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comparison c/feature-based-tracking.cpp @ 231:249d65ff6c35

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merged modifications for windows
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 02 Jul 2012 23:49:39 -0400
parents bc4ea09b1743 23da16442433
children 2d34060db2e9
comparison
equal deleted inserted replaced
230:bc4ea09b1743 231:249d65ff6c35
74 74
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 // std::vector<DMatch> matches; 79 // vector<DMatch> matches;
80
81 VideoCapture capture;
80 Size videoSize; 82 Size videoSize;
81 83 unsigned int nFrames = 0;
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 = params.frame1+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 // "normal" feature detectors: detect features here 151 // "normal" feature detectors: detect features here
162 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample 152 // detector.detect(currentFrameBW, currKpts); // see video_homography c++ sample
163 153
247 trajectoryDB->endTransaction(); 237 trajectoryDB->endTransaction();
248 trajectoryDB->disconnect(); 238 trajectoryDB->disconnect();
249 } 239 }
250 240
251 void groupFeatures(const KLTFeatureTrackingParameters& params) { 241 void groupFeatures(const KLTFeatureTrackingParameters& params) {
252 cout << "group" << endl;
253
254 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>()); 242 boost::shared_ptr<TrajectoryDBAccessList<Point2f> > trajectoryDB = boost::shared_ptr<TrajectoryDBAccessList<Point2f> >(new TrajectoryDBAccessList<Point2f>());
255 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>(); 243 //TODO write generic methods for blob and list versions TrajectoryDBAccess<Point2f>* trajectoryDB = new TrajectoryDBAccessBlob<Point2f>();
256 bool success = trajectoryDB->connect(params.databaseFilename.c_str()); 244 bool success = trajectoryDB->connect(params.databaseFilename.c_str());
257 trajectoryDB->createObjectTable("objects", "objects_features"); 245 trajectoryDB->createObjectTable("objects", "objects_features");
258 unsigned int savedObjectId=0; 246 unsigned int savedObjectId=0;
270 // success = trajectoryDB->read(trajectory, i, "positions"); 258 // success = trajectoryDB->read(trajectory, i, "positions");
271 // } 259 // }
272 // c_end = std::clock(); 260 // c_end = std::clock();
273 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl; 261 // cout << "Loaded " << trajectories.size() << " trajectories one by one in " << 1000.0 * (c_end-c_start) / CLOCKS_PER_SEC << " CPU seconds" << endl;
274 262
275 trajectoryDB->createViewInstants(); 263 trajectoryDB->createInstants("table");
276 int maxTrajectoryLength; 264
277 trajectoryDB->maxTrajectoryLength(maxTrajectoryLength); 265 unsigned int maxTrajectoryLength = 0;
278 cout << "max trajectory length " << maxTrajectoryLength << endl; 266 success = trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
279 maxTrajectoryLength = 20; // for tests 267 if (!success || maxTrajectoryLength == 0) {
268 cout << "problem with trajectory length " << success << endl;
269 exit(0);
270 }
271 cout << "Longest trajectory: " << maxTrajectoryLength << endl;
280 272
281 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup); 273 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime, params.minNFeaturesPerGroup);
282 274
283 // main loop 275 // main loop
284 // TODO version that can be interrupted? 276 unsigned int frameNum;
285 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) { 277 unsigned int firstFrameNum = -1, lastFrameNum = -1;
286 std::vector<int> trajectoryIds; 278 trajectoryDB->firstLastInstants(firstFrameNum, lastFrameNum);
287 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum); // ending 279 firstFrameNum = MAX(firstFrameNum, params.frame1);
288 cout << "frame " << frameNum << " " << success << endl; 280 if (params.nFrames>0)
281 lastFrameNum = MIN(lastFrameNum,params.frame1+params.nFrames);
282 for (frameNum = firstFrameNum; frameNum<lastFrameNum; frameNum ++) {
283 vector<int> trajectoryIds;
284 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum);
285 if (frameNum%100 ==0)
286 cout << "frame " << frameNum << endl;
287 //success = trajectoryDB->trajectoryIdInInterval(trajectoryIds, frameNum, min(frameNum+queryIntervalLength-1, frameNum+params.nFrames)); // ending
288 #if DEBUG
289 cout << trajectoryIds.size() << " trajectories " << endl; 289 cout << trajectoryIds.size() << " trajectories " << endl;
290 #endif
291 // vector<TrajectoryPoint2fPtr> positions, velocities;
292 // trajectoryDB->read(positions, trajectoryIds, "positions");
293 // trajectoryDB->read(velocities, trajectoryIds, "velocities");
294 // for (unsigned int i=0; i<trajectoryIds.size(); ++i) {
295 // FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(positions[i], velocities[i]));
290 BOOST_FOREACH(int trajectoryId, trajectoryIds) { 296 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
291 //cout << trajectoryId << " " << endl; 297 //cout << trajectoryId << " " << endl;
292 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory; 298 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
293 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities 299 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
294 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities")); 300 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
295 // stringstream ss;ss << *ft; cout << ss.str() << endl; 301 // stringstream ss;ss << *ft; cout << ss.str() << endl;
296 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl; 302 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
297 featureGraph.addFeature(ft); 303 featureGraph.addFeature(ft);
298 } 304 }
299 305
300 // check for connected components that are old enough (no chance to match with trajectories to be added later 306 // check for connected components
301 // we could check only when some features are getting old enough? 307 int lastInstant = frameNum+params.minFeatureTime-maxTrajectoryLength;
302 if (frameNum%10 == 0) { 308 if (lastInstant > 0 && frameNum%10==0) {
303 featureGraph.connectedComponents(frameNum-maxTrajectoryLength+params.minFeatureTime); 309 featureGraph.connectedComponents(lastInstant);
304 std::vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups(); 310 vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups();
305 for (unsigned int i=0; i<featureGroups.size(); ++i) { 311 for (unsigned int i=0; i<featureGroups.size(); ++i) {
306 trajectoryDB->writeObject(savedObjectId, featureGroups[i], -1, 1, string("objects"), string("objects_features")); 312 trajectoryDB->writeObject(savedObjectId, featureGroups[i], -1, 1, string("objects"), string("objects_features"));
307 savedObjectId++; 313 savedObjectId++;
308 } 314 }
309 } 315 }
310 316
311 cout << featureGraph.informationString() << endl; 317 if (frameNum%100 ==0)
318 cout << featureGraph.informationString() << endl;
319 }
320
321 // save remaining objects
322 featureGraph.connectedComponents(frameNum+maxTrajectoryLength+1);
323 vector<vector<unsigned int> > featureGroups = featureGraph.getFeatureGroups();
324 for (unsigned int i=0; i<featureGroups.size(); ++i) {
325 trajectoryDB->writeObject(savedObjectId, featureGroups[i], -1, 1, string("objects"), string("objects_features"));
326 savedObjectId++;
312 } 327 }
313 328
314 trajectoryDB->endTransaction(); 329 trajectoryDB->endTransaction();
315 trajectoryDB->disconnect(); 330 trajectoryDB->disconnect();
316 } 331 }