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annotate c/Motion.cpp @ 191:0e60a306d324
added basic code to identify features and save them (crash)
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 08 Dec 2011 18:32:35 -0500 |
parents | 36968a63efe1 |
children | 38974d27dd2d |
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 #include <boost/property_map/property_map.hpp> |
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11 |
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12 #include <iostream> |
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13 #include <vector> |
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14 #include <map> |
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15 #include <algorithm> |
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16 #include <utility> |
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17 |
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18 using namespace std; |
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19 using namespace cv; |
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20 using namespace boost; |
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21 |
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22 /******************** FeatureTrajectory ********************/ |
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23 |
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24 FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const Mat& homography) |
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25 : lost(false) { |
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26 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); |
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27 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); |
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28 addPoint(frameNum, p, homography); |
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29 } |
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30 |
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31 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) |
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32 : lost(false) { |
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33 positions = _positions; |
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34 velocities = _velocities; |
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35 } |
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36 |
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37 FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) { |
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38 bool success = trajectoryDB.read(positions, id, positionsTableName); |
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39 if (!success) |
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40 cout << "problem loading positions" << endl; |
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41 success = trajectoryDB.read(velocities, id, velocitiesTableName); |
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42 if (!success) |
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43 cout << "problem loading velocities" << endl; |
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44 // take advantage to request first and last instant from database |
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45 trajectoryDB.timeInterval(firstInstant, lastInstant, id); |
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46 } |
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47 |
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48 bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const { |
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49 bool result = false; |
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50 unsigned int nPositions = positions->size(); |
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51 if (nPositions > nDisplacements) { |
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52 float disp = 0; |
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53 for (unsigned int i=0; i<nDisplacements; i++) |
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54 disp += displacementDistances[nPositions-2-i]; |
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55 result = disp < minTotalFeatureDisplacement; |
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56 } |
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57 return result; |
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58 } |
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59 |
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60 bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const { |
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61 bool result = true; |
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62 unsigned int nPositions = positions->size(); |
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63 if (nPositions >= 3) { |
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64 float ratio; |
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65 if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3]) |
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66 ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3]; |
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67 else |
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68 ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2]; |
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69 |
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70 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]); |
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71 |
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72 result &= (ratio < accelerationBound) & (cosine > deviationBound); |
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73 } |
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74 return result; |
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75 } |
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76 |
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77 bool FeatureTrajectory::minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, float connectionDistance, float segmentationDistance) { |
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78 float minDistance = norm(positions->getPointAtInstant(firstInstant)-ft.positions->getPointAtInstant(firstInstant)); |
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79 float maxDistance = minDistance; |
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80 bool connected = (minDistance <= connectionDistance); |
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81 int t=firstInstant+1; |
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82 while (t <= lastInstant && connected) { |
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83 float distance = norm(positions->getPointAtInstant(t)-ft.positions->getPointAtInstant(t)); |
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84 if (distance < minDistance) |
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85 minDistance = distance; |
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86 else if (distance > maxDistance) |
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87 maxDistance = distance; |
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88 connected = connected && (maxDistance-minDistance < segmentationDistance); |
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89 t++; |
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90 } |
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91 |
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92 return connected; |
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93 } |
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94 |
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95 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) { |
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96 Point2f pp = p; |
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97 if (!homography.empty()) |
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98 pp = project(p, homography); |
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99 positions->add(frameNum, pp); |
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100 computeMotionData(frameNum); |
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101 assert(positions.size() == displacementDistances.size()+1); |
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102 assert(positions.size() == velocities.size()+1); |
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103 } |
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104 |
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105 void FeatureTrajectory::shorten(void) { |
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106 positions->pop_back(); |
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107 velocities->pop_back(); |
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108 displacementDistances.pop_back(); |
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109 } |
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110 |
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111 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const { |
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112 trajectoryDB.write(*positions, positionsTableName); |
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113 trajectoryDB.write(*velocities, velocitiesTableName); |
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114 } |
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115 |
132
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116 #ifdef USE_OPENCV |
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117 /// \todo add option for anti-aliased drawing, thickness |
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118 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const { |
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119 Point2f p1, p2; |
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120 if (!homography.empty()) |
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121 p1 = project((*positions)[0], homography); |
