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annotate c/Motion.cpp @ 232:04355e51d895

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removed tr1::
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 03 Jul 2012 00:17:30 -0400
parents 249d65ff6c35
children 21f14fadd098
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
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1 #include "Motion.hpp"
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2 #include "cvutils.hpp"
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3
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4 #include "src/TrajectoryDBAccessList.h"
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5
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6 #include "opencv2/core/core.hpp"
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7 #include "opencv2/highgui/highgui.hpp"
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8
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9 #include <boost/graph/connected_components.hpp>
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10
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11 #include <iostream>
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12 #include <vector>
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13 #include <map>
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14 #include <algorithm>
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15 #include <utility>
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16
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17 using namespace std;
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18 using namespace cv;
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19 using namespace boost;
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20
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21 /******************** FeatureTrajectory ********************/
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22
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23 FeatureTrajectory::FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p, const Mat& homography)
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24 : firstInstant(frameNum), lastInstant(frameNum) {
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25 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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26 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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27 addPoint(frameNum, p, homography);
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28 }
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30 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) {
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31 positions = _positions;
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32 velocities = _velocities;
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33 positions->computeInstants(firstInstant, lastInstant);
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34 }
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35
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36 FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) {
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37 bool success = trajectoryDB.read(positions, id, positionsTableName);
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38 if (!success)
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39 cout << "problem loading positions" << endl;
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40 success = trajectoryDB.read(velocities, id, velocitiesTableName);
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41 if (!success)
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42 cout << "problem loading velocities" << endl;
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43 // take advantage to request first and last instant from database
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44 trajectoryDB.timeInterval(firstInstant, lastInstant, id);
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45 }
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46
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47 bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const {
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48 bool result = false;
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49 unsigned int nPositions = positions->size();
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50 if (nPositions > nDisplacements) {
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51 float disp = 0;
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52 for (unsigned int i=0; i<nDisplacements; i++)
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53 disp += displacementDistances[nPositions-2-i];
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54 result = disp < minTotalFeatureDisplacement;
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55 }
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56 return result;
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57 }
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58
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59 bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const {
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60 bool result = true;
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61 unsigned int nPositions = positions->size();
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62 if (nPositions >= 3) {
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63 float ratio;
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64 if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3])
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65 ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3];
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66 else
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67 ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2];
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68
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69 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]);
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70
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71 result &= (ratio < accelerationBound) & (cosine > deviationBound);
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72 }
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73 return result;
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74 }
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75
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76 bool FeatureTrajectory::minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, const float& connectionDistance, const float& segmentationDistance) {
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77 float minDistance = norm(positions->getPointAtInstant(firstInstant)-ft.positions->getPointAtInstant(firstInstant));
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78 float maxDistance = minDistance;
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79 bool connected = (minDistance <= connectionDistance);
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80 int t=firstInstant+1;
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81 while (t <= lastInstant && connected) {
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82 float distance = norm(positions->getPointAtInstant(t)-ft.positions->getPointAtInstant(t));
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83 if (distance < minDistance)
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84 minDistance = distance;
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85 else if (distance > maxDistance)
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86 maxDistance = distance;
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87 connected = connected && (maxDistance-minDistance <= segmentationDistance);
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88 t++;
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89 }
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90
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91 return connected;
