#include "Parameters.hpp"
#include <boost/program_options.hpp>
#include <boost/filesystem.hpp>
#include <iostream>
#include <fstream>
namespace po = boost::program_options;
namespace fs = boost::filesystem; // soon std
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")
("quiet", "mute printing of frame numbers")
("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-extreme-acceleration", po::value<float>(&minAcceleration)->default_value(-9.1), "minimum acceleration for input distribution (m/s2) (used only for evasive action distributions)")
("max-extreme-acceleration", po::value<float>(&maxAcceleration)->default_value(2.), "maximum acceleration for input distribution (m/s2)")
("max-extreme-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;
parentDirname = fs::path(configurationFilename).parent_path().string();
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;
quiet = vm.count("quiet")>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();
}
