Mercurial > hg > nsaunier > traffic-intelligence

comparison tracking.cfg @ 614:5e09583275a4

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Merged Nicolas/trafficintelligence into default
author Mohamed Gomaa <eng.m.gom3a@gmail.com>
date Fri, 05 Dec 2014 12:13:53 -0500
parents 6c264b914846
children 5800a87f11ae
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598:11f96bd08552 614:5e09583275a4
1 # filename of the video to process 1 # filename of the video to process
2 video-filename = ~/Research/Data/minnesota/Rice-and-University-12_50.avi 2 video-filename = laurier.avi
3 # filename of the database where results are saved 3 # filename of the database where results are saved
4 database-filename = ~/Research/Data/minnesota/results.sqlite 4 database-filename = laurier.sqlite
5 # filename of the homography matrix 5 # filename of the homography matrix
6 homography-filename = ~/Research/Data/minnesota/Rice-and-University-12_50-homography.txt 6 homography-filename = laurier-homography.txt
7 # filename of the homography matrix
8 intrinsic-camera-filename = intrinsic-camera.txt
9 # -0.11759321 0.0148536 0.00030756 -0.00020578 -0.00091816
10 distortion-coefficients = -0.11759321
11 distortion-coefficients = 0.0148536
12 distortion-coefficients = 0.00030756
13 distortion-coefficients = -0.00020578
14 distortion-coefficients = -0.00091816
15 # undistorted image multiplication
16 undistorted-size-multiplication = 1.31
17 # 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
18 interpolation-method = 1
7 # filename of the mask image (where features are detected) 19 # filename of the mask image (where features are detected)
8 mask-filename = ~/Research/Data/minnesota/Rice-and-University-12_50-mask.png 20 mask-filename = none
21 # undistort the video for feature tracking
22 undistort = false
9 # load features from database 23 # load features from database
10 load-features = false 24 load-features = false
11 # display trajectories on the video 25 # display trajectories on the video
12 display = false 26 display = false
13 # original video frame rate 27 # original video frame rate (number of frames/s)
14 video-fps = 29.97 28 video-fps = 29.97
15 # number of digits of precision for all measurements derived from video 29 # number of digits of precision for all measurements derived from video
16 # measurement-precision = 3 30 # measurement-precision = 3
17 # first frame to process 31 # first frame to process
18 frame1 = 0 32 frame1 = 0
23 max-nfeatures = 1000 37 max-nfeatures = 1000
24 # quality level of the good features to track 38 # quality level of the good features to track
25 feature-quality = 0.1 39 feature-quality = 0.1
26 # minimum distance between features 40 # minimum distance between features
27 min-feature-distanceklt = 5 41 min-feature-distanceklt = 5
28 # size of the search window at each pyramid level 42 # size of the block for feature characteristics
29 window-size = 7 43 block-size = 7
30 # use of Harris corner detector 44 # use of Harris corner detector
31 use-harris-detector = false 45 use-harris-detector = false
32 # k parameter to detect good features to track (OpenCV) 46 # k parameter to detect good features to track (OpenCV)
33 k = 0.4 47 k = 0.4
48 # size of the search window at each pyramid level
49 window-size = 7
34 # maximal pyramid level in the feature tracking algorithm 50 # maximal pyramid level in the feature tracking algorithm
35 pyramid-level = 5 51 pyramid-level = 5
36 # number of displacement to test minimum feature motion 52 # number of displacement to test minimum feature motion
37 ndisplacements = 3 53 ndisplacements = 3
38 # minimum displacement to keep features 54 # minimum displacement to keep features
44 # number of frames to smooth positions (half window) 60 # number of frames to smooth positions (half window)
45 smoothing-halfwidth = 5 61 smoothing-halfwidth = 5
46 # number of frames to compute velocities 62 # number of frames to compute velocities
47 #nframes-velocity = 5 63 #nframes-velocity = 5
48 # maximum number of iterations to stop feature tracking 64 # maximum number of iterations to stop feature tracking
49 max-number-iterations = 20 65 max-number-iterations = 30
50 # minimum error to reach to stop feature tracking 66 # minimum error to reach to stop feature tracking
51 min-tracking-error = 0.3 67 min-tracking-error = 0.01
68 # minimum eigen value of a 2x2 normal matrix of optical flow equations
69 min-feature-eig-threshold = 1e-4
52 # minimum length of a feature (number of frames) to consider a feature for grouping 70 # minimum length of a feature (number of frames) to consider a feature for grouping
53 min-feature-time = 20 71 min-feature-time = 20
54 # Min Max similarity parameters (Beymer et al. method) 72 # Min Max similarity parameters (Beymer et al. method)
55 # connection distance in feature grouping 73 # connection distance in feature grouping
56 mm-connection-distance = 3.75 74 mm-connection-distance = 3.75
60 max-distance = 5 78 max-distance = 5
61 # minimum cosine of the angle between the velocity vectors for grouping 79 # minimum cosine of the angle between the velocity vectors for grouping
62 min-velocity-cosine = 0.8 80 min-velocity-cosine = 0.8
63 # minimum average number of features per frame to create a vehicle hypothesis 81 # minimum average number of features per frame to create a vehicle hypothesis
64 min-nfeatures-group = 3 82 min-nfeatures-group = 3
83 # Road user classification
84 # filename of the general ped/cyc/veh SVM classifier
85 pbv-svm-filename = modelPBV.xml
86 # filename of the cyc/veh SVM classifier
87 pbv-svm-filename = modelBV.xml
88 # maximum pedestrian speed (agregate: mean, median, 85th centile, etc.) 3.6 m/s
89 max-ped-speed = 0.12
90 # maximum cyclist speed (agregate: mean, median, 85th centile, etc.) 10.8 m/s (3xped)
91 max-cyc-speed = 0.36
92 # mean pedestrian speed and standard deviation (in a normal distribution) 1.36+-0.24 m/s
93 mean-ped-speed = 0.45
94 std-ped-speed = 0.008
95 # mean cyclist speed and standard deviation (in a log-normal distribution) 1.36+-0.24 m/s
96 mean-cyc-speed = 0.45
97 std-cyc-speed = 0.008
98 # mean vehicle speed and standard deviation (in a normal distribution) 5.12+-2.11 m/s
99 mean-veh-speed = 0.17
100 std-veh-speed = 0.07
101 # Safety analysis
102 # maximum speed when predicting future motion (km/h)
103 max-predicted-speed = 50
104 # time horizon for collision prediction (s)
105 prediction-time-horizon = 5
106 # collision distance threshold (m)
107 collision-distance = 1.8
108 # option to compute crossing zones and predicted PET
109 crossing-zones = false
110 # prediction method: cv, na, ps
111 prediction-method = na
112 # number of predicted trajectories (use depends on prediction method)
113 npredicted-trajectories = 10
114 # maximum acceleration for normal adaptation input symmetric distribution (m/s2)
115 max-normal-acceleration = 2
116 # maximum steering for normal adaptation input symmetric distribution (rad/s)
117 max-normal-steering = 0.2
118 # minimum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions)
119 min-extreme-acceleration = -9.1
120 # maximum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions)
121 max-extreme-acceleration = 4.3
122 # maximum steering for input distribution (rad/s) (extreme values used for evasive action distributions)
123 max-extreme-steering = 0.5
124 # use feature positions and velocities for prediction
125 use-features-prediction = true