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92 }
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93
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94 void FeatureTrajectory::addPoint(const unsigned int& frameNum, const Point2f& p, const Mat& homography) {
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95 Point2f pp = p;
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96 if (!homography.empty())
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97 pp = project(p, homography);
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98 positions->add(frameNum, pp);
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99 if (frameNum < firstInstant)
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100 firstInstant = frameNum;
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101 if (frameNum > lastInstant)
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102 lastInstant = frameNum;
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103 computeMotionData(frameNum);
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104 assert(positions->size() == displacementDistances.size()+1);
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105 assert(positions->size() == velocities->size()+1);
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106 }
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107
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108 void FeatureTrajectory::shorten(void) {
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109 positions->pop_back();
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110 velocities->pop_back();
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111 displacementDistances.pop_back();
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112 }
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113
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114 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const {
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115 trajectoryDB.write(*positions, positionsTableName);
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116 trajectoryDB.write(*velocities, velocitiesTableName);
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117 }
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118
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119 #ifdef USE_OPENCV
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120 /// \todo add option for anti-aliased drawing, thickness
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121 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const {
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122 Point2f p1, p2;
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123 if (!homography.empty())
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124 p1 = project((*positions)[0], homography);
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125 else
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126 p1 = (*positions)[0];
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127 for (unsigned int i=1; i<positions->size(); i++) {
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128 if (!homography.empty())
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129 p2 = project((*positions)[i], homography);
147
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diff changeset
130 else
176
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131 p2 = (*positions)[i];
132
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132 line(img, p1, p2, color, 1);
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133 p1 = p2;
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134 }
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135 }
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136 #endif
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137
129
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138 // protected
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139
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140 void FeatureTrajectory::computeMotionData(const int& frameNum) {
176
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141 unsigned int nPositions = positions->size();
139
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142 if (nPositions >= 2) {
176
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143 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2];
139
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144 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length
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145 //velocities.add(frameNum-1, displacement);
176
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146 velocities->add(frameNum, displacement);
129
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147 float dist = norm(displacement);
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148 displacementDistances.push_back(dist);
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149 }
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150 }
163
cde87a07eb58 added graph structures
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151
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152 /******************** FeatureGraph ********************/
179
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153
180
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154 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) {
191
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155 vertex_descriptor newVertex = add_vertex(graph);
180
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156 graph[newVertex].feature = ft;
190
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157 for (graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first;
180
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158 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor
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159 FeatureTrajectoryPtr ft2 = graph[*vi].feature;
200
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diff changeset
160 if (newVertex != *vi) {
225
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161 int lastInstant = static_cast<int>(MIN(ft->getLastInstant(), ft2->getLastInstant()));
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162 int firstInstant = static_cast<int>(MAX(ft->getFirstInstant(), ft2->getFirstInstant()));
200
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163 if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime
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164 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) {
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165 UndirectedGraph::edge_descriptor e;
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diff changeset
166 bool unused;
232
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167 tie(e, unused) = add_edge(newVertex, *vi, graph);
200
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168 // no need to add measures to graph[e] (edge properties)
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169 }
186
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diff changeset
170 }
180
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171 }
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172 }
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173 }
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174
221
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175 void FeatureGraph::connectedComponents(const unsigned int& lastInstant) {
192
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176 computeVertexIndex();
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177 property_map<UndirectedGraph, int VertexInformation::*>::type components = get(&VertexInformation::index, graph);
188
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178
192
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179 int num = connected_components(graph, components, vertex_index_map(get(&VertexInformation::index, graph)));
221
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diff changeset
180 #ifdef DEBUG
201
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181 cout << "last instant threshold " << lastInstant << " Total number of components: " << num << endl;
