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annotate c/track-features.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 a52653dca25d
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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18
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1 #include "cvutils.hpp"
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2 #include "utils.hpp"
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3
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4 #include "klt.h"
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5
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6 #include "opencv/cv.h"
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7 #include "opencv/highgui.h"
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8
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9 #include <iostream>
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10 #include <fstream>
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11 #include <string>
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12
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13 using namespace std;
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14
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15 #define FEAT_VAL(x) ((x) > 0) ? 1 : x // 1 means the features was replaced
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16
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17 void cvGetCharArray(IplImage *image, unsigned char* img, int width, int height);
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19 int main(int argc, char *argv[]) {
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20 //cout << "Hello World" << endl;
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21
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22 KLT_TrackingContext tc;
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23 KLT_FeatureList fl;
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24 KLT_FeatureTable ft;
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25 KLT_Feature feature;
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26
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27 int i,j;
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28 string fnamein, fnameout, tmp;
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29 string sequenceDir="../test-images";
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30
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31 IplImage *image;
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32 int width, height;
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33 unsigned char *img1, *img2;
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34
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35 // CvCapture *inputVideo = 0;
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36 // if (argc == 1)
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37 // inputVideo = cvCreateCameraCapture(-1);
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38 // else
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39 // inputVideo = cvCaptureFromFile(argv[1]);
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40
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41 int frameNum = 0;
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42
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43 if (argc < 7){
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44 printf("\ntrack sequenceFile startFrame numFrames numFeatures min_dist window_size\n");
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45 return (-1);
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46 }
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47
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48 // parameters for tracking
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49 char* sequenceFile = argv[1];
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50 int startFrame = (int) strtol(argv[2],NULL,10);
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51 int nFrames = (int) strtol(argv[3],NULL,10);
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52 int nFeatures = (int) strtol(argv[4],NULL,10);
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53 int mindist = (int) strtol(argv[5],NULL,10);
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54 int window_size = (int) strtol(argv[6],NULL,10);
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55
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56 fnamein = sequenceFile;//sequenceDir+"/"++".avi"
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57 CvCapture* sequence = cvCaptureFromFile(fnamein.c_str());
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58 if (sequence == NULL) {
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59 cout << "Pb reading " << fnamein << " file.";
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60 exit(0);
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61 }
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62
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63
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64 // from http://ai.stanford.edu/~dstavens/cs223b/optical_flow_demo.cpp
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65 /* This is a hack. If we don't call this first then getting capture
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66 * properties (below) won't work right. This is an OpenCV bug. We
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67 * ignore the return value here. But it's actually a video frame.
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68 */
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69
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70 cvQueryFrame(sequence);
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71 /* Read the video's frame size out of the AVI. */
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72 CvSize frame_size;
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73 frame_size.height = cvGetCaptureProperty(sequence, CV_CAP_PROP_FRAME_HEIGHT );
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74 frame_size.width = cvGetCaptureProperty(sequence, CV_CAP_PROP_FRAME_WIDTH );
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75 /* Determine the number of frames in the AVI. */
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76 int number_of_frames;
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77 /* Go to the end of the AVI (ie: the fraction is "1") */
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78 cvSetCaptureProperty(sequence, CV_CAP_PROP_POS_AVI_RATIO, 1.);
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79 /* Now that we're at the end, read the AVI position in frames */
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80 number_of_frames = cvGetCaptureProperty( sequence, CV_CAP_PROP_POS_FRAMES );
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81 /* Return to the beginning */
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82 cvSetCaptureProperty(sequence, CV_CAP_PROP_POS_FRAMES, 0. );
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83 printf("%d %d %d\n", frame_size.height, frame_size.width, number_of_frames);
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84
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85 if (nFrames < 0)
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86 nFrames = number_of_frames;
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87
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88 // go forward to the startFrame
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89 //cvNamedWindow("Image",1);
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90
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91 for (i=1; i<startFrame; i++) { // pb if more than the number of frames
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92 image = cvQueryFrame(sequence);
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93 //if (i%1000==0) {
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94 //printf("%d\n", i);
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95 //cvShowImage("Image",image);
