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GlobalEvent.cpp
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GlobalEvent.cpp
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/*
GlobalEvent.cpp
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
*
* This file is part of: freeture
*
* Copyright: (C) 2014-2015 Yoan Audureau
* FRIPON-GEOPS-UPSUD-CNRS
*
* License: GNU General Public License
*
* FreeTure is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* FreeTure is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* You should have received a copy of the GNU General Public License
* along with FreeTure. If not, see <http://www.gnu.org/licenses/>.
*
* Last modified: 20/07/2015
*
*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/**
* \file GlobalEvent.cpp
* \author Yoan Audureau -- FRIPON-GEOPS-UPSUD
* \version 1.0
* \date 03/06/2014
* \brief A Detected event occured on different consecutives frames in time.
*/
#include "GlobalEvent.h"
GlobalEvent::GlobalEvent(TimeDate::Date frameDate, int frameNum, int frameHeight, int frameWidth, Scalar c){
geAge = 0;
geAgeLastLE = 0;
geDate = frameDate;
geFirstFrameNum = frameNum;
geLastFrameNum = frameNum;
newLeAdded = false;
geMap = Mat(frameHeight,frameWidth, CV_8UC1, Scalar(0));
geMapColor = Mat(frameHeight,frameWidth, CV_8UC3, Scalar(0,0,0));
geDirMap = Mat(frameHeight,frameWidth, CV_8UC3, Scalar(0,0,0));
geLinear = true;
geBadPoint = 0;
geGoodPoint = 0;
geShifting = 0;
geColor = c;
geDir = Point(0,0);
}
GlobalEvent::~GlobalEvent(){
}
bool GlobalEvent::addLE(LocalEvent le){
// Get LE position.
Point center = Point(le.getMassCenter().x, le.getMassCenter().y);
// Indicates if the le in input can be added to the global event.
bool addLeDecision = true;
// First LE's position become a main point.
if(pts.size()==0){
mainPts.push_back(center);
geGoodPoint++;
ptsValidity.push_back(true);
}
// If the current le is at least the second.
else if(pts.size()>0){
//float d = sqrt(pow(pt.back().x - pt.at(pt.size()-2).x,2.0) + pow(pt.back().y - pt.at(pt.size()-2).y,2.0));
if(listv.size()>1 ) {
float scalar = le.getLeDir().x * listv.back().x + le.getLeDir().y * listv.back().y;
leDir = le.getLeDir();
if(scalar <= 0.0) clusterNegPos.push_back(false);
else clusterNegPos.push_back(true);
}
// Check global event direction each 3 new local event.
if((pts.size()+1)%3 == 0){
// If there is already at least two main points.
if(mainPts.size()>=2){
// Get first main point.
Point A = mainPts.front();
listA.push_back(A);
// Get last main point.
Point B = mainPts.back();
listB.push_back(B);
// Get current le position.
Point C = center;
listC.push_back(C);
// Vector from first main point to last main point.
Point u = Point(B.x - A.x, B.y - A.y);
listu.push_back(u);
// Vector from last main point to current le position.
Point v = Point(C.x - B.x, C.y - B.y);
listv.push_back(v);
geDir = v;
// Same mainPts position : No Displacement
if((v.x == 0 && v.y == 0) || (u.x == 0 && u.y == 0)){
listRad.push_back(0);
listAngle.push_back(0);
mainPtsValidity.push_back(false);
addLeDecision = false;
ptsValidity.push_back(false);
/*geBadPoint = 0;
geGoodPoint++;
mainPts.push_back(center);
ptsValidity.push_back(true);
mainPtsValidity.push_back(true);
circle(geDirMap, center, 5, Scalar(255,255,255), 1, 8, 0);*/
}else{
// Birds filter
/*float scalar = le.getLeDir().x * v.x + le.getLeDir().y * v.y;
if(scalar <= 0.0) clusterNegPos.push_back(false);
else clusterNegPos.push_back(true);
*/
// Norm vector u
float normU = sqrt(pow(u.x,2.0)+pow(u.y,2.0));
// Norm vector v
float normV = sqrt(pow(v.x,2.0)+pow(v.y,2.0));
// Compute angle between u and v.