221
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diff changeset
182 #endif
190
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parents: 189
diff changeset
183
201
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diff changeset
184 vector<unsigned int> lastInstants(num, 0); // last instant of component with id
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diff changeset
185 vector<vector<vertex_descriptor> > tmpobjects(num), objects; // vector of components (component = vector of vertex descriptors)
191
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diff changeset
186
192
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diff changeset
187 graph_traits<UndirectedGraph>::vertex_iterator vi, vend;
232
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diff changeset
188 for(tie(vi,vend) = vertices(graph); vi != vend; ++vi) {
192
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diff changeset
189 unsigned int id = components[*vi];
221
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diff changeset
190 lastInstants[id] = max(lastInstants[id], graph[*vi].feature->getLastInstant());
192
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diff changeset
191 tmpobjects[id].push_back(*vi);
191
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diff changeset
192 }
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diff changeset
193
194
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parents: 192
diff changeset
194 objectHypotheses.clear();
191
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diff changeset
195 for (int i = 0; i < num; ++i) {
221
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diff changeset
196 #ifdef DEBUG
191
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diff changeset
197 cout << i << " " << lastInstants[i] << endl;
221
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diff changeset
198 #endif
191
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diff changeset
199 if (static_cast<int>(lastInstants[i]) < lastInstant)
194
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diff changeset
200 objectHypotheses.push_back(tmpobjects[i]);
191
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diff changeset
201 }
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diff changeset
202 }
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diff changeset
203
194
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diff changeset
204 vector<vector<unsigned int> > FeatureGraph::getFeatureGroups(void) {
191
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diff changeset
205 vector<vector<unsigned int> > featureGroups;
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diff changeset
206
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diff changeset
207 for (unsigned int i=0; i<objectHypotheses.size(); ++i) {
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diff changeset
208 // check that there is on average at least minNFeaturesPerGroup features at each frame in the group
221
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parents: 201
diff changeset
209 unsigned int totalFeatureTime= graph[objectHypotheses[i][0]].feature->length();
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diff changeset
210 unsigned int firstInstant = graph[objectHypotheses[i][0]].feature->getFirstInstant();
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diff changeset
211 unsigned int lastInstant = graph[objectHypotheses[i][0]].feature->getLastInstant();
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diff changeset
212 for (unsigned int j=1; j<objectHypotheses[i].size(); ++j) {
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diff changeset
213 totalFeatureTime += graph[objectHypotheses[i][j]].feature->length();
225
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diff changeset
214 firstInstant = MIN(firstInstant, graph[objectHypotheses[i][j]].feature->getFirstInstant());
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parents: 221
diff changeset
215 lastInstant = MAX(lastInstant, graph[objectHypotheses[i][j]].feature->getLastInstant());
221
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diff changeset
216 }
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diff changeset
217 if (static_cast<float>(totalFeatureTime)/static_cast<float>(lastInstant-firstInstant+1) > minNFeaturesPerGroup) {
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diff changeset
218 #if DEBUG
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diff changeset
219 cout << "save group " << i << " of " << objectHypotheses[i].size() << " features " << endl;
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diff changeset
220 #endif
191
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parents: 190
diff changeset
221 featureGroups.push_back(vector<unsigned int>());
194
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parents: 192
diff changeset
222 for (unsigned int j=0; j<objectHypotheses[i].size(); ++j) {
221
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parents: 201
diff changeset
223 featureGroups.back().push_back(graph[objectHypotheses[i][j]].feature->getId());
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diff changeset
224 #if DEBUG
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diff changeset
225 cout << featureGroups.size() << " " << objectHypotheses[i][j] << endl;
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diff changeset
226 #endif
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diff changeset
227 clear_vertex(objectHypotheses[i][j], graph);
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diff changeset
228 remove_vertex(objectHypotheses[i][j], graph);
194
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diff changeset
229 }
191
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parents: 190
diff changeset
230 }
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parents: 190
diff changeset
231 }
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parents: 190
diff changeset
232
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parents: 190
diff changeset
233 return featureGroups;
188
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parents: 187
diff changeset
234 }
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parents: 187
diff changeset
235
196
aeab0b88c9b6 began testing of FeatureGraph
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diff changeset
236 string FeatureGraph::informationString(void) const {
180
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diff changeset
237 stringstream ss;
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diff changeset
238 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges";
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diff changeset
239 return ss.str();
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parents: 179
diff changeset
240 }
192
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parents: 191
diff changeset
241
196
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diff changeset
242 int FeatureGraph::getNVertices(void) const { return num_vertices(graph);}
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parents: 194
diff changeset
243
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diff changeset
244 int FeatureGraph::getNEdges(void) const { return num_edges(graph);}
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parents: 194
diff changeset
245
192
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parents: 191
diff changeset
246 void FeatureGraph::computeVertexIndex(void) {
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diff changeset
247 graph_traits<FeatureGraph::UndirectedGraph>::vertex_iterator vi, vend;
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diff changeset
248 graph_traits<FeatureGraph::UndirectedGraph>::vertices_size_type cnt = 0;
232
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parents: 231
diff changeset
249 for(tie(vi,vend) = vertices(graph); vi != vend; ++vi)
192
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diff changeset
250 graph[*vi].index = cnt++;
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diff changeset
251 }