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annotate c/Motion.cpp @ 194:09c7881073f3
connected commponents works, but issue with removing the vertices
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 12 Dec 2011 18:32:10 -0500 |
parents | 38974d27dd2d |
children | aeab0b88c9b6 |
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 int& frameNum, const cv::Point2f& p, const Mat& homography) |
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24 : lost(false) { |
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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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29 |
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30 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) |
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31 : lost(false) { |
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32 positions = _positions; |
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33 velocities = _velocities; |
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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 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 computeMotionData(frameNum); |
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100 assert(positions.size() == displacementDistances.size()+1); |
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101 assert(positions.size() == velocities.size()+1); |
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102 } |
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103 |
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104 void FeatureTrajectory::shorten(void) { |
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105 positions->pop_back(); |
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106 velocities->pop_back(); |
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107 displacementDistances.pop_back(); |
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108 } |
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109 |
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110 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const { |
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111 trajectoryDB.write(*positions, positionsTableName); |
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112 trajectoryDB.write(*velocities, velocitiesTableName); |
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113 } |
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114 |
132
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115 #ifdef USE_OPENCV |
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116 /// \todo add option for anti-aliased drawing, thickness |
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117 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const { |
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118 Point2f p1, p2; |
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119 if (!homography.empty()) |
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120 p1 = project((*positions)[0], homography); |
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121 else |
176
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122 p1 = (*positions)[0]; |
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123 for (unsigned int i=1; i<positions->size(); i++) { |
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124 if (!homography.empty()) |
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125 p2 = project((*positions)[i], homography); |
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126 else |
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127 p2 = (*positions)[i]; |
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128 line(img, p1, p2, color, 1); |
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129 p1 = p2; |
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130 } |
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131 } |
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132 #endif |
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133 |
129
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134 // protected |
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135 |
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136 void FeatureTrajectory::computeMotionData(const int& frameNum) { |
176
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137 unsigned int nPositions = positions->size(); |
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138 if (nPositions >= 2) { |
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139 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2]; |
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140 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length |
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141 //velocities.add(frameNum-1, displacement); |
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142 velocities->add(frameNum, displacement); |
129
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143 float dist = norm(displacement); |
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144 displacementDistances.push_back(dist); |
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145 } |
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146 } |
163
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147 |
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148 /******************** FeatureGraph ********************/ |
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149 |
180
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150 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) { |
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151 vertex_descriptor newVertex = add_vertex(graph); |
180
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152 graph[newVertex].feature = ft; |
190
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153 for (graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first; |
180
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154 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor |
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155 FeatureTrajectoryPtr ft2 = graph[*vi].feature; |
187
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156 int lastInstant = static_cast<int>(min(ft->getLastInstant(), ft2->getLastInstant())); |
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157 int firstInstant = static_cast<int>(max(ft->getFirstInstant(), ft2->getFirstInstant())); |
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158 if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime |
186
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159 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) { |
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160 UndirectedGraph::edge_descriptor e; |
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161 bool unused; |
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162 tie(e, unused) = add_edge(newVertex, *vi, graph); |
189
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163 // no need to add measures to graph[e] (edge properties) |
186
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164 } |
180
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165 } |
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166 } |
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167 } |
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168 |
194
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169 void FeatureGraph::connectedComponents(const int& lastInstant) { |
192
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170 computeVertexIndex(); |
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171 property_map<UndirectedGraph, int VertexInformation::*>::type components = get(&VertexInformation::index, graph); |
188
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172 |
192
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173 int num = connected_components(graph, components, vertex_index_map(get(&VertexInformation::index, graph))); |
190
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174 cout << "Total number of components: " << num << endl; |
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175 |
191
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176 vector<unsigned int> lastInstants(num, 0); |
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177 vector<vector<vertex_descriptor> > tmpobjects(num), objects; |
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178 |
192
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179 graph_traits<UndirectedGraph>::vertex_iterator vi, vend; |
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180 for(tie(vi,vend) = vertices(graph); vi != vend; ++vi) { |
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181 //for (int i = 0; i < nVertices; ++i) { |
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182 unsigned int id = components[*vi]; |
194
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183 //cout << "Vertex " << *vi << " is in component " << id << endl;// "(last " << graph[i].feature->getLastInstant() << " " << lastInstants[components[i]] << " " << (lastInstants[components[i]] < graph[i].feature->getLastInstant()) << ")" << endl; |
192
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184 if (lastInstants[id] < graph[*vi].feature->getLastInstant()) |
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185 lastInstants[id] = graph[*vi].feature->getLastInstant(); |
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186 tmpobjects[id].push_back(*vi); |
191
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187 } |
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188 |
194
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189 objectHypotheses.clear(); |
191
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190 for (int i = 0; i < num; ++i) { |
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191 cout << i << " " << lastInstants[i] << endl; |
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192 if (static_cast<int>(lastInstants[i]) < lastInstant) |
194
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193 objectHypotheses.push_back(tmpobjects[i]); |
191
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194 } |
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195 } |
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196 |
194
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197 vector<vector<unsigned int> > FeatureGraph::getFeatureGroups(void) { |
191
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198 vector<vector<unsigned int> > featureGroups; |
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199 |
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200 for (unsigned int i=0; i<objectHypotheses.size(); ++i) { |
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201 // check that there is on average at least minNFeaturesPerGroup features at each frame in the group |
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202 float totalFeatureTime=0; |
194
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203 for (unsigned int j=0; j<objectHypotheses[i].size(); ++j) |
191
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204 totalFeatureTime += static_cast<float>(graph[objectHypotheses[i][j]].feature->length()); |
194
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205 cout << i << endl; |
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206 if (totalFeatureTime/static_cast<float>(objectHypotheses[i].size()) > minNFeaturesPerGroup) { |
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207 cout << "save group " << objectHypotheses[i].size() << " " << totalFeatureTime/static_cast<float>(objectHypotheses[i].size()) << endl; |
191
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208 featureGroups.push_back(vector<unsigned int>()); |
194
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209 for (unsigned int j=0; j<objectHypotheses[i].size(); ++j) { |
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210 featureGroups.back().push_back(graph[objectHypotheses[i][j]].feature->getId());cout << featureGroups.size() << " " << objectHypotheses[i][j] << endl; |
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211 clear_vertex(objectHypotheses[i][j], graph);cout << "cleared "<< objectHypotheses[i][j] << endl; |
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212 remove_vertex(objectHypotheses[i][j], graph);cout << "removed "<< objectHypotheses[i][j] << endl; |
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213 } |
191
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214 } |
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215 } |
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216 |
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217 return featureGroups; |
188
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218 } |
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219 |
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220 string FeatureGraph::informationString(void) { |
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221 stringstream ss; |
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222 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges"; |
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223 return ss.str(); |
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224 } |
192
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225 |
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226 void FeatureGraph::computeVertexIndex(void) { |
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227 graph_traits<FeatureGraph::UndirectedGraph>::vertex_iterator vi, vend; |
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228 graph_traits<FeatureGraph::UndirectedGraph>::vertices_size_type cnt = 0; |
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229 for(tie(vi,vend) = vertices(graph); vi != vend; ++vi) |
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230 graph[*vi].index = cnt++; |
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231 } |