DetectorEvaluationResult::DetectorEvaluationResult(size_t truePositives, size_t trueNegatives, size_t falsePositives, size_t falseNegatives) :
_truePositives(truePositives), _trueNegatives(trueNegatives), _falsePositives(falsePositives), _falseNegatives(falseNegatives) {
_precision = computePrecision(truePositives, falsePositives);
_recall = computeRecall(truePositives, falseNegatives);
_accuracy = computeAccuracy(truePositives, trueNegatives, falsePositives, falseNegatives);
}
size_t CameraPathModel::sampleObservation(size_t s1, size_t a) const {
static std::uniform_int_distribution<unsigned> dist1(0, 4);
static std::uniform_real_distribution<double> prob(0, 1);
// Modified this line from Basic
s1 = convertToNormalState(s1);
size_t positionUnderCamera = checkCameraField(a, s1);
// If the person is under the camera, we see it more correctly
// towards the center, and worse towards the edges (not exactly
// like this, since we compute imprecision from center as if the
// camera sees a line rather than an area, but close enough.
if ( positionUnderCamera != 0 ) {
double precision = computePrecision(positionUnderCamera, cameraData[a][0]);
// Camera worked correctly
if ( precision > prob(rand_) ) return positionUnderCamera;
// We return a state close to the one we saw (kind of noise..) or nothing
int cameraCheck = dist1(rand_);
if ( cameraCheck == 4 ) return positionUnderCamera;
return checkCameraField( a, getNextDirState(s1, cameraCheck) );
}
// Otherwise we don't see the target.
else {
return 0;
}
}
DetectorEvaluationResult::DetectorEvaluationResult(Mat& votingMask, vector<Mat>& targetMasks, unsigned short votingMaskThreshold) :
_truePositives(0), _trueNegatives(0), _falsePositives(0), _falseNegatives(0){
Mat mergedTargetsMask;
if (ImageUtils::mergeTargetMasks(targetMasks, mergedTargetsMask)) {
computeMasksSimilarity(votingMask, mergedTargetsMask, votingMaskThreshold, &_truePositives, &_trueNegatives, &_falsePositives, &_falseNegatives);
_precision = computePrecision(_truePositives, _falsePositives);
_recall = computeRecall(_truePositives, _falseNegatives);
_accuracy = computeAccuracy(_truePositives, _trueNegatives, _falsePositives, _falseNegatives);
}
}
double CameraPathModel::getObservationProbability(size_t s1, size_t a, size_t o) const {
// Changed this line from basic
s1 = convertToNormalState(s1);
size_t positionUnderCamera = checkCameraField(a, s1);
// If the target is not under the camera, we cannot see it
if ( !positionUnderCamera )
return o ? 0.0 : 1.0;
// Precision with used camera
double precision = computePrecision(positionUnderCamera, cameraData[a][0]);
double error = (1.0 - precision)/5.0;
if ( o == positionUnderCamera )
return precision + error;
double retvalue = 0.0;
// We accumulate due to non-movements around the edges.
for ( unsigned i = 0; i < 4; ++i )
if ( o == checkCameraField(a, getNextDirState(s1, i)) ) retvalue += error;
return retvalue;
}
