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view c/Motion.cpp @ 190:36968a63efe1
Got the connected_components to finally work using a vecS for the vertex list in the adjacency list.
In this case, the component map is simply a vector of ints (which is the type of UndirectedGraph::vextex_descriptor (=graph_traits<FeatureGraph>::vertex_descriptor) and probably UndirectedGraph::vertices_size_type).
To use listS, I was told on the Boost mailing list:
>> If you truly need listS, you will need to create a vertex index
>> map, fill it in before you create the property map, and pass it to the
>> vector_property_map constructor (and as a type argument to that class).
It may be feasible with a component map like
shared_array_property_map< graph_traits<FeatureGraph>::vertex_descriptor, property_map<FeatureGraph, vertex_index_t>::const_type > components(num_vertices(g), get(vertex_index, g));
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 07 Dec 2011 18:51:32 -0500 |
parents | 1116f0a1ff31 |
children | 0e60a306d324 |
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#include "Motion.hpp" #include "cvutils.hpp" #include "src/TrajectoryDBAccessList.h" #include "opencv2/core/core.hpp" #include "opencv2/highgui/highgui.hpp" #include <boost/graph/connected_components.hpp> #include <iostream> #include <vector> #include <algorithm> #include <utility> using namespace std; using namespace cv; using namespace boost; /******************** FeatureTrajectory ********************/ FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const Mat& homography) : lost(false) { positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); addPoint(frameNum, p, homography); } FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) : lost(false) { positions = _positions; velocities = _velocities; } FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) { bool success = trajectoryDB.read(positions, id, positionsTableName); if (!success) cout << "problem loading positions" << endl; success = trajectoryDB.read(velocities, id, velocitiesTableName); if (!success) cout << "problem loading velocities" << endl; // take advantage to request first and last instant from database trajectoryDB.timeInterval(firstInstant, lastInstant, id); } bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const { bool result = false; unsigned int nPositions = positions->size(); if (nPositions > nDisplacements) { float disp = 0; for (unsigned int i=0; i<nDisplacements; i++) disp += displacementDistances[nPositions-2-i]; result = disp < minTotalFeatureDisplacement; } return result; } bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const { bool result = true; unsigned int nPositions = positions->size(); if (nPositions >= 3) { float ratio; if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3]) ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3]; else ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2]; float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]); result &= (ratio < accelerationBound) & (cosine > deviationBound); } return result; } bool FeatureTrajectory::minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, float connectionDistance, float segmentationDistance) { float minDistance = norm(positions->getPointAtInstant(firstInstant)-ft.positions->getPointAtInstant(firstInstant)); float maxDistance = minDistance; bool connected = (minDistance <= connectionDistance); int t=firstInstant+1; while (t <= lastInstant && connected) { float distance = norm(positions->getPointAtInstant(t)-ft.positions->getPointAtInstant(t)); if (distance < minDistance) minDistance = distance; else if (distance > maxDistance) maxDistance = distance; connected = connected && (maxDistance-minDistance < segmentationDistance); t++; } return connected; } void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) { Point2f pp = p; if (!homography.empty()) pp = project(p, homography); positions->add(frameNum, pp); computeMotionData(frameNum); assert(positions.size() == displacementDistances.size()+1); assert(positions.size() == velocities.size()+1); } void FeatureTrajectory::shorten(void) { positions->pop_back(); velocities->pop_back(); displacementDistances.pop_back(); } void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const { trajectoryDB.write(*positions, positionsTableName); trajectoryDB.write(*velocities, velocitiesTableName); } #ifdef USE_OPENCV /// \todo add option for anti-aliased drawing, thickness void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const { Point2f p1, p2; if (!homography.empty()) p1 = project((*positions)[0], homography); else p1 = (*positions)[0]; for (unsigned int i=1; i<positions->size(); i++) { if (!homography.empty()) p2 = project((*positions)[i], homography); else p2 = (*positions)[i]; line(img, p1, p2, color, 1); p1 = p2; } } #endif // protected void FeatureTrajectory::computeMotionData(const int& frameNum) { unsigned int nPositions = positions->size(); if (nPositions >= 2) { Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2]; //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length //velocities.add(frameNum-1, displacement); velocities->add(frameNum, displacement); float dist = norm(displacement); displacementDistances.push_back(dist); } } /******************** FeatureGraph ********************/ void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) { UndirectedGraph::vertex_descriptor newVertex = add_vertex(graph); graph[newVertex].feature = ft; for (graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first; vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor FeatureTrajectoryPtr ft2 = graph[*vi].feature; int lastInstant = static_cast<int>(min(ft->getLastInstant(), ft2->getLastInstant())); int firstInstant = static_cast<int>(max(ft->getFirstInstant(), ft2->getFirstInstant())); if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) { UndirectedGraph::edge_descriptor e; bool unused; tie(e, unused) = add_edge(newVertex, *vi, graph); // no need to add measures to graph[e] (edge properties) } } } } void FeatureGraph::connectedComponents(const int& lastInstant) { vector<UndirectedGraph::vertex_descriptor> components(num_vertices(graph)); //vector_property_map<UndirectedGraph::vertex_descriptor> components(num_vertices(graph)); //vector_property_map< graph_traits<UndirectedGraph>::vertex_descriptor, property_map<UndirectedGraph, vertex_index_t>::const_type > components(num_vertices(graph)); int num = connected_components(graph, &components[0]); cout << "Total number of components: " << num << endl; for (unsigned int i = 0; i < num_vertices(graph); ++i) cout << "Vertex " << i <<" is in component " << components[i] << endl; cout << endl; } string FeatureGraph::informationString(void) { stringstream ss; ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges"; return ss.str(); }