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comparison c/feature-based-tracking.cpp @ 227:b7612c6d5702

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cleaned the code
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 27 Jun 2012 09:52:06 -0400
parents d4d3b1e8a9f1
children 23da16442433
comparison
equal deleted inserted replaced
226:91197f6a03fe 227:b7612c6d5702
75 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement; 75 float minTotalFeatureDisplacement = params.nDisplacements*params.minFeatureDisplacement;
76 Size window = Size(params.windowSize, params.windowSize); 76 Size window = Size(params.windowSize, params.windowSize);
77 77
78 // BruteForceMatcher<Hamming> descMatcher; 78 // BruteForceMatcher<Hamming> descMatcher;
79 // vector<DMatch> matches; 79 // vector<DMatch> matches;
80
81 VideoCapture capture;
80 Size videoSize; 82 Size videoSize;
81 83 int nFrames = -1;
82 // if( argc == 1 || (argc == 2 && strlen(argv[1]) == 1 && isdigit(argv[1][0]))) // if no parameter or number parameter
83 // capture.open(argc == 2 ? argv[1][0] - '0' : 0);
84 // else if( argc >= 2 )
85 // {
86 // capture.open(argv[1]);
87 // if( capture.isOpened() )
88 // videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
89 // cout << "Video " << argv[1] <<
90 // ": width=" << videoSize.width <<
91 // ", height=" << videoSize.height <<
92 // ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl;
93 // if( argc > 2 && isdigit(argv[2][0]) ) // could be used to reach first frame, dumping library messages to log file (2> /tmp/log.txt)
94 // {
95 // sscanf(argv[2], "%d", &params.frame1);
96 // cout << "seeking to frame #" << params.frame1 << endl;
97 // //cap.set(CV_CAP_PROP_POS_FRAMES, pos);
98 // for (int i=0; i<params.frame1; i++)
99 // capture >> frame;
100 // }
101 // }
102
103 VideoCapture capture;
104 capture.open(params.videoFilename); 84 capture.open(params.videoFilename);
105 if(capture.isOpened()) { 85 if(capture.isOpened()) {
106 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT)); 86 videoSize = Size(capture.get(CV_CAP_PROP_FRAME_WIDTH), capture.get(CV_CAP_PROP_FRAME_HEIGHT));
87 nFrames = capture.get(CV_CAP_PROP_FRAME_COUNT);
107 cout << "Video " << params.videoFilename << 88 cout << "Video " << params.videoFilename <<
108 ": width=" << videoSize.width << 89 ": width=" << videoSize.width <<
109 ", height=" << videoSize.height << 90 ", height=" << videoSize.height <<
110 ", nframes=" << capture.get(CV_CAP_PROP_FRAME_COUNT) << endl; 91 ", nframes=" << nFrames << endl;
111 } else { 92 } else {
112 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl; 93 cout << "Video filename " << params.videoFilename << " could not be opened. Exiting." << endl;
113 exit(0); 94 exit(0);
114 } 95 }
115 // if (!capture.isOpened()) 96 // if (!capture.isOpened())
143 hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector()); 124 hog.setSVMDetector(HOGDescriptor::getDefaultPeopleDetector());
144 125
145 int key = '?'; 126 int key = '?';
146 unsigned int savedFeatureId=0; 127 unsigned int savedFeatureId=0;
147 Mat frame, currentFrameBW, previousFrameBW; 128 Mat frame, currentFrameBW, previousFrameBW;
148 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) { 129
130 unsigned int lastFrameNum = nFrames;
131 if (params.nFrames >= 0)
132 lastFrameNum = min(params.frame1+params.nFrames, nFrames);
133
134 capture.set(CV_CAP_PROP_POS_FRAMES, params.frame1);
135 for (unsigned int frameNum = params.frame1; (frameNum < lastFrameNum) && !::interruptionKey(key); frameNum++) {
149 capture >> frame; 136 capture >> frame;
150 cout << frameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl; 137 if (frameNum%50 ==0)
151 int emptyFrameNum = 0; 138 cout << "frame " << frameNum << endl;
152 while (frame.empty()) { 139 //capture.get(CV_CAP_PROP_POS_FRAMES) << " " << prevPts.size() << endl;
153 cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl; 140
154 capture >> frame;//break; 141 // int emptyFrameNum = 0;
155 emptyFrameNum++; 142 // while (frame.empty()) {
156 if (emptyFrameNum>=3000) 143 // cerr << "empty frame " << emptyFrameNum << " " << capture.get(CV_CAP_PROP_POS_FRAMES)<< endl;
157 exit(0); 144 // capture >> frame;//break;
158 } 145 // emptyFrameNum++;
146 // if (emptyFrameNum>=3000)
147 // exit(0);
148 // }
159 149
160 cvtColor(frame, currentFrameBW, CV_RGB2GRAY); 150 cvtColor(frame, currentFrameBW, CV_RGB2GRAY);
161 151
162 // "normal" feature detectors: detect features here 152 // "normal" feature detectors: detect features here
163 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample 153 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
279 cout << "problem with trajectory length " << success << endl; 269 cout << "problem with trajectory length " << success << endl;
280 exit(0); 270 exit(0);
281 } 271 }
282 cout << "Longest trajectory: " << maxTrajectoryLength << endl; 272 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
283 273
284 // alternative: read and load features in batches directly select * from positions where trajectory_id in select trajectory_id from positions where frame_number <100 and frame_number > 50 group by trajectory_id
285 int queryIntervalLength = 10;
286
287 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup); 274 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
288 275
289 // main loop 276 // main loop
290 int frameNum; 277 unsigned int frameNum;
291 unsigned int firstFrameNum, lastFrameNum; 278 unsigned int firstFrameNum = -1, lastFrameNum = -1;
292 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum); 279 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
293 firstFrameNum = MAX(firstFrameNum, params.frame1); 280 firstFrameNum = MAX(firstFrameNum, params.frame1);
294 if (params.nFrames>0) 281 if (params.nFrames>0)
295 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames); 282 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
296 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) { 283 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {