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annotate c/Motion.cpp @ 189:1116f0a1ff31

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work on connected components (does not compile)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 02 Dec 2011 19:11:53 -0500
parents 1435965d8181
children 36968a63efe1
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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/config.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 <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
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20 /******************** FeatureTrajectory ********************/
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21
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22 FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const Mat& homography)
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23 : lost(false) {
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24 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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25 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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26 addPoint(frameNum, p, homography);
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27 }
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29 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities)
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30 : lost(false) {
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31 positions = _positions;
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32 velocities = _velocities;
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33 }
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34
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35 FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) {
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36 bool success = trajectoryDB.read(positions, id, positionsTableName);
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37 if (!success)
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38 cout << "problem loading positions" << endl;
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39 success = trajectoryDB.read(velocities, id, velocitiesTableName);
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40 if (!success)
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41 cout << "problem loading velocities" << endl;
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42 // take advantage to request first and last instant from database
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43 trajectoryDB.timeInterval(firstInstant, lastInstant, id);
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44 }
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45
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46 bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const {
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47 bool result = false;
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48 unsigned int nPositions = positions->size();
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49 if (nPositions > nDisplacements) {
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50 float disp = 0;
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51 for (unsigned int i=0; i<nDisplacements; i++)
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52 disp += displacementDistances[nPositions-2-i];
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53 result = disp < minTotalFeatureDisplacement;
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54 }
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55 return result;
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56 }
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57
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58 bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const {
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59 bool result = true;
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60 unsigned int nPositions = positions->size();
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61 if (nPositions >= 3) {
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62 float ratio;
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63 if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3])
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64 ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3];
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65 else
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66 ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2];
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67
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68 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]);
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70 result &= (ratio < accelerationBound) & (cosine > deviationBound);
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71 }
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72 return result;
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73 }
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74
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75 bool FeatureTrajectory::minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, float connectionDistance, float segmentationDistance) {
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76 float minDistance = norm(positions->getPointAtInstant(firstInstant)-ft.positions->getPointAtInstant(firstInstant));
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77 float maxDistance = minDistance;
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78 bool connected = minDistance <= connectionDistance;
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79 int t=firstInstant+1;
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80 while (t <= lastInstant && connected) {
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81 float distance = norm(positions->getPointAtInstant(t)-ft.positions->getPointAtInstant(t));
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82 if (distance < minDistance)
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83 minDistance = distance;
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84 else if (distance > maxDistance)
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85 maxDistance = distance;
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86 connected = connected && (maxDistance-minDistance < segmentationDistance);
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87 t++;
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88 }
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89
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90 return connected;
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91 }
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92
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93 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) {
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94 Point2f pp = p;
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95 if (!homography.empty())
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96 pp = project(p, homography);
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97 positions->add(frameNum, pp);
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98 computeMotionData(frameNum);
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99 assert(positions.size() == displacementDistances.size()+1);
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100 assert(positions.size() == velocities.size()+1);
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101 }
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102
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103 void FeatureTrajectory::shorten(void) {
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104 positions->pop_back();
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105 velocities->pop_back();
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106 displacementDistances.pop_back();
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107 }
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108
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109 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const {
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110 trajectoryDB.write(*positions, positionsTableName);
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111 trajectoryDB.write(*velocities, velocitiesTableName);
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112 }
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113
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114 #ifdef USE_OPENCV
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115 /// \todo add option for anti-aliased drawing, thickness
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116 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const {
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117 Point2f p1, p2;
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118 if (!homography.empty())
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119 p1 = project((*positions)[0], homography);
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120 else
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121 p1 = (*positions)[0];
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122 for (unsigned int i=1; i<positions->size(); i++) {
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123 if (!homography.empty())
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124 p2 = project((*positions)[i], homography);
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125 else
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126 p2 = (*positions)[i];
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127 line(img, p1, p2, color, 1);
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128 p1 = p2;
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129 }
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130 }
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131 #endif
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132
129
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133 // protected
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134
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135 void FeatureTrajectory::computeMotionData(const int& frameNum) {
176
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136 unsigned int nPositions = positions->size();
139
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137 if (nPositions >= 2) {
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138 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2];
139
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139 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length
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140 //velocities.add(frameNum-1, displacement);
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141 velocities->add(frameNum, displacement);
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142 float dist = norm(displacement);
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143 displacementDistances.push_back(dist);
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144 }
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145 }
163
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146
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147 /******************** FeatureGraph ********************/
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148
180
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149 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) {
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150 UndirectedGraph::vertex_descriptor newVertex = add_vertex(graph);
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151 graph[newVertex].feature = ft;
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152 for (boost::graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first;
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153 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor
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154 FeatureTrajectoryPtr ft2 = graph[*vi].feature;
187
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155 int lastInstant = static_cast<int>(min(ft->getLastInstant(), ft2->getLastInstant()));
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156 int firstInstant = static_cast<int>(max(ft->getFirstInstant(), ft2->getFirstInstant()));
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157 if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime
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158 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) {
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159 UndirectedGraph::edge_descriptor e;
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160 bool unused;
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161 tie(e, unused) = add_edge(newVertex, *vi, graph);
189
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162 // no need to add measures to graph[e] (edge properties)
186
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163 }
180
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164 }
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165 }
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166 }
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167
188
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168 void FeatureGraph::connectedComponents(const int& lastInstant) {
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169 typedef boost::graph_traits<UndirectedGraph>::vertices_size_type vertices_size_type;
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170 vector<vertices_size_type> components(num_vertices(graph));
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171 // int num = connected_components(graph, &components[0]);
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172 // // todo change the type of the component map http://www.boost.org/doc/libs/1_48_0/libs/graph/doc/connected_components.html
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173 // cout << "Total number of components: " << num << endl;
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174
189
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175 // for (unsigned int i = 0; i < components.size(); ++i)
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176 // cout << "Vertex " << i <<" is in component " << components[i] << endl;
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177 // cout << endl;
188
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178 }
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179
180
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180 string FeatureGraph::informationString(void) {
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181 stringstream ss;
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182 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges";
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183 return ss.str();
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184 }