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122 else |
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123 p1 = (*positions)[0]; |
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124 for (unsigned int i=1; i<positions->size(); i++) { |
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125 if (!homography.empty()) |
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126 p2 = project((*positions)[i], homography); |
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127 else |
176
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128 p2 = (*positions)[i]; |
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129 line(img, p1, p2, color, 1); |
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130 p1 = p2; |
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131 } |
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132 } |
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133 #endif |
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134 |
129
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135 // protected |
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136 |
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137 void FeatureTrajectory::computeMotionData(const int& frameNum) { |
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138 unsigned int nPositions = positions->size(); |
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139 if (nPositions >= 2) { |
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140 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2]; |
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141 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length |
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142 //velocities.add(frameNum-1, displacement); |
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143 velocities->add(frameNum, displacement); |
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144 float dist = norm(displacement); |
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145 displacementDistances.push_back(dist); |
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146 } |
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147 } |
163
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148 |
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149 /******************** FeatureGraph ********************/ |
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150 |
180
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151 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) { |
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152 vertex_descriptor newVertex = add_vertex(graph); |
180
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153 graph[newVertex].feature = ft; |
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154 for (graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first; |
180
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155 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor |
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156 FeatureTrajectoryPtr ft2 = graph[*vi].feature; |
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157 int lastInstant = static_cast<int>(min(ft->getLastInstant(), ft2->getLastInstant())); |
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158 int firstInstant = static_cast<int>(max(ft->getFirstInstant(), ft2->getFirstInstant())); |
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159 if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime |
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160 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) { |
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161 UndirectedGraph::edge_descriptor e; |
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162 bool unused; |
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163 tie(e, unused) = add_edge(newVertex, *vi, graph); |
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164 // no need to add measures to graph[e] (edge properties) |
186
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165 } |
180
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166 } |
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167 } |
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168 } |
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169 |
191
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170 vector<vector<FeatureGraph::vertex_descriptor> > FeatureGraph::connectedComponents(const int& lastInstant) { |
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171 int nVertices = num_vertices(graph); |
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172 vector<vertex_descriptor> components(nVertices); |
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173 // map<UndirectedGraph::vertex_descriptor, graph_traits<UndirectedGraph>::vertices_size_type> vertex2component; |
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174 // associative_property_map< map<UndirectedGraph::vertex_descriptor, graph_traits<UndirectedGraph>::vertices_size_type> > components(vertex2component); |
188
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175 |
190
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176 int num = connected_components(graph, &components[0]); |
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177 cout << "Total number of components: " << num << endl; |
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178 |
191
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179 vector<unsigned int> lastInstants(num, 0); |
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180 vector<vector<vertex_descriptor> > tmpobjects(num), objects; |
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181 |
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182 for (int i = 0; i < nVertices; ++i) { |
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183 cout << "Vertex " << i <<" is in component " << components[i] << endl;// "(last " << graph[i].feature->getLastInstant() << " " << lastInstants[components[i]] << " " << (lastInstants[components[i]] < graph[i].feature->getLastInstant()) << ")" << endl; |
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184 if (lastInstants[components[i]] < graph[i].feature->getLastInstant()) |
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185 lastInstants[components[i]] = graph[i].feature->getLastInstant(); |
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186 tmpobjects[components[i]].push_back(i); |
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187 } |
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188 |
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189 for (int i = 0; i < num; ++i) { |
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190 cout << i << " " << lastInstants[i] << endl; |
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191 if (static_cast<int>(lastInstants[i]) < lastInstant) |
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192 objects.push_back(tmpobjects[i]); |
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193 } |
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194 |
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195 return objects; |
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196 } |
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197 |
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198 vector<vector<unsigned int> > FeatureGraph::getFeatureGroups(const vector<vector<FeatureGraph::vertex_descriptor> >& objectHypotheses) { |
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199 vector<vector<unsigned int> > featureGroups; |
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200 |
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201 for (unsigned int i=0; i<objectHypotheses.size(); ++i) { |
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202 // check that there is on average at least minNFeaturesPerGroup features at each frame in the group |
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203 float totalFeatureTime=0; |
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204 for (unsigned int j=0; j<objectHypotheses.size(); ++j) |
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205 totalFeatureTime += static_cast<float>(graph[objectHypotheses[i][j]].feature->length()); |
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206 |
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207 if (totalFeatureTime/static_cast<float>(objectHypotheses.size()) > minNFeaturesPerGroup) { |
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208 cout << "save group" << endl; |
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209 featureGroups.push_back(vector<unsigned int>()); |
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210 for (unsigned int j=0; j<objectHypotheses.size(); ++j) |
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211 featureGroups.back().push_back(graph[objectHypotheses[i][j]].feature->getId()); |
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212 } |
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213 // remove vertices: todo using listS |
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214 } |
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215 |
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216 return featureGroups; |
188
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217 } |
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218 |
180
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219 string FeatureGraph::informationString(void) { |
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220 stringstream ss; |
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method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
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221 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges"; |
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method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
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222 return ss.str(); |
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
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223 } |