80
64 po::options_description cmdLine; 81 po::options_description cmdLine;
65 cmdLine.add(onlyCmdLine).add(cmdLineAndFile); 82 cmdLine.add(onlyCmdLine).add(cmdLineAndFile);
66 try { 83 try {
67 po::variables_map vm; 84 po::variables_map vm;
68 store(po::command_line_parser(argc, argv). 85 store(po::command_line_parser(argc, argv).
69 options(cmdLine).positional(p).allow_unregistered().run(), vm); 86 options(cmdLine).positional(p).allow_unregistered().run(), vm);
70 notify(vm); 87 notify(vm);
71 88
89 if (vm.count("config-file") == 0) {
90 cout << "Missing configuration file" << endl;
91 cout << cmdLine << endl;
92 exit(0);
93 }
94
72 cout << "Using configuration file " << configurationFilename << endl; 95 cout << "Using configuration file " << configurationFilename << endl;
73 96
74 ifstream configurationFile(configurationFilename.c_str()); 97 ifstream configurationFile(configurationFilename.c_str());
75 store(po::parse_config_file(configurationFile, cmdLineAndFile), vm); 98 store(po::parse_config_file(configurationFile, cmdLineAndFile, true), vm);
76 notify(vm); 99 notify(vm);
77 100
78 parameterDescription = getParameterDescription(cmdLineAndFile, vm); 101 parameterDescription = getParameterDescription(cmdLineAndFile, vm);
79 102
80 trackFeatures = vm.count("tf")>0; 103 trackFeatures = vm.count("tf")>0;
106 stream << boost::any_cast<unsigned int>(value) << separator; 129 stream << boost::any_cast<unsigned int>(value) << separator;
107 else if (value.type() == typeid(float)) 130 else if (value.type() == typeid(float))
108 stream << boost::any_cast<float>(value) << separator; 131 stream << boost::any_cast<float>(value) << separator;
109 else if (value.type() == typeid(string)) 132 else if (value.type() == typeid(string))
110 stream << boost::any_cast<string>(value) << separator; 133 stream << boost::any_cast<string>(value) << separator;
111 else 134 else if (value.type() == typeid(vector<float>)) {
135 for (unsigned int j=0; j<boost::any_cast<vector<float> >(value).size(); j++)
136 stream << boost::any_cast<vector<float> >(value)[j] << separator;
137 } else
112 cerr << "the type of the option " << optionsVec[i]->long_name() << " (" << i << ") is not int, float or string." << endl; 138 cerr << "the type of the option " << optionsVec[i]->long_name() << " (" << i << ") is not int, float or string." << endl;
113 } 139 }
114 140
115 return stream.str(); 141 return stream.str();
116 } 142 }