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96 //WaitKey(0);
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97 //}
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98 }
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99
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100 img1 = (unsigned char*)malloc(frame_size.height*frame_size.width*sizeof(unsigned char));
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101 img2 = (unsigned char*)malloc(frame_size.height*frame_size.width*sizeof(unsigned char));
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102
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103 // KLT initialization
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104 tc = KLTCreateTrackingContext();
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105 fl = KLTCreateFeatureList(nFeatures);
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106 ft = KLTCreateFeatureTable(nFrames, nFeatures);
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107 tc->sequentialMode = TRUE;
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108 tc->mindist = mindist;
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109 tc->window_width = window_size;
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110 tc->window_height = window_size;
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111 KLTSetVerbosity(0);
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112 tc->affineConsistencyCheck = 2;
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113
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114 // initialization of the first frame
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115 image = cvQueryFrame(sequence);
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116 cvGetCharArray(image, img1, frame_size.width, frame_size.height);
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117
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118 KLTSelectGoodFeatures(tc, img1, frame_size.width, frame_size.height, fl);
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119 KLTStoreFeatureList(fl, ft, 0);
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120 //KLTWriteFeatureListToPPM(fl, img1, frame_size.width, frame_size.height, "feat0000.ppm");
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121
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122 i=1;
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123 while (((image = cvQueryFrame(sequence)) != NULL) && (i<nFrames)) {
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124 cvGetCharArray(image, img2, frame_size.width, frame_size.height);
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125
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126 // feature tracking
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127 KLTTrackFeatures(tc, img1, img2, frame_size.width, frame_size.height, fl);
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128 KLTReplaceLostFeatures(tc, img2, frame_size.width, frame_size.height, fl);
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129 KLTStoreFeatureList(fl, ft, i);
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130
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131 img1 = img2;
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132 // unquote if you want to write the frames with the tracked features.
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133 //sprintf(fnameout, "feat%04d.ppm", startFrame+i);
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134 //KLTWriteFeatureListToPPM(fl, img2, frame_size.width, frame_size.height, fnameout);
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135 //printf("%04d\n", i);
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136 i++;
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137 }
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138
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139 printf("%d\n", i);
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140
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141 // writing feature file
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142 fnameout = "features.txt";//"features-"%s"-"%d"-"%d"-"%d".txt", sequenceFile, nFeatures, tc->mindist, tc->window_width);
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143 //KLTWriteFeatureTable(ft, fnameout, "%5.1f");
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144
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145 int precision = 2;
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146 ofstream out;
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147 ::openWriteScientificPrecision(out, fnameout, precision);
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148
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149 //fprintf(out,"%%StartFrame: 0\n");
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150 //fprintf(out,"%%NumFrames: %d\n",nFrames);
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151
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152 // 1 feature / line
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153 // x1 y1 val1 x2 y2 val2 ... (1 2... frame numbers)
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154 for (j = 0 ; j < ft->nFeatures ; j++) {
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155 int firstFrameNum = startFrame;
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156 stringstream lx, ly;
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157 for (i = 0 ; i < ft->nFrames ; i++){
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158 feature = ft->feature[j][i];
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159 //fprintf(out,"%.2f %.2f %d ",(float)feature->x,(float)feature->y,FEAT_VAL(feature->val));
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160 lx << feature->x << " ";
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161 ly << feature->y << " ";
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162 if (feature->val <= 0) {
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163 // print the feature
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164 out << firstFrameNum << " " << startFrame+i << endl;
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165 out << lx << endl;
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166 out << ly << endl;
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167 // velocity
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168 out << "%" << endl;
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169 firstFrameNum = i+1;
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170 lx.clear();
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171 ly.clear();
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172 }
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173 }
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174 }
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175
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176 cvReleaseCapture(&sequence);
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177
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178 return 1;
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179 }
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180
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181 // converts a frame from IplImage format (OpenCV) to an array of unsigned char for KLT
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182 void cvGetCharArray(IplImage *image, unsigned char* img, int width, int height) {
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183 int x, y;
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184
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185 for(y=0 ; y < height ; y++) {
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186 for(x=0; x < width ; x++) {
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187 img[(height-y-1)*width+x] = (image->imageData+image->widthStep*y)[x*3];
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188 }
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189 }
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190 }