Mercurial Hosting > traffic-intelligence

comparison c/feature-based-tracking.cpp @ 1002:6c5ce3ec497e

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
improved handling of path for feature based tracking
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 01 Jun 2018 17:19:24 -0400
parents 8ac7f61c6e4f
children 9fb82fe0156f
comparison
equal deleted inserted replaced
1001:cc7c6b821ae6 1002:6c5ce3ec497e
14 #include "opencv2/highgui/highgui.hpp" 14 #include "opencv2/highgui/highgui.hpp"
15 #include "opencv2/objdetect/objdetect.hpp" 15 #include "opencv2/objdetect/objdetect.hpp"
16 #include "opencv2/calib3d/calib3d.hpp" 16 #include "opencv2/calib3d/calib3d.hpp"
17 17
18 #include <boost/foreach.hpp> 18 #include <boost/foreach.hpp>
19 #include <boost/filesystem.hpp>
19 20
20 #include <iostream> 21 #include <iostream>
21 #include <vector> 22 #include <vector>
22 #include <ctime> 23 #include <ctime>
23 #include <cmath> 24 #include <cmath>
24 #include <memory> 25 #include <memory>
25 #include <limits> 26 #include <limits>
27
28 namespace fs = boost::filesystem; // soon std
26 29
27 using namespace std; 30 using namespace std;
28 using namespace cv; 31 using namespace cv;
29 32
30 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) { 33 void drawMatchesRelative(const vector<KeyPoint>& train, const vector<KeyPoint>& query, std::vector<cv::DMatch>& matches, Mat& img) {
61 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName); 64 BOOST_FOREACH(FeatureTrajectoryPtr f, features) f->write(db, positionsTableName, velocitiesTableName);
62 features.clear(); 65 features.clear();
63 } 66 }
64 67
65 void trackFeatures(const KLTFeatureTrackingParameters& params) { 68 void trackFeatures(const KLTFeatureTrackingParameters& params) {
66 Mat homography = ::loadMat(params.homographyFilename, " "); 69 Mat homography = ::loadMat(::getRelativeFilename(params.parentDirname, params.homographyFilename), " ");
70
67 Mat invHomography; 71 Mat invHomography;
68 if (params.display && !homography.empty()) 72 if (params.display && !homography.empty())
69 invHomography = homography.inv(); 73 invHomography = homography.inv();
70 74
71 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; 75 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
88 92
89 if(params.videoFilename.empty()) { 93 if(params.videoFilename.empty()) {
90 cout << "Empty video filename. Exiting." << endl; 94 cout << "Empty video filename. Exiting." << endl;
91 exit(0); 95 exit(0);
92 } 96 }
93 97
94 VideoCapture capture(params.videoFilename); 98 VideoCapture capture(::getRelativeFilename(params.parentDirname, params.videoFilename));
95 if(!capture.isOpened()) { 99 if(!capture.isOpened()) {
96 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl; 100 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
97 exit(0); 101 exit(0);
98 } 102 }
99 103
111 ", nframes=" << nFrames << endl; 115 ", nframes=" << nFrames << endl;
112 116
113 Mat map1, map2; 117 Mat map1, map2;
114 Mat intrinsicCameraMatrix, newIntrinsicCameraMatrix; 118 Mat intrinsicCameraMatrix, newIntrinsicCameraMatrix;
115 if (params.undistort) { 119 if (params.undistort) {
116 intrinsicCameraMatrix = ::loadMat(params.intrinsicCameraFilename, " "); 120 intrinsicCameraMatrix = ::loadMat(::getRelativeFilename(params.parentDirname, params.intrinsicCameraFilename), " ");
117 Size undistortedVideoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication))); 121 Size undistortedVideoSize = Size(static_cast<int>(round(videoSize.width*params.undistortedImageMultiplication)), static_cast<int>(round(videoSize.height*params.undistortedImageMultiplication)));
118 newIntrinsicCameraMatrix = getDefaultNewCameraMatrix(intrinsicCameraMatrix, undistortedVideoSize, true);// for some reason, it's double type //getOptimalNewCameraMatrix(intrinsicCameraMatrix, params.distortionCoefficients, videoSize, 1, undistortedVideoSize);//, 0, true); 122 newIntrinsicCameraMatrix = getDefaultNewCameraMatrix(intrinsicCameraMatrix, undistortedVideoSize, true);// for some reason, it's double type //getOptimalNewCameraMatrix(intrinsicCameraMatrix, params.distortionCoefficients, videoSize, 1, undistortedVideoSize);//, 0, true);
