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view c/Parameters.cpp @ 943:b1e8453c207c
work on motion prediction using motion patterns
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 19 Jul 2017 18:02:38 -0400 |
parents | 045d05cef9d0 |
children | f7cf43b5ad3b 6c5ce3ec497e |
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#include "Parameters.hpp" #include <boost/program_options.hpp> #include <iostream> #include <fstream> namespace po = boost::program_options; using namespace std; KLTFeatureTrackingParameters::KLTFeatureTrackingParameters(const int argc, char* argv[]) { string configurationFilename; po::options_description onlyCmdLine("Command line only"); po::options_description cmdLineAndFile("Command line and configuration file"); // configuration filename onlyCmdLine.add_options() ("help,h", "displays this help message") ("tf", "tracks features") ("gf", "groups features") ("loading-time", "report feature and object loading times") ("config-file", po::value<string>(&configurationFilename), "configuration file") ; po::positional_options_description p; p.add("config-file", 1); // common to cnnfiguration and command line cmdLineAndFile.add_options() ("video-filename", po::value<string>(&videoFilename), "filename of the video to process") ("database-filename", po::value<string>(&databaseFilename), "filename of the database where results are saved") ("homography-filename", po::value<string>(&homographyFilename), "filename of the homography matrix") ("intrinsic-camera-filename", po::value<string>(&intrinsicCameraFilename), "filename of the homography matrix") ("distortion-coefficients", po::value<std::vector<float> >(&distortionCoefficients)->multitoken(), "") ("undistorted-size-multiplication", po::value<float>(&undistortedImageMultiplication), "undistorted image multiplication") ("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") ("mask-filename", po::value<string>(&maskFilename), "filename of the mask image (where features are detected)") ("undistort", po::value<bool>(&undistort), "undistort the video for feature tracking") ("load-features", po::value<bool>(&loadFeatures), "load features from database") ("display", po::value<bool>(&display), "display trajectories on the video") ("video-fps", po::value<float>(&videoFPS), "original video frame rate") ("frame1", po::value<unsigned int>(&frame1), "first frame to process") ("nframes", po::value<int>(&nFrames), "number of frame to process") // feature tracking ("max-nfeatures", po::value<int>(&maxNFeatures), "maximum number of features added at each frame (1000s)") ("feature-quality", po::value<float>(&featureQuality), "quality level of the good features to track (]0. 1?])") ("min-feature-distanceklt", po::value<float>(&minFeatureDistanceKLT), "minimum distance between features (]0. 10?])") ("block-size", po::value<int>(&blockSize), "size of the block for feature characteristics ([1 ?])") ("use-harris-detector", po::value<bool>(&useHarrisDetector), "use of Harris corner detector") ("k", po::value<float>(&k), "k parameter to detect good features to track (OpenCV)") ("window-size", po::value<int>(&windowSize), "size of the search window at each pyramid level ([1 ?])") ("pyramid-level", po::value<int>(&pyramidLevel), "maximal pyramid level in the feature tracking algorithm ([0 maxLevel=5?])") ("ndisplacements", po::value<unsigned int>(&nDisplacements), "number of displacements to test minimum feature motion ([2 4])") ("min-feature-displacement", po::value<float>(&minFeatureDisplacement), "minimum displacement per frame (in world space) to keep features (]0. 0.1?])") ("acceleration-bound", po::value<float>(&accelerationBound), "maximum feature acceleration (]1 3+])") ("deviation-bound", po::value<float>(&deviationBound), "maximum feature deviation (on cosine) (]0 1])") ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window) ([0 inf[") ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop optical flow (20-30?)") ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop optical flow (0.3-0.01)") ("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)") ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping [5 20+]") ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping (in world space) (ped: [0.5m 2m+], cars: [1.7m 4m+])") ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping (in world space) (< mm-connection-distance, empirically ~ mm-connection-distance / 2.5)") ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping (in world space) (unused)") ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping (unused)") ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis (]1 3+])") // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn") // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn") // Safety Analysis ("max-predicted-speed", po::value<float>(&maxPredictedSpeed)->default_value(50.), "maximum speed when predicting future motion (km/h)") ("prediction-time-horizon", po::value<float>(&predictionTimeHorizon)->default_value(5.), "time horizon for collision prediction (s)") ("collision-distance", po::value<float>(&collisionDistance)->default_value(1.8), "collision distance threshold (m)") ("crossing-zones", po::value<bool>(&crossingZones)->default_value(false), "option to compute crossing zones and predicted PET") ("prediction-method", po::value<string>(&predictionMethod)->default_value("na"), "prediction method") ("npredicted-trajectories", po::value<int>(&nPredictedTrajectories)->default_value(1), "number of predicted trajectories (use depends on prediction method)") ("min-acceleration", po::value<float>(&minAcceleration)->default_value(-9.1), "minimum acceleration for input distribution (m/s2) (used only for evasive action distributions)") ("max-acceleration", po::value<float>(&maxAcceleration)->default_value(2.), "maximum acceleration for input distribution (m/s2)") ("max-steering", po::value<float>(&maxSteering)->default_value(0.5), "maximum steering for input distribution (rad/s)") ("use-features-prediction", po::value<bool>(&useFeaturesForPrediction)->default_value(false), "use feature positions and velocities for prediction") ; po::options_description cmdLine; cmdLine.add(onlyCmdLine).add(cmdLineAndFile); try { po::variables_map vm; store(po::command_line_parser(argc, argv). options(cmdLine).positional(p).allow_unregistered().run(), vm); notify(vm); if (vm.count("config-file") == 0) { cout << "Missing configuration file" << endl; cout << cmdLine << endl; exit(0); } cout << "Using configuration file " << configurationFilename << endl; ifstream configurationFile(configurationFilename.c_str()); store(po::parse_config_file(configurationFile, cmdLineAndFile, true), vm); notify(vm); parameterDescription = getParameterDescription(cmdLineAndFile, vm); trackFeatures = vm.count("tf")>0; groupFeatures = vm.count("gf")>0; loadingTime = vm.count("loading-time")>0; if (vm.count("help")) { cout << cmdLine << endl; // cout << "Positional options:"; // for (unsigned int i=0; i<p.max_total_count(); i++) // cout << " " << p.name_for_position(i); // cout << endl; exit(0); } } catch(exception& e) { cout << e.what() << endl; } } string KLTFeatureTrackingParameters::getParameterDescription(po::options_description& options, const po::variables_map& vm, const string& separator /* = " " */) const { stringstream stream; vector<boost::shared_ptr<po::option_description> > optionsVec = options.options(); for (unsigned int i=0; i<optionsVec.size(); ++i) { boost::any value = vm[optionsVec[i]->long_name()].value(); if (value.type() == typeid(bool)) stream << boost::any_cast<bool>(value) << separator; else if (value.type() == typeid(int)) stream << boost::any_cast<int>(value) << separator; else if (value.type() == typeid(unsigned int)) stream << boost::any_cast<unsigned int>(value) << separator; else if (value.type() == typeid(float)) stream << boost::any_cast<float>(value) << separator; else if (value.type() == typeid(string)) stream << boost::any_cast<string>(value) << separator; else if (value.type() == typeid(vector<float>)) { for (unsigned int j=0; j<boost::any_cast<vector<float> >(value).size(); j++) stream << boost::any_cast<vector<float> >(value)[j] << separator; } else cerr << "the type of the option " << optionsVec[i]->long_name() << " (" << i << ") is not int, float or string." << endl; } return stream.str(); }