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annotate c/Motion.cpp @ 585:aab2242ea88c
minor modification of objectNumbers to None
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 04 Dec 2014 17:04:56 -0500 |
parents | f86f5f25730a |
children | 045d05cef9d0 |
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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 |
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11 #include <iostream> |
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12 #include <vector> |
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13 #include <map> |
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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 using namespace boost; |
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20 |
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21 /******************** FeatureTrajectory ********************/ |
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22 |
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23 FeatureTrajectory::FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p, const Mat& homography) |
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24 : firstInstant(frameNum), lastInstant(frameNum) { |
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25 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); |
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26 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); |
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27 addPoint(frameNum, p, homography); |
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28 } |
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29 |
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30 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) { |
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31 positions = _positions; |
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32 velocities = _velocities; |
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33 positions->computeInstants(firstInstant, lastInstant); |
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34 } |
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35 |
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36 FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) { |
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37 bool success = trajectoryDB.read(positions, id, positionsTableName); |
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38 if (!success) |
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39 cout << "problem loading positions" << endl; |
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40 success = trajectoryDB.read(velocities, id, velocitiesTableName); |
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41 if (!success) |
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42 cout << "problem loading velocities" << endl; |
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43 // take advantage to request first and last instant from database |
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44 trajectoryDB.timeInterval(firstInstant, lastInstant, id); |
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45 } |
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46 |
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47 bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const { |
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48 bool result = false; |
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49 unsigned int nPositions = positions->size(); |
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50 if (nPositions > nDisplacements) { |
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51 float disp = 0; |
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52 for (unsigned int i=0; i<nDisplacements; i++) |
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53 disp += displacementDistances[nPositions-2-i]; |
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54 result = disp <= minTotalFeatureDisplacement; |
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55 } |
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56 return result; |
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57 } |
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58 |
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59 bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const { |
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60 bool result = true; |
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61 unsigned int nPositions = positions->size(); |
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62 if (nPositions >= 3) { |
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63 float ratio; |
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64 if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3]) |
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65 ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3]; |
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66 else |
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67 ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2]; |
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68 |
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69 float cosine = (*velocities)[nPositions-3].dot((*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]); |
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480 | 71 result = (ratio < accelerationBound) & (cosine > deviationBound); |
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72 } |
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73 return result; |
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74 } |
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75 |
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76 bool FeatureTrajectory::minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, const float& connectionDistance, const float& segmentationDistance) { |
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77 float minDistance = norm(positions->getPointAtInstant(firstInstant)-ft.positions->getPointAtInstant(firstInstant)); |
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78 float maxDistance = minDistance; |
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79 bool connected = (minDistance <= connectionDistance); |
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80 int t=firstInstant+1; |
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81 while (t <= lastInstant && connected) { |
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82 float distance = norm(positions->getPointAtInstant(t)-ft.positions->getPointAtInstant(t)); |
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83 if (distance < minDistance) |
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84 minDistance = distance; |
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85 else if (distance > maxDistance) |
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86 maxDistance = distance; |
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87 connected = connected && (maxDistance-minDistance <= segmentationDistance); |
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88 t++; |
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89 } |
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90 |
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91 return connected; |
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92 } |
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93 |
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94 void FeatureTrajectory::addPoint(const unsigned int& frameNum, const Point2f& p, const Mat& homography) { |
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95 Point2f pp = p; |
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96 if (!homography.empty()) |
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97 pp = project(p, homography); |
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98 positions->add(frameNum, pp); |
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99 if (frameNum < firstInstant) |