float thetaRad = (u.x*v.x+u.y*v.y)/(normU*normV);
listRad.push_back(thetaRad);
float thetaDeg = (180 * acos(thetaRad))/3.14159265358979323846;
listAngle.push_back(thetaDeg);
if(thetaDeg > 40.0 || thetaDeg < -40.0 ){
geBadPoint++;
if(geBadPoint == 2){
geLinear = false;
}
addLeDecision = false;
ptsValidity.push_back(false);
mainPtsValidity.push_back(false);
circle(geDirMap, center, 5, Scalar(0,0,255), 1, 8, 0);
}else{
geBadPoint = 0;
geGoodPoint++;
mainPts.push_back(center);
ptsValidity.push_back(true);
mainPtsValidity.push_back(true);
circle(geDirMap, center, 5, Scalar(255,255,255), 1, 8, 0);
}
}
}else{
// Create new main point.
mainPts.push_back(center);
geGoodPoint++;
ptsValidity.push_back(true);
circle(geDirMap, center, 5, Scalar(255,255,255), 1, 8, 0);
}
}
}
// Add the le in input to the current ge.
if(addLeDecision){
// Save center of mass.
pts.push_back(center);
// Add the LE to the current GE.
LEList.push_back(le);
// Reset age without any new le.
geAgeLastLE = 0;
// Update ge map.
Mat res = geMap + le.getMap();
res.copyTo(geMap);
// Update colored ge map.
vector<Point>::iterator it;
int roiH = 10, roiW = 10;
for(it = le.mLeRoiList.begin(); it != le.mLeRoiList.end(); ++it){
Mat roi(roiH,roiW,CV_8UC3,geColor);
roi.copyTo(geMapColor(Rect((*it).x-roiW/2,(*it).y-roiH/2,roiW,roiH)));
}
// Update dirMap
geDirMap.at<Vec3b>(center.y,center.x) = Vec3b(0,255,0);
}else{
// Update dirMap
geDirMap.at<Vec3b>(center.y,center.x) = Vec3b(0,0,255);
}
return true;
}
bool GlobalEvent::continuousGoodPos(int n, string &msg){
msg += "continuousGoodPos\n";
int nb = 0;
int nn = 0;
msg += "size pts validity : " + Conversion::intToString(ptsValidity.size()) + " \n";
for(int i = 0; i < ptsValidity.size(); i++){
if(ptsValidity.at(i)){
nb++;
nn=0;
if(nb >= n) {
msg += "continuousGoodPos " + Conversion::intToString(n) + " = OK\n";
return true;
}
}else{
nn++;
nb=0;
if(nn == 2) {
msg += "continuousGoodPos " + Conversion::intToString(n) + " = NOT OK\n";
return false;
}
}
}
return false;
}
bool GlobalEvent::continuousBadPos(int n){
int nb = 0;
int nn = 0;
for(int i = 0; i < ptsValidity.size(); i++){
if(!ptsValidity.at(i)){
nb++;
nn=0;
if(nb >= n)
return true;
}else{
nn++;
nb=0;
if(nn == 2)
return false;
}
}
return false;
}
bool GlobalEvent::negPosClusterFilter(string &msg) {
msg += "negPosClusterFilter\n";
float counter = 0;
msg += "clusterNegPos size = " +Conversion::intToString(clusterNegPos.size())+ " \n";
for(int i = 0; i < clusterNegPos.size(); i++) {
if(clusterNegPos.at(i)) {
msg += "clusterNegPos true\n";
counter+=1.0;
}else{
msg += "clusterNegPos false\n";
}
}
if(counter >= (float)clusterNegPos.size()/2.0 && counter !=0) {
msg += "negPosClusterFilter = OK\n";
return true;
}else {
msg += "negPosClusterFilter = NOT OK\n";
return false;
}
}
bool GlobalEvent::ratioFramesDist(string &msg){
msg += "ratioFramesDist\n";
float d = sqrt(pow(mainPts.back().x - mainPts.front().x,2.0) + pow(mainPts.back().y - mainPts.front().y,2.0));
msg += "d = " +Conversion::floatToString(d)+ " \n";
int n = geLastFrameNum - geFirstFrameNum;
msg += "n = "+Conversion::intToString(n)+ " \n";
if(d > (n *0.333)){
msg += "ratio = ok\n";
return true;
}else{
msg += "ratio = not ok\n";
return false;
}
}