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annotate c/Motion.cpp @ 398:3399bd48cb40

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Ajout d'une méthode pour obtenir le nombre de FPS Méthode de capture des trames vidéos plus résistante aux erreur Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author Jean-Philippe Jodoin <jpjodoin@gmail.com>
date Mon, 29 Jul 2013 13:46:07 -0400
parents 03dbecd3a887
children f43bc0b0ba74
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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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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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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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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69 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]);
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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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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::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const {
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115 trajectoryDB.write(*positions, positionsTableName);
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116 trajectoryDB.write(*velocities, velocitiesTableName);
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117 }
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118
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119 #ifdef USE_OPENCV
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120 /// \todo add option for anti-aliased drawing, thickness
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121 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const {
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122 Point2f p1, p2;
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123 if (!homography.empty())
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124 p1 = project((*positions)[0], homography);
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125 else
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126 p1 = (*positions)[0];
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127 for (unsigned int i=1; i<positions->size(); i++) {
147
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diff changeset
128 if (!homography.empty())
176
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129 p2 = project((*positions)[i], homography);
147
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diff changeset
130 else
176
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131 p2 = (*positions)[i];
132
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132 line(img, p1, p2, color, 1);
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133 p1 = p2;
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diff changeset
134 }
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135 }
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diff changeset
136 #endif
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diff changeset
137
129
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138 // protected
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139
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140 void FeatureTrajectory::computeMotionData(const int& frameNum) {
176
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diff changeset
141 unsigned int nPositions = positions->size();
139
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diff changeset
142 if (nPositions >= 2) {
176
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143 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2];
139
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144 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length
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145 //velocities.add(frameNum-1, displacement);
176
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146 velocities->add(frameNum, displacement);
129
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147 float dist = norm(displacement);
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148 displacementDistances.push_back(dist);
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149 }
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150 }
163
cde87a07eb58 added graph structures
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151
cde87a07eb58 added graph structures
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diff changeset
152 /******************** FeatureGraph ********************/
179
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153
180
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154 void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) {
191
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155 vertex_descriptor newVertex = add_vertex(graph);
180
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156 graph[newVertex].feature = ft;
190
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157 for (graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first;
180
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158 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor
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159 FeatureTrajectoryPtr ft2 = graph[*vi].feature;
200
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diff changeset
160 if (newVertex != *vi) {
225
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diff changeset
161 int lastInstant = static_cast<int>(MIN(ft->getLastInstant(), ft2->getLastInstant()));
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diff changeset
162 int firstInstant = static_cast<int>(MAX(ft->getFirstInstant(), ft2->getFirstInstant()));
200
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163 if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime
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diff changeset
164 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) {
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diff changeset
165 UndirectedGraph::edge_descriptor e;
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diff changeset
166 bool unused;
232
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diff changeset
167 tie(e, unused) = add_edge(newVertex, *vi, graph);
200
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diff changeset
168 // no need to add measures to graph[e] (edge properties)
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diff changeset
169 }
186
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parents: 180
diff changeset
170 }
180
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diff changeset
171 }
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parents: 179
diff changeset
172 }
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parents: 179
diff changeset
173 }
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parents: 179
diff changeset
174
221
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diff changeset
175 void FeatureGraph::connectedComponents(const unsigned int& lastInstant) {
192
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parents: 191
diff changeset
176 computeVertexIndex();
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diff changeset
177 property_map<UndirectedGraph, int VertexInformation::*>::type components = get(&VertexInformation::index, graph);
188
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parents: 187
diff changeset
178
192
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diff changeset
179 int num = connected_components(graph, components, vertex_index_map(get(&VertexInformation::index, graph)));
221
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diff changeset
180 #ifdef DEBUG
201
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parents: 200
diff changeset
181 cout << "last instant threshold " << lastInstant << " Total number of components: " << num << endl;
221
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parents: 201
diff changeset
182 #endif
190
36968a63efe1 Got the connected_components to finally work using a vecS for the vertex list in the adjacency list.
