Mercurial Hosting > traffic-intelligence
comparison tracking.cfg @ 614:5e09583275a4
Merged Nicolas/trafficintelligence into default
author | Mohamed Gomaa <eng.m.gom3a@gmail.com> |
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date | Fri, 05 Dec 2014 12:13:53 -0500 |
parents | 6c264b914846 |
children | 5800a87f11ae |
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598:11f96bd08552 | 614:5e09583275a4 |
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1 # filename of the video to process | 1 # filename of the video to process |
2 video-filename = ~/Research/Data/minnesota/Rice-and-University-12_50.avi | 2 video-filename = laurier.avi |
3 # filename of the database where results are saved | 3 # filename of the database where results are saved |
4 database-filename = ~/Research/Data/minnesota/results.sqlite | 4 database-filename = laurier.sqlite |
5 # filename of the homography matrix | 5 # filename of the homography matrix |
6 homography-filename = ~/Research/Data/minnesota/Rice-and-University-12_50-homography.txt | 6 homography-filename = laurier-homography.txt |
7 # filename of the homography matrix | |
8 intrinsic-camera-filename = intrinsic-camera.txt | |
9 # -0.11759321 0.0148536 0.00030756 -0.00020578 -0.00091816 | |
10 distortion-coefficients = -0.11759321 | |
11 distortion-coefficients = 0.0148536 | |
12 distortion-coefficients = 0.00030756 | |
13 distortion-coefficients = -0.00020578 | |
14 distortion-coefficients = -0.00091816 | |
15 # undistorted image multiplication | |
16 undistorted-size-multiplication = 1.31 | |
17 # 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 | |
18 interpolation-method = 1 | |
7 # filename of the mask image (where features are detected) | 19 # filename of the mask image (where features are detected) |
8 mask-filename = ~/Research/Data/minnesota/Rice-and-University-12_50-mask.png | 20 mask-filename = none |
21 # undistort the video for feature tracking | |
22 undistort = false | |
9 # load features from database | 23 # load features from database |
10 load-features = false | 24 load-features = false |
11 # display trajectories on the video | 25 # display trajectories on the video |
12 display = false | 26 display = false |
13 # original video frame rate | 27 # original video frame rate (number of frames/s) |
14 video-fps = 29.97 | 28 video-fps = 29.97 |
15 # number of digits of precision for all measurements derived from video | 29 # number of digits of precision for all measurements derived from video |
16 # measurement-precision = 3 | 30 # measurement-precision = 3 |
17 # first frame to process | 31 # first frame to process |
18 frame1 = 0 | 32 frame1 = 0 |
23 max-nfeatures = 1000 | 37 max-nfeatures = 1000 |
24 # quality level of the good features to track | 38 # quality level of the good features to track |
25 feature-quality = 0.1 | 39 feature-quality = 0.1 |
26 # minimum distance between features | 40 # minimum distance between features |
27 min-feature-distanceklt = 5 | 41 min-feature-distanceklt = 5 |
28 # size of the search window at each pyramid level | 42 # size of the block for feature characteristics |
29 window-size = 7 | 43 block-size = 7 |
30 # use of Harris corner detector | 44 # use of Harris corner detector |
31 use-harris-detector = false | 45 use-harris-detector = false |
32 # k parameter to detect good features to track (OpenCV) | 46 # k parameter to detect good features to track (OpenCV) |
33 k = 0.4 | 47 k = 0.4 |
48 # size of the search window at each pyramid level | |
49 window-size = 7 | |
34 # maximal pyramid level in the feature tracking algorithm | 50 # maximal pyramid level in the feature tracking algorithm |
35 pyramid-level = 5 | 51 pyramid-level = 5 |
36 # number of displacement to test minimum feature motion | 52 # number of displacement to test minimum feature motion |
37 ndisplacements = 3 | 53 ndisplacements = 3 |
38 # minimum displacement to keep features | 54 # minimum displacement to keep features |
