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annotate trajectorymanagement/src/DTWMetric.h @ 1211:a095d4fbb2ea
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author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 02 May 2023 07:12:26 -0400 |
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rev | line source |
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1 #ifndef DTWMETRIC_H_ |
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2 #define DTWMETRIC_H_ |
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3 |
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4 #include "Metric.h" |
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5 |
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6 /** |
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7 * DTWMetric class. |
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8 * |
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9 * The Dynamic Time Warping metric measures the similarity between two trajectories. |
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10 */ |
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11 template<typename Tr, typename To> |
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12 class DTWMetric: public Metric<Tr, To> |
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13 { |
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14 public: |
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15 /** |
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16 * Constructor. |
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17 */ |
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18 DTWMetric() |
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19 { |
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20 maxDTWValue = (std::numeric_limits<To>::max()) / To(2); |
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21 } |
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22 |
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23 /** |
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24 * Set maximum value that occurs during the calculation process. |
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25 * |
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26 * @param[in] maxDTWValue maximum value |
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27 */ |
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28 bool setMaxDTWValue(To maxDTWValue) |
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29 { |
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30 if (maxDTWValue >= 0.0) |
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31 { |
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32 this->maxDTWValue = maxDTWValue; |
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33 return true; |
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34 } |
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35 return false; |
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36 } |
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37 |
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38 /** |
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39 * Set maximum value that occurs during the calculation process. |
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40 * |
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41 * @param[in] imgSize image size |
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42 * @param[in] eps machine epsilon |
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43 */ |
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44 bool setMaxDTWValue(CvSize &imgSize, double eps) |
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45 { |
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46 if (imgSize.width > 0 && imgSize.height > 0 && eps > 0) |
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47 { |
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48 cv::Point_<int> p(imgSize.width, imgSize.height); |
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49 maxDTWValue = std::numeric_limits<To>::max() - norm(p) - eps; |
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50 return true; |
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51 } |
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52 return false; |
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53 } |
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54 |
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55 /** |
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56 * Compute similarity between two trajectories. |
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57 * |
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58 * @param[in] a input trajectory |
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59 * @param[in] b input trajectory |
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60 * @param[out] result distance between two trajectories. |
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61 */ |
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62 void distance(const Trajectory<Tr> *a, const Trajectory<Tr> *b, To &result, unsigned int nbOfPoints = std::numeric_limits<unsigned int>::max()) |
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63 { |
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64 To DTW[a->size() + 1][b->size() + 1]; |
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65 |
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66 { //initialization |
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67 for (unsigned int i = 0; i <= a->size(); ++i) |
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68 { |
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69 DTW[i][0] = maxDTWValue; |
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70 } |
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71 |
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72 for (unsigned int j = 0; j <= b->size(); ++j) |
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73 { |
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74 DTW[0][j] = maxDTWValue; |
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75 } |
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76 |
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77 DTW[0][0] = 0.0; |
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78 } |
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79 |
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80 { //algorithm |
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81 for (unsigned int i = 1; i <= a->size(); ++i) |
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82 { |
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83 for (unsigned int j = 1; j <= b->size(); ++j) |
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84 { |
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85 To smallest = min(DTW[i - 1][j], DTW[i][j - 1], DTW[i - 1][j - 1]); |
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86 cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i-1)).x)> p(a->getPoint(i - 1) - b->getPoint(j - 1)); |
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87 To distance = std::sqrt(std::pow(p.x, 2) + std::pow(p.y, 2) + std::pow(p.z, 2)); |
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88 DTW[i][j] = std::min(smallest + distance, maxDTWValue); |
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89 } |
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90 } |
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91 } |
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92 |
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93 result = DTW[a->size()][b->size()]; |
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94 } |
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95 |
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96 private: |
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97 /** |
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98 * Maximum value that occurs during the calculation process. |
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99 */ |
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100 To maxDTWValue; |
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101 |
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102 /** |
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103 * Compute the minimum of \a a, \a b and \c c. |
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104 * |
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105 * @param[in] a input parameter |
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106 * @param[in] b input parameter |
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107 * @param[in] c input parameter |
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108 */ |
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109 To min(To a, To b, To c) |
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110 { |
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111 return std::min(std::min(a, b), c); |
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112 } |
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113 }; |
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114 |
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115 #endif /* DTWMETRIC_H_ */ |