void TrajectoryClassifier::run()
{
SampleSet& set = SampleSet::get_instance();
if (set.empty())
{
Logger<< " End Clustering(Warning: Empty Set).\n";
return;
}
//Step 1: compute rotate feature
DeformableRegistration nonrigid;
vector<PCloudTraj> totalTraj;
vector<IndexType> sampleCenterVtxId;
totalTraj.clear();
sampleCenterVtxId.clear();
if (isEqual)
{
Logger<<"Using Equal Length Traj"<<endl;
nonrigid.calculateFixedLengthTrajWithTracingAlong(totalTraj,centerFrame,sampleCenterVtxId,trajLen,octreeRes);
}else
{
Logger<<"Using Unequal Length Traj"<<endl;
nonrigid.calculateDownSmpLifeSpanTrajCenter(totalTraj,centerFrame,sampleCenterVtxId,trajLen,octreeRes,threshold,lifeT);
}
//calculate motion models
IndexType modeNum = (IndexType)(modelT * sampleCenterVtxId.size());
vector<IndexType> labels;
labels.resize(totalTraj.size(),0);
if (totalTraj.size() < 50)
{
Logger<<"Traj size is small!.\n";
Logger<< " End Clustering.\n";
return;
}
//rigid or affine motion model
if (isRigid)
{
Logger<<"Using Rigid motion model"<<endl;
vector<PCloudModel> totalModel;
totalModel.clear();
nonrigid.sampleModel(totalTraj,totalModel,modeNum);
J_LinkageAdapter_Matlab<PCloudTraj, PCloudModel, Traj2ModDistanceFunc> algo_adaptor(totalTraj, totalModel, labels, Traj2ModDistanceFunc(threshold),perC);
algo_adaptor.compute();
}else
{
Logger<<"Using Affine motion model"<<endl;
vector<PCloudAffModel> totalModel;
totalModel.clear();
nonrigid.sampleAffineModel(totalTraj,totalModel,modeNum);
J_LinkageAdapter_Matlab<PCloudTraj, PCloudAffModel, Traj2AffModelDistFunc> algo_adaptor(totalTraj, totalModel, labels, Traj2AffModelDistFunc(threshold),perC);
algo_adaptor.compute();
}
Logger<<"centerFrame = "<<centerFrame<<endl;
Sample& sample0 = set[centerFrame];
vector<bool> isSelector(sample0.num_vertices(),false);
//in order to visual sample vertexes
for (int i = 0; i < sampleCenterVtxId.size(); i++)
{
isSelector[sampleCenterVtxId[i]] = true;
}
if (isEqual)
{
#ifdef SAVE_CORRESPONDENCE
IndexType smp_range[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,
51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,
101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,
141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173};
char corr_file_name[1024];
if(_access(".\\tmp",0) == -1){
CreateDirectory(_T(".\\tmp"), NULL);
}
if(_access(".\\tmp\\corr",0) == -1){
CreateDirectory(_T(".\\tmp\\corr"), NULL);
}
sprintf(corr_file_name,".\\tmp\\corr\\hksingle_corr%.2d_%.2f.txt",centerFrame,perC);
FILE *in_correspond = fopen(corr_file_name,"w");
for ( int i=0; i<sampleCenterVtxId.size();i++ )
{
for (int j=0; j<(sizeof(smp_range)/sizeof(IndexType));j++)
{
if(centerFrame==smp_range[j] || totalTraj[i].trajLifeSpan.start > smp_range[j] )continue;
if(totalTraj[i].trajLifeSpan.end < smp_range[j])break;
IndexType v = sampleCenterVtxId[i];
fprintf(in_correspond,"%d %d %d %d\n", centerFrame, v, smp_range[j], totalTraj[i].trajNode[smp_range[j] - totalTraj[i].trajLifeSpan.start]);
}
}
fclose(in_correspond);
#endif
bubleSort(sampleCenterVtxId,labels,(IndexType)labels.size());
vector<IndexType> label_smooth(labels.size(),0);
diff_using_bfs(labels,sampleCenterVtxId,centerFrame);
nonrigid.smoothSmapleLabel_KDTree(sample0,sampleCenterVtxId,labels,label_smooth);
IndexType nLabels = 1;
// in order to set the label system continuous and the 0 as the first label
nLabels = orderLabels(label_smooth);
Logger<<"seg size = "<<nLabels;
vector<IndexType> result_label(sample0.num_vertices(),0);
// propagate the sample vertexes to original point cloud.