44 # number of frames to smooth positions (half window) | 60 # number of frames to smooth positions (half window) |
45 smoothing-halfwidth = 5 | 61 smoothing-halfwidth = 5 |
46 # number of frames to compute velocities | 62 # number of frames to compute velocities |
47 #nframes-velocity = 5 | 63 #nframes-velocity = 5 |
48 # maximum number of iterations to stop feature tracking | 64 # maximum number of iterations to stop feature tracking |
49 max-number-iterations = 20 | 65 max-number-iterations = 30 |
50 # minimum error to reach to stop feature tracking | 66 # minimum error to reach to stop feature tracking |
51 min-tracking-error = 0.3 | 67 min-tracking-error = 0.01 |
68 # minimum eigen value of a 2x2 normal matrix of optical flow equations | |
69 min-feature-eig-threshold = 1e-4 | |
52 # minimum length of a feature (number of frames) to consider a feature for grouping | 70 # minimum length of a feature (number of frames) to consider a feature for grouping |
53 min-feature-time = 20 | 71 min-feature-time = 20 |
54 # Min Max similarity parameters (Beymer et al. method) | 72 # Min Max similarity parameters (Beymer et al. method) |
55 # connection distance in feature grouping | 73 # connection distance in feature grouping |
56 mm-connection-distance = 3.75 | 74 mm-connection-distance = 3.75 |
60 max-distance = 5 | 78 max-distance = 5 |
61 # minimum cosine of the angle between the velocity vectors for grouping | 79 # minimum cosine of the angle between the velocity vectors for grouping |
62 min-velocity-cosine = 0.8 | 80 min-velocity-cosine = 0.8 |
63 # minimum average number of features per frame to create a vehicle hypothesis | 81 # minimum average number of features per frame to create a vehicle hypothesis |
64 min-nfeatures-group = 3 | 82 min-nfeatures-group = 3 |
83 # Road user classification | |
84 # filename of the general ped/cyc/veh SVM classifier | |
85 pbv-svm-filename = modelPBV.xml | |
86 # filename of the cyc/veh SVM classifier | |
87 pbv-svm-filename = modelBV.xml | |
88 # maximum pedestrian speed (agregate: mean, median, 85th centile, etc.) 3.6 m/s | |
89 max-ped-speed = 0.12 | |
90 # maximum cyclist speed (agregate: mean, median, 85th centile, etc.) 10.8 m/s (3xped) | |
91 max-cyc-speed = 0.36 | |
92 # mean pedestrian speed and standard deviation (in a normal distribution) 1.36+-0.24 m/s | |
93 mean-ped-speed = 0.45 | |
94 std-ped-speed = 0.008 | |
95 # mean cyclist speed and standard deviation (in a log-normal distribution) 1.36+-0.24 m/s | |
96 mean-cyc-speed = 0.45 | |
97 std-cyc-speed = 0.008 | |
98 # mean vehicle speed and standard deviation (in a normal distribution) 5.12+-2.11 m/s | |
99 mean-veh-speed = 0.17 | |
100 std-veh-speed = 0.07 | |
101 # Safety analysis | |
102 # maximum speed when predicting future motion (km/h) | |
103 max-predicted-speed = 50 | |
104 # time horizon for collision prediction (s) | |
105 prediction-time-horizon = 5 | |
106 # collision distance threshold (m) | |
107 collision-distance = 1.8 | |
108 # option to compute crossing zones and predicted PET | |
109 crossing-zones = false | |
110 # prediction method: cv, na, ps | |
111 prediction-method = na | |
112 # number of predicted trajectories (use depends on prediction method) | |
113 npredicted-trajectories = 10 | |
114 # maximum acceleration for normal adaptation input symmetric distribution (m/s2) | |
115 max-normal-acceleration = 2 | |
116 # maximum steering for normal adaptation input symmetric distribution (rad/s) | |
117 max-normal-steering = 0.2 | |
118 # minimum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions) | |
119 min-extreme-acceleration = -9.1 | |
120 # maximum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions) | |
121 max-extreme-acceleration = 4.3 | |
122 # maximum steering for input distribution (rad/s) (extreme values used for evasive action distributions) | |
123 max-extreme-steering = 0.5 | |
124 # use feature positions and velocities for prediction | |
125 use-features-prediction = true |