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100 firstInstant = frameNum; |
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101 if (frameNum > lastInstant) |
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102 lastInstant = frameNum; |
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103 computeMotionData(frameNum); |
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104 assert(positions->size() == displacementDistances.size()+1); |
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105 assert(positions->size() == velocities->size()+1); |
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106 } |
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107 |
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108 void FeatureTrajectory::shorten(void) { |
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109 positions->pop_back(); |
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110 velocities->pop_back(); |
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111 displacementDistances.pop_back(); |
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112 } |
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113 |
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114 void FeatureTrajectory::movingAverage(const unsigned int& nFramesSmoothing) { |
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115 positions->movingAverage(nFramesSmoothing); |
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116 velocities->movingAverage(nFramesSmoothing); |
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117 } |
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118 |
142
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119 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const { |
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120 trajectoryDB.write(*positions, positionsTableName); |
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121 trajectoryDB.write(*velocities, velocitiesTableName); |
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122 } |
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123 |
132
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124 #ifdef USE_OPENCV |
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125 /// \todo add option for anti-aliased drawing, thickness |
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126 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const { |
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127 Point2f p1, p2; |
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128 if (!homography.empty()) |
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129 p1 = project((*positions)[0], homography); |
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130 else |
176
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131 p1 = (*positions)[0]; |
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132 for (unsigned int i=1; i<positions->size(); i++) { |
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133 if (!homography.empty()) |
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134 p2 = project((*positions)[i], homography); |
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135 else |
176
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136 p2 = (*positions)[i]; |
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137 line(img, p1, p2, color, 1); |
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138 p1 = p2; |
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139 } |
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140 } |
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141 #endif |
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142 |
129
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143 // protected |
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144 |
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145 void FeatureTrajectory::computeMotionData(const int& frameNum) { |
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146 unsigned int nPositions = positions->size(); |
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147 if (nPositions >= 2) { |
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148 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2]; |
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149 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length |
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150 //velocities.add(frameNum-1, displacement); |
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151 velocities->add(frameNum, displacement); |
129
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152 float dist = norm(displacement); |
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153 displacementDistances.push_back(dist); |
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154 } |
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155 } |
163
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156 |
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157 /******************** FeatureGraph ********************/ |
179
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158 |
180
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159 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) { |
191
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160 vertex_descriptor newVertex = add_vertex(graph); |
180
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161 graph[newVertex].feature = ft; |
190
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162 for (graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first; |
180
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163 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor |
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|
164 FeatureTrajectoryPtr ft2 = graph[*vi].feature; |
200
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|
165 if (newVertex != *vi) { |
225
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166 int lastInstant = static_cast<int>(MIN(ft->getLastInstant(), ft2->getLastInstant())); |
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167 int firstInstant = static_cast<int>(MAX(ft->getFirstInstant(), ft2->getFirstInstant())); |
200
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|
168 if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime |
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|
169 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) { |
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diff
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|
170 UndirectedGraph::edge_descriptor e; |
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|
171 bool unused; |
486
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diff
changeset
|
172 boost::tuples::tie(e, unused) = add_edge(newVertex, *vi, graph); |
200
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173 // no need to add measures to graph[e] (edge properties) |
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diff
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|
174 } |
186
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diff
changeset
|
175 } |
180
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176 } |
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changeset
|
177 } |
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changeset
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178 } |
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179 |
221
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diff
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180 void FeatureGraph::connectedComponents(const unsigned int& lastInstant) { |
192
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diff
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|
181 computeVertexIndex(); |
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diff
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182 property_map<UndirectedGraph, int VertexInformation::*>::type components = get(&VertexInformation::index, graph); |
188
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diff
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183 |