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parents: 189
diff changeset
183
201
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diff changeset
184 vector<unsigned int> lastInstants(num, 0); // last instant of component with id
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parents: 200
diff changeset
185 vector<vector<vertex_descriptor> > tmpobjects(num), objects; // vector of components (component = vector of vertex descriptors)
191
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parents: 190
diff changeset
186
192
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diff changeset
187 graph_traits<UndirectedGraph>::vertex_iterator vi, vend;
232
04355e51d895 removed tr1::
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diff changeset
188 for(tie(vi,vend) = vertices(graph); vi != vend; ++vi) {
192
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parents: 191
diff changeset
189 unsigned int id = components[*vi];
221
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diff changeset
190 lastInstants[id] = max(lastInstants[id], graph[*vi].feature->getLastInstant());
192
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parents: 191
diff changeset
191 tmpobjects[id].push_back(*vi);
191
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parents: 190
diff changeset
192 }
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parents: 190
diff changeset
193
194
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parents: 192
diff changeset
194 objectHypotheses.clear();
191
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diff changeset
195 for (int i = 0; i < num; ++i) {
221
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parents: 201
diff changeset
196 #ifdef DEBUG
191
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parents: 190
diff changeset
197 cout << i << " " << lastInstants[i] << endl;
221
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parents: 201
diff changeset
198 #endif
277
21f14fadd098 removed warning
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parents: 232
diff changeset
199 if (lastInstants[i] < lastInstant)
194
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parents: 192
diff changeset
200 objectHypotheses.push_back(tmpobjects[i]);
191
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parents: 190
diff changeset
201 }
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parents: 190
diff changeset
202 }
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parents: 190
diff changeset
203
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 277
diff changeset
204 void FeatureGraph::getFeatureGroups(vector<vector<FeatureTrajectoryPtr> >& featureGroups) {
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parents: 277
diff changeset
205 featureGroups.clear();
191
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parents: 190
diff changeset
206
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parents: 190
diff changeset
207 for (unsigned int i=0; i<objectHypotheses.size(); ++i) {
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parents: 190
diff changeset
208 // check that there is on average at least minNFeaturesPerGroup features at each frame in the group
221
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parents: 201
diff changeset
209 unsigned int totalFeatureTime= graph[objectHypotheses[i][0]].feature->length();
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parents: 201
diff changeset
210 unsigned int firstInstant = graph[objectHypotheses[i][0]].feature->getFirstInstant();
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parents: 201
diff changeset
211 unsigned int lastInstant = graph[objectHypotheses[i][0]].feature->getLastInstant();
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parents: 201
diff changeset
212 for (unsigned int j=1; j<objectHypotheses[i].size(); ++j) {
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parents: 201
diff changeset
213 totalFeatureTime += graph[objectHypotheses[i][j]].feature->length();
225
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parents: 221
diff changeset
214 firstInstant = MIN(firstInstant, graph[objectHypotheses[i][j]].feature->getFirstInstant());
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parents: 221
diff changeset
215 lastInstant = MAX(lastInstant, graph[objectHypotheses[i][j]].feature->getLastInstant());
221
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parents: 201
diff changeset
216 }
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parents: 201
diff changeset
217 if (static_cast<float>(totalFeatureTime)/static_cast<float>(lastInstant-firstInstant+1) > minNFeaturesPerGroup) {
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parents: 201
diff changeset
218 #if DEBUG
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parents: 201
diff changeset
219 cout << "save group " << i << " of " << objectHypotheses[i].size() << " features " << endl;
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parents: 201
diff changeset
220 #endif
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 277
diff changeset
221 featureGroups.push_back(vector<FeatureTrajectoryPtr>());
194
09c7881073f3 connected commponents works, but issue with removing the vertices
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parents: 192
diff changeset
222 for (unsigned int j=0; j<objectHypotheses[i].size(); ++j) {
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
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parents: 277
diff changeset
223 featureGroups.back().push_back(graph[objectHypotheses[i][j]].feature);
221
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parents: 201
diff changeset
224 #if DEBUG
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parents: 201
diff changeset
225 cout << featureGroups.size() << " " << objectHypotheses[i][j] << endl;
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parents: 201
diff changeset
226 #endif
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parents: 201
diff changeset
227 clear_vertex(objectHypotheses[i][j], graph);
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diff changeset
228 remove_vertex(objectHypotheses[i][j], graph);
194
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parents: 192
diff changeset
229 }
191
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parents: 190
diff changeset
230 }
0e60a306d324 added basic code to identify features and save them (crash)
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parents: 190
diff changeset
231 }
188
1435965d8181 work on connected components
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parents: 187
diff changeset
232 }
1435965d8181 work on connected components
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parents: 187
diff changeset
233
196
aeab0b88c9b6 began testing of FeatureGraph
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parents: 194
diff changeset
234 string FeatureGraph::informationString(void) const {
180
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parents: 179
diff changeset
235 stringstream ss;
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parents: 179
diff changeset
236 ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges";
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parents: 179
diff changeset
237 return ss.str();
3a4eef37384f method to add features and vertices to graph
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parents: 179
diff changeset
238 }
192
38974d27dd2d connected_components is working with listS for vertex list
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parents: 191
diff changeset
239
196
aeab0b88c9b6 began testing of FeatureGraph
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parents: 194
diff changeset
240 int FeatureGraph::getNVertices(void) const { return num_vertices(graph);}
aeab0b88c9b6 began testing of FeatureGraph
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parents: 194
diff changeset
241
aeab0b88c9b6 began testing of FeatureGraph
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parents: 194
diff changeset
242 int FeatureGraph::getNEdges(void) const { return num_edges(graph);}
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parents: 194
diff changeset
243
192
38974d27dd2d connected_components is working with listS for vertex list
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parents: 191
diff changeset
244 void FeatureGraph::computeVertexIndex(void) {
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parents: 191
diff changeset
245 graph_traits<FeatureGraph::UndirectedGraph>::vertex_iterator vi, vend;
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parents: 191
diff changeset
246 graph_traits<FeatureGraph::UndirectedGraph>::vertices_size_type cnt = 0;
232
04355e51d895 removed tr1::
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parents: 231
diff changeset
247 for(tie(vi,vend) = vertices(graph); vi != vend; ++vi)
192
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parents: 191
diff changeset
248 graph[*vi].index = cnt++;
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parents: 191
diff changeset
249 }