nonrigid.propagateLabel2Orignal(sample0,sampleCenterVtxId,label_smooth,result_label);
#ifdef SAVE_LABELS
char label_labsmooth[1024];
if(_access(".\\tmp",0) == -1){
CreateDirectory(_T(".\\tmp"), NULL);
}
if(_access(".\\tmp\\results",0) == -1){
CreateDirectory(_T(".\\tmp\\label"), NULL);
}
sprintf(label_labsmooth,".\\tmp\\label\\orilabels%.2d_%.2f.txt",centerFrame,perC);
FILE *in_label_smooth = fopen(label_labsmooth, "w");
IndexType tpd = 0;
for ( int i=0; i<set[centerFrame].num_vertices(); i++ )
{
if (isSelector[i]) //to output sampled vtx
{
fprintf( in_label_smooth, "%d %d %d\n", centerFrame, result_label[i], i );
}
}
fclose(in_label_smooth);
#endif
#ifdef SAVE_CORRESPONDENCE
//visualize the segmentation results in point cloud.
IndexType i = 0;
IndexType k = 0;
for (Sample::vtx_iterator v_iter = sample0.begin();
v_iter != sample0.end();
v_iter++,i++ )
{
if (isSelector[i])
{
(*v_iter)->set_visble(true);
(*v_iter)->set_label( label_smooth[k] );//smooth label
k++;
}else
{
(*v_iter)->set_visble(false);
}
}
#endif
}
//IndexType frames[] = {1,2,3,4,5,6,7,8,9,10/*,11,12,13,14,15,16,17,18,19,20*/};
if ( !isEqual)
{
for ( IndexType i= (centerFrame - trajLen/2 ); i<= (centerFrame + trajLen/2 ); i++ )
{
for (IndexType j=0; j<set[i].num_vertices(); j++)
{
set[i][j].set_visble(false);
}
}
map<IndexType, IndexType> inter_labels;
IndexType trajSize = (IndexType)totalTraj.size();
for (IndexType tId = 0; tId < trajSize; tId ++)
{
IndexType nodeId = 0;
for (IndexType stF = totalTraj[tId].trajLifeSpan.start; stF <= totalTraj[tId].trajLifeSpan.end; stF ++, nodeId ++)
{
if ( centerFrame == stF)
{
inter_labels[totalTraj[tId].trajNode[nodeId] ] = labels[tId];
}
}
}
vector<IndexType> order_labels;
order_labels.resize(sampleCenterVtxId.size(),0);
for (IndexType i= 0; i < sampleCenterVtxId.size(); i ++)
{
if (inter_labels.find(sampleCenterVtxId[i]) != inter_labels.end() )
{
order_labels[i] = inter_labels[sampleCenterVtxId[i] ];
}else
{
Logger<<"Unmark point.\n";
}
}
bubleSort(sampleCenterVtxId,order_labels,(IndexType)order_labels.size());
vector<IndexType> label_smooth(order_labels.size(),0);
diff_using_bfs(order_labels,sampleCenterVtxId,centerFrame);
nonrigid.smoothSmapleLabel_KDTree(sample0,sampleCenterVtxId,order_labels,label_smooth);
IndexType nLabels = 0;
nLabels = orderLabels(label_smooth);
Logger<<"seg size = "<<nLabels;
IndexType i = 0;
IndexType k = 0;
for (Sample::vtx_iterator v_iter = sample0.begin();
v_iter != sample0.end();
v_iter++,i++ )
{
if (isSelector[i])
{
(*v_iter)->set_visble(true);
(*v_iter)->set_label( label_smooth[k] );//smooth label
k++;
}else
{
(*v_iter)->set_visble(false);
}
}
}
Logger<< " End Clustering.\n";
}
void TrajectoryClassifier::run()
{
Loggger << "Begin Clustering.\n";
SampleSet& set = SampleSet::get_instance();
if (set.empty())
{
Loggger<< " End Clustering(Warning: Empty Set).\n";
emit finish_compute();
return;
}
//Step 1: compute rotate feature
DeformableRegistration nonrigid;
//Loggger<<"Neighbor Number = "<<neigborNum<<endl;
//MatrixXX featureMat;
//nonrigid.calculateTrajFrature(featureMat);
// test life spans traj
vector<PCloudTraj> totalTraj;
vector<IndexType> sampleCenterVtxId;
totalTraj.clear();
sampleCenterVtxId.clear();
//calculate trajectories with either equal or unequal.