192
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184 int num = connected_components(graph, components, vertex_index_map(get(&VertexInformation::index, graph))); |
221
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diff
changeset
|
185 #ifdef DEBUG |
201
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diff
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186 cout << "last instant threshold " << lastInstant << " Total number of components: " << num << endl; |
221
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diff
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187 #endif |
190
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diff
changeset
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188 |
201
f7ddfc4aeb1e
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189 vector<unsigned int> lastInstants(num, 0); // last instant of component with id |
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190 vector<vector<vertex_descriptor> > tmpobjects(num), objects; // vector of components (component = vector of vertex descriptors) |
191
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|
191 |
192
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changeset
|
192 graph_traits<UndirectedGraph>::vertex_iterator vi, vend; |
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193 for(boost::tuples::tie(vi,vend) = vertices(graph); vi != vend; ++vi) { |
192
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diff
changeset
|
194 unsigned int id = components[*vi]; |
221
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195 lastInstants[id] = max(lastInstants[id], graph[*vi].feature->getLastInstant()); |
192
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|
196 tmpobjects[id].push_back(*vi); |
191
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changeset
|
197 } |
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198 |
194
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diff
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|
199 objectHypotheses.clear(); |
191
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200 for (int i = 0; i < num; ++i) { |
221
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diff
changeset
|
201 #ifdef DEBUG |
191
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changeset
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202 cout << i << " " << lastInstants[i] << endl; |
221
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diff
changeset
|
203 #endif |
277
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diff
changeset
|
204 if (lastInstants[i] < lastInstant) |
194
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diff
changeset
|
205 objectHypotheses.push_back(tmpobjects[i]); |
191
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diff
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|
206 } |
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changeset
|
207 } |
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diff
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208 |
391
03dbecd3a887
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diff
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|
209 void FeatureGraph::getFeatureGroups(vector<vector<FeatureTrajectoryPtr> >& featureGroups) { |
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|
210 featureGroups.clear(); |
191
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211 |
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diff
changeset
|
212 for (unsigned int i=0; i<objectHypotheses.size(); ++i) { |
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changeset
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213 // check that there is on average at least minNFeaturesPerGroup features at each frame in the group |
221
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diff
changeset
|
214 unsigned int totalFeatureTime= graph[objectHypotheses[i][0]].feature->length(); |
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diff
changeset
|
215 unsigned int firstInstant = graph[objectHypotheses[i][0]].feature->getFirstInstant(); |
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diff
changeset
|
216 unsigned int lastInstant = graph[objectHypotheses[i][0]].feature->getLastInstant(); |
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diff
changeset
|
217 for (unsigned int j=1; j<objectHypotheses[i].size(); ++j) { |
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diff
changeset
|
218 totalFeatureTime += graph[objectHypotheses[i][j]].feature->length(); |
225
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diff
changeset
|
219 firstInstant = MIN(firstInstant, graph[objectHypotheses[i][j]].feature->getFirstInstant()); |
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diff
changeset
|
220 lastInstant = MAX(lastInstant, graph[objectHypotheses[i][j]].feature->getLastInstant()); |
221
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221 } |
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222 if (static_cast<float>(totalFeatureTime)/static_cast<float>(lastInstant-firstInstant+1) > minNFeaturesPerGroup) { |
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223 #if DEBUG |
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224 cout << "save group " << i << " of " << objectHypotheses[i].size() << " features " << endl; |
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225 #endif |
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226 featureGroups.push_back(vector<FeatureTrajectoryPtr>()); |
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227 for (unsigned int j=0; j<objectHypotheses[i].size(); ++j) { |
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228 featureGroups.back().push_back(graph[objectHypotheses[i][j]].feature); |
221
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229 #if DEBUG |
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230 cout << featureGroups.size() << " " << objectHypotheses[i][j] << endl; |
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231 #endif |
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232 clear_vertex(objectHypotheses[i][j], graph); |
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233 remove_vertex(objectHypotheses[i][j], graph); |
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234 } |
191
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235 } |
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236 } |
188
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237 } |
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238 |
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239 string FeatureGraph::informationString(void) const { |
180
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240 stringstream ss; |
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241 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges"; |
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242 return ss.str(); |
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243 } |
192
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244 |
196
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245 int FeatureGraph::getNVertices(void) const { return num_vertices(graph);} |
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246 |
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247 int FeatureGraph::getNEdges(void) const { return num_edges(graph);} |
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248 |
192
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249 void FeatureGraph::computeVertexIndex(void) { |
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250 graph_traits<FeatureGraph::UndirectedGraph>::vertex_iterator vi, vend; |
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251 graph_traits<FeatureGraph::UndirectedGraph>::vertices_size_type cnt = 0; |
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252 for(boost::tuples::tie(vi,vend) = vertices(graph); vi != vend; ++vi) |
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253 graph[*vi].index = cnt++; |
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254 } |