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annotate c/Motion.cpp @ 192:38974d27dd2d

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connected_components is working with listS for vertex list
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 12 Dec 2011 02:05:26 -0500
parents 0e60a306d324
children 09c7881073f3
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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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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, const float& connectionDistance, const 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
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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
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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) {
176
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138 unsigned int nPositions = positions->size();
139
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139 if (nPositions >= 2) {
176
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140 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2];
139
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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);
176
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143 velocities->add(frameNum, displacement);
129
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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 ********************/
179
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150
180
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151 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) {
191
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152 vertex_descriptor newVertex = add_vertex(graph);
180
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153 graph[newVertex].feature = ft;
190
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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;
187
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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
186
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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);
189
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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) {
192
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171 computeVertexIndex();
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172 property_map<UndirectedGraph, int VertexInformation::*>::type components = get(&VertexInformation::index, graph);
188
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173
192
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174 int num = connected_components(graph, components, vertex_index_map(get(&VertexInformation::index, graph)));
190
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175 cout << "Total number of components: " << num << endl;
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176
191
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177 vector<unsigned int> lastInstants(num, 0);
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178 vector<vector<vertex_descriptor> > tmpobjects(num), objects;
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179
192
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180 graph_traits<UndirectedGraph>::vertex_iterator vi, vend;
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181 for(tie(vi,vend) = vertices(graph); vi != vend; ++vi) {
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182 //for (int i = 0; i < nVertices; ++i) {
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183 unsigned int id = components[*vi];
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184 cout << "Vertex " << *vi << " is in component " << id << endl;// "(last " << graph[i].feature->getLastInstant() << " " << lastInstants[components[i]] << " " << (lastInstants[components[i]] < graph[i].feature->getLastInstant()) << ")" << endl;
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185 if (lastInstants[id] < graph[*vi].feature->getLastInstant())
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186 lastInstants[id] = graph[*vi].feature->getLastInstant();
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187 tmpobjects[id].push_back(*vi);
191
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188 }
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189
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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)
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193 objects.push_back(tmpobjects[i]);
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194 }
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195
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196 return objects;
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197 }
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198
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199 vector<vector<unsigned int> > FeatureGraph::getFeatureGroups(const vector<vector<FeatureGraph::vertex_descriptor> >& objectHypotheses) {
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200 vector<vector<unsigned int> > featureGroups;
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201
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202 for (unsigned int i=0; i<objectHypotheses.size(); ++i) {
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203 // check that there is on average at least minNFeaturesPerGroup features at each frame in the group
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204 float totalFeatureTime=0;
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205 for (unsigned int j=0; j<objectHypotheses.size(); ++j)
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206 totalFeatureTime += static_cast<float>(graph[objectHypotheses[i][j]].feature->length());
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207
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208 if (totalFeatureTime/static_cast<float>(objectHypotheses.size()) > minNFeaturesPerGroup) {
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209 cout << "save group" << endl;
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diff changeset
210 featureGroups.push_back(vector<unsigned int>());
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211 for (unsigned int j=0; j<objectHypotheses.size(); ++j)
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diff changeset
212 featureGroups.back().push_back(graph[objectHypotheses[i][j]].feature->getId());
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213 }
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214 // remove vertices: todo using listS
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215 }
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216
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217 return featureGroups;
188
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diff changeset
218 }
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219
180
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diff changeset
220 string FeatureGraph::informationString(void) {
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diff changeset
221 stringstream ss;
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222 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges";
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diff changeset
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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diff changeset
227 graph_traits<FeatureGraph::UndirectedGraph>::vertex_iterator vi, vend;
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diff changeset
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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diff changeset
230 graph[*vi].index = cnt++;
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diff changeset
231 }