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annotate c/Motion.cpp @ 187:aa1061fb9695

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using minmaxsimilarity
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 01 Dec 2011 18:13:10 -0500
parents 6c48283a78ca
children 1435965d8181
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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 "opencv2/core/core.hpp"
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5 #include "opencv2/highgui/highgui.hpp"
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6
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7 #include "src/TrajectoryDBAccessList.h"
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8
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9 using namespace std;
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10 using namespace cv;
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11
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12 /******************** FeatureTrajectory ********************/
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13
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14 FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const Mat& homography)
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15 : lost(false) {
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16 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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17 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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18 addPoint(frameNum, p, homography);
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19 }
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20
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21 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities)
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22 : lost(false) {
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23 positions = _positions;
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24 velocities = _velocities;
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25 }
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26
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27 FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) {
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28 bool success = trajectoryDB.read(positions, id, positionsTableName);
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29 if (!success)
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30 cout << "problem loading positions" << endl;
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31 success = trajectoryDB.read(velocities, id, velocitiesTableName);
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32 if (!success)
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33 cout << "problem loading velocities" << endl;
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34 // take advantage to request first and last instant from database
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35 trajectoryDB.timeInterval(firstInstant, lastInstant, id);
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36 }
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37
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38 bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const {
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39 bool result = false;
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40 unsigned int nPositions = positions->size();
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41 if (nPositions > nDisplacements) {
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42 float disp = 0;
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43 for (unsigned int i=0; i<nDisplacements; i++)
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44 disp += displacementDistances[nPositions-2-i];
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45 result = disp < minTotalFeatureDisplacement;
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46 }
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47 return result;
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48 }
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49
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50 bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const {
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51 bool result = true;
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52 unsigned int nPositions = positions->size();
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53 if (nPositions >= 3) {
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54 float ratio;
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55 if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3])
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56 ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3];
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57 else
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58 ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2];
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59
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60 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]);
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61
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62 result &= (ratio < accelerationBound) & (cosine > deviationBound);
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63 }
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64 return result;
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65 }
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66
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67 bool FeatureTrajectory::minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, float connectionDistance, float segmentationDistance) {
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68 float minDistance = norm(positions->getPointAtInstant(firstInstant)-ft.positions->getPointAtInstant(firstInstant));
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69 float maxDistance = minDistance;
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70 bool connected = minDistance <= connectionDistance;
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71 int t=firstInstant+1;
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72 while (t <= lastInstant && connected) {
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73 float distance = norm(positions->getPointAtInstant(t)-ft.positions->getPointAtInstant(t));
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74 if (distance < minDistance)
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75 minDistance = distance;
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76 else if (distance > maxDistance)
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77 maxDistance = distance;
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78 connected = connected && (maxDistance-minDistance < segmentationDistance);
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79 t++;
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80 }
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81
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82 return connected;
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83 }
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84
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85 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) {
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86 Point2f pp = p;
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87 if (!homography.empty())
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88 pp = project(p, homography);
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89 positions->add(frameNum, pp);
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90 computeMotionData(frameNum);
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91 assert(positions.size() == displacementDistances.size()+1);
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92 assert(positions.size() == velocities.size()+1);
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93 }
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94
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95 void FeatureTrajectory::shorten(void) {
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96 positions->pop_back();
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97 velocities->pop_back();
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98 displacementDistances.pop_back();
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99 }
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100
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101 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const {
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102 trajectoryDB.write(*positions, positionsTableName);
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103 trajectoryDB.write(*velocities, velocitiesTableName);
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104 }
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105
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106 #ifdef USE_OPENCV
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107 /// \todo add option for anti-aliased drawing, thickness
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108 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const {
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109 Point2f p1, p2;
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110 if (!homography.empty())
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111 p1 = project((*positions)[0], homography);
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112 else
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113 p1 = (*positions)[0];
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114 for (unsigned int i=1; i<positions->size(); i++) {
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115 if (!homography.empty())
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116 p2 = project((*positions)[i], homography);
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117 else
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118 p2 = (*positions)[i];
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119 line(img, p1, p2, color, 1);
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120 p1 = p2;
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121 }
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122 }
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123 #endif
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124
129
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125 // protected
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126
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127 void FeatureTrajectory::computeMotionData(const int& frameNum) {
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128 unsigned int nPositions = positions->size();
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129 if (nPositions >= 2) {
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130 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2];
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131 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length
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132 //velocities.add(frameNum-1, displacement);
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133 velocities->add(frameNum, displacement);
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134 float dist = norm(displacement);
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135 displacementDistances.push_back(dist);
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136 }
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137 }
163
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138
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139 /******************** FeatureGraph ********************/
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140
180
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141 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) {
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142 UndirectedGraph::vertex_descriptor newVertex = add_vertex(graph);
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143 graph[newVertex].feature = ft;
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144 for (boost::graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first;
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145 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor
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146 FeatureTrajectoryPtr ft2 = graph[*vi].feature;
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147 int lastInstant = static_cast<int>(min(ft->getLastInstant(), ft2->getLastInstant()));
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148 int firstInstant = static_cast<int>(max(ft->getFirstInstant(), ft2->getFirstInstant()));
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149 if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime
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150 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) {
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151 UndirectedGraph::edge_descriptor e;
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152 bool unused;
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153 tie(e, unused) = add_edge(newVertex, *vi, graph);
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154 // no need to add measures to graph[e]
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155 }
180
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156 }
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157 }
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158 }
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159
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160 string FeatureGraph::informationString(void) {
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161 stringstream ss;
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162 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges";
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163 return ss.str();
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164 }