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annotate c/Parameters.cpp @ 398:3399bd48cb40

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Ajout d'une méthode pour obtenir le nombre de FPS Méthode de capture des trames vidéos plus résistante aux erreur Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author Jean-Philippe Jodoin <jpjodoin@gmail.com>
date Mon, 29 Jul 2013 13:46:07 -0400
parents 72aa44072093
children c389fae9689a
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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1 #include "Parameters.hpp"
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2
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3 #include <boost/program_options.hpp>
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4
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5 #include <iostream>
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6 #include <fstream>
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7
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8 namespace po = boost::program_options;
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9 using namespace std;
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10
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11 KLTFeatureTrackingParameters::KLTFeatureTrackingParameters(const int argc, char* argv[]) {
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12 string configurationFilename;
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13 po::options_description onlyCmdLine("Command line only");
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14 po::options_description cmdLineAndFile("Command line and configuration file");
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15
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16 // configuration filename
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17 onlyCmdLine.add_options()
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18 ("help,h", "displays this help message")
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19 ("tf", "tracks features")
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20 ("gf", "groups features")
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21 ("config-file", po::value<string>(&configurationFilename), "configuration file")
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22 ;
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23
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24 po::positional_options_description p;
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25 p.add("config-file", 1);
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26
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27 // common to cnnfiguration and command line
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28 cmdLineAndFile.add_options()
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29 ("video-filename", po::value<string>(&videoFilename), "filename of the video to process")
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30 ("database-filename", po::value<string>(&databaseFilename), "filename of the database where results are saved")
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31 ("homography-filename", po::value<string>(&homographyFilename), "filename of the homography matrix")
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32 ("mask-filename", po::value<string>(&maskFilename), "filename of the mask image (where features are detected)")
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33 ("load-features", po::value<bool>(&loadFeatures), "load features from database")
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34 ("display", po::value<bool>(&display), "display trajectories on the video")
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35 ("video-fps", po::value<float>(&videoFPS), "original video frame rate")
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36 ("frame1", po::value<unsigned int>(&frame1), "first frame to process")
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37 ("nframes", po::value<int>(&nFrames), "number of frame to process")
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38 // feature tracking
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39 ("max-nfeatures", po::value<int>(&maxNFeatures), "maximum number of features added at each frame")
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40 ("feature-quality", po::value<float>(&featureQuality), "quality level of the good features to track")
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41 ("min-feature-distanceklt", po::value<float>(&minFeatureDistanceKLT), "minimum distance between features")
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42 ("window-size", po::value<int>(&windowSize), "size of the search window at each pyramid level")
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43 ("use-harris-detector", po::value<bool>(&useHarrisDetector), "use of Harris corner detector")
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44 ("k", po::value<float>(&k), "k parameter to detect good features to track (OpenCV)")
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45 ("pyramid-level", po::value<int>(&pyramidLevel), "maximal pyramid level in the feature tracking algorithm")
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46 ("ndisplacements", po::value<unsigned int>(&nDisplacements), "number of displacement to test minimum feature motion")
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47 ("min-feature-displacement", po::value<float>(&minFeatureDisplacement), "minimum displacement to keep features")
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48 ("acceleration-bound", po::value<float>(&accelerationBound), "maximum feature acceleration")
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49 ("deviation-bound", po::value<float>(&deviationBound), "maximum feature deviation")
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50 ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window)")
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51 ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop feature tracking")
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52 ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop feature tracking")
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53 ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping")
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54 ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping")
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55 ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping")
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56 ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping")
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57 ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping")
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58 ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis")
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59 // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn")
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60 // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn")
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61 // Safety Analysis
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62 ("max-predicted-speed", po::value<float>(&maxPredictedSpeed)->default_value(50.), "maximum speed when predicting future motion (km/h)")
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63 ("prediction-time-horizon", po::value<float>(&predictionTimeHorizon)->default_value(5.), "time horizon for collision prediction (s)")
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64 ("collision-distance", po::value<float>(&collisionDistance)->default_value(1.8), "collision distance threshold (m)")
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65 ("crossing-zones", po::value<bool>(&crossingZones)->default_value(false), "option to compute crossing zones and predicted PET")
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66 ("prediction-method", po::value<string>(&predictionMethod)->default_value("na"), "prediction method")
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67 ("npredicted-trajectories", po::value<int>(&nPredictedTrajectories)->default_value(1), "number of predicted trajectories (use depends on prediction method)")
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68 ("min-acceleration", po::value<float>(&minAcceleration)->default_value(-9.1), "minimum acceleration for input distribution (m/s2) (used only for evasive action distributions)")
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69 ("max-acceleration", po::value<float>(&maxAcceleration)->default_value(2.), "maximum acceleration for input distribution (m/s2)")
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70 ("max-steering", po::value<float>(&maxSteering)->default_value(0.5), "maximum steering for input distribution (rad/s)")
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71 ("use-features-prediction", po::value<bool>(&useFeaturesForPrediction)->default_value(false), "use feature positions and velocities for prediction")
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72 ;
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73
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74 po::options_description cmdLine;
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75 cmdLine.add(onlyCmdLine).add(cmdLineAndFile);
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76 try {
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77 po::variables_map vm;
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78 store(po::command_line_parser(argc, argv).
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79 options(cmdLine).positional(p).allow_unregistered().run(), vm);
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80 notify(vm);
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81
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82 if (vm.count("config-file") == 0) {
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83 cout << "Missing configuration file" << endl;
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84 cout << cmdLine << endl;
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85 exit(0);
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86 }
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87
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88 cout << "Using configuration file " << configurationFilename << endl;
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89
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90 ifstream configurationFile(configurationFilename.c_str());
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91 store(po::parse_config_file(configurationFile, cmdLineAndFile, true), vm);
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92 notify(vm);
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93
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94 parameterDescription = getParameterDescription(cmdLineAndFile, vm);
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95
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96 trackFeatures = vm.count("tf")>0;
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97 groupFeatures = vm.count("gf")>0;
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98
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99 if (vm.count("help")) {
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100 cout << cmdLine << endl;
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101 // cout << "Positional options:";
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102 // for (unsigned int i=0; i<p.max_total_count(); i++)
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103 // cout << " " << p.name_for_position(i);
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104 // cout << endl;
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105 exit(0);
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106 }
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107 } catch(exception& e) {
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108 cout << e.what() << endl;
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109 }
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110 }
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111
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112 string KLTFeatureTrackingParameters::getParameterDescription(po::options_description& options, const po::variables_map& vm, const string& separator /* = " " */) const {
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113 stringstream stream;
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114 vector<boost::shared_ptr<po::option_description> > optionsVec = options.options();
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115 for (unsigned int i=0; i<optionsVec.size(); ++i) {
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116 boost::any value = vm[optionsVec[i]->long_name()].value();
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117 if (value.type() == typeid(bool))
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118 stream << boost::any_cast<bool>(value) << separator;
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119 else if (value.type() == typeid(int))
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120 stream << boost::any_cast<int>(value) << separator;
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121 else if (value.type() == typeid(unsigned int))
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122 stream << boost::any_cast<unsigned int>(value) << separator;
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123 else if (value.type() == typeid(float))
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124 stream << boost::any_cast<float>(value) << separator;
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125 else if (value.type() == typeid(string))
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126 stream << boost::any_cast<string>(value) << separator;
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127 else
141
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128 cerr << "the type of the option " << optionsVec[i]->long_name() << " (" << i << ") is not int, float or string." << endl;
137
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129 }
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130
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131 return stream.str();
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132 }