119 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1) /* 0 ?*/, newIntrinsicCameraMatrix, undistortedVideoSize, CV_32FC1, map1, map2); 123 initUndistortRectifyMap(intrinsicCameraMatrix, params.distortionCoefficients, Mat::eye(3,3, CV_32FC1) /* 0 ?*/, newIntrinsicCameraMatrix, undistortedVideoSize, CV_32FC1, map1, map2);
120 124
121 cout << "Undistorted width=" << undistortedVideoSize.width << 125 cout << "Undistorted width=" << undistortedVideoSize.width <<
122 ", height=" << undistortedVideoSize.height << endl; 126 ", height=" << undistortedVideoSize.height << endl;
123 } 127 }
124 128
125 Mat mask = imread(params.maskFilename, 0); 129 Mat mask = imread(::getRelativeFilename(params.parentDirname, params.maskFilename), 0);
126 if (mask.empty()) { 130 if (mask.empty()) {
127 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl; 131 cout << "Mask filename " << params.maskFilename << " could not be opened." << endl;
128 mask = Mat::ones(videoSize, CV_8UC1); 132 mask = Mat::ones(videoSize, CV_8UC1);
129 } 133 }
130 134
131 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>()); 135 std::shared_ptr<TrajectoryDBAccess<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccess<Point2f> >(new TrajectoryDBAccessList<Point2f>());
132 trajectoryDB->connect(params.databaseFilename.c_str()); 136 trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
133 trajectoryDB->createTable("positions"); 137 trajectoryDB->createTable("positions");
134 trajectoryDB->createTable("velocities"); 138 trajectoryDB->createTable("velocities");
135 trajectoryDB->beginTransaction(); 139 trajectoryDB->beginTransaction();
136 140
137 std::vector<Point2f> prevPts, currPts, newPts, undistortedPts; // all points but undistortedPts are in image space 141 std::vector<Point2f> prevPts, currPts, newPts, undistortedPts; // all points but undistortedPts are in image space
262 trajectoryDB->disconnect(); 266 trajectoryDB->disconnect();
263 } 267 }
264 268
265 void groupFeatures(const KLTFeatureTrackingParameters& params) { 269 void groupFeatures(const KLTFeatureTrackingParameters& params) {
266 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); 270 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
267 bool success = trajectoryDB->connect(params.databaseFilename.c_str()); 271 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
268 trajectoryDB->createObjectTable("objects", "objects_features"); 272 trajectoryDB->createObjectTable("objects", "objects_features");
269 unsigned int savedObjectId=0; 273 unsigned int savedObjectId=0;
270 274
271 trajectoryDB->createInstants("table"); 275 trajectoryDB->createInstants("table");
272 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster 276 //trajectoryDB->createIndex("positions","trajectory_id"); // does not seem to make loading features faster
337 trajectoryDB->disconnect(); 341 trajectoryDB->disconnect();
338 } 342 }
339 343
340 void loadingTimes(const KLTFeatureTrackingParameters& params) { 344 void loadingTimes(const KLTFeatureTrackingParameters& params) {
341 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); 345 std::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = std::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
342 bool success = trajectoryDB->connect(params.databaseFilename.c_str()); 346 bool success = trajectoryDB->connect(::getRelativeFilename(params.parentDirname, params.databaseFilename).c_str());
343 347
344 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories; 348 vector<std::shared_ptr<Trajectory<Point2f> > > trajectories;
345 //cout << trajectories.size() << endl; 349 //cout << trajectories.size() << endl;
346 std::clock_t c_start = std::clock(); 350 std::clock_t c_start = std::clock();
347 success = trajectoryDB->read(trajectories, "positions"); 351 success = trajectoryDB->read(trajectories, "positions");