if (isEqual)
{
Loggger<<"Using Equal Length Traj"<<endl;
nonrigid.calculateFixedLengthTrajWithTracingAlong(totalTraj,centerFrame,sampleCenterVtxId,trajLen,octreeRes);
//nonrigid.calculateFixedLengthTraj(totalTraj,centerFrame,sampleCenterVtxId,trajLen,octreeRes);//ÏȲÉÑùÔÙÅä×¼--¼ä¸ôÅä×¼--always
}else
{
Loggger<<"Using Unequal Length Traj"<<endl;
//nonrigid.calculateDownSmpLifeSpanTraj(totalTraj,centerFrame,sampleCenterVtxId,trajLen,octreeRes,threshold,lifeT);
nonrigid.calculateDownSmpLifeSpanTrajCenter(totalTraj,centerFrame,sampleCenterVtxId,trajLen,octreeRes,threshold,lifeT);
}
//calculate motion models
IndexType modeNum = modelT * sampleCenterVtxId.size();
vector<IndexType> labels;
labels.resize(totalTraj.size(),0);
if (totalTraj.size() < 50)
{
Loggger<<"Traj size is small!.\n";
Loggger<< " End Clustering.\n";
emit finish_compute();
return;
}
//rigid or affine motion model
if (isRigid)
{
Loggger<<"Using Rigid motion model"<<endl;
vector<PCloudModel> totalModel;
totalModel.clear();
nonrigid.sampleModel(totalTraj,totalModel,modeNum);
J_LinkageAdapter_Matlab<PCloudTraj, PCloudModel, Traj2ModDistanceFunc> algo_adaptor(totalTraj, totalModel, labels, Traj2ModDistanceFunc(threshold),perC);
algo_adaptor.compute();
}else
{
Loggger<<"Using Affine motion model"<<endl;
vector<PCloudAffModel> totalModel;
totalModel.clear();
nonrigid.sampleAffineModel(totalTraj,totalModel,modeNum);
J_LinkageAdapter_Matlab<PCloudTraj, PCloudAffModel, Traj2AffModelDistFunc> algo_adaptor(totalTraj, totalModel, labels, Traj2AffModelDistFunc(threshold),perC);
algo_adaptor.compute();
}
//Êä³ö²ÎÊý
Loggger<<"centerFrame = "<<centerFrame<<endl;
LOCK( set[centerFrame] );
Sample& sample0 = set[centerFrame];
vector<bool> isSelector(sample0.num_vertices(),false);
//in order to visual sample vertexes
for (int i = 0; i < sampleCenterVtxId.size(); i++)
{
isSelector[sampleCenterVtxId[i]] = true;
}
if (isEqual)
{
#ifdef SAVE_CORRESPONDENCE
IndexType smp_range[] = {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,
51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,
101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,
141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173};
char corr_file_name[1024];
//sprintf(corr_file_name,"F:\\EG2015\\rebuttal1127\\hanger\\hanger_corr%.2d_%.2f.txt",centerFrame,perC);
//sprintf(corr_file_name,"G:\\Projects\\EG2015\\rebuttal1127\\15_26\\hksingle_corr%.2d_%.2f.txt",centerFrame,perC);
//sprintf(corr_file_name,"G:\\Projects\\EG2015\\rebuttal1127\\hanger\\hangerAll\\hangerAll_corr%.2d_%.2f.txt",centerFrame,perC);
//horse eva 12-15
sprintf(corr_file_name,"G:\\Data\\horse\\quaEva1215\\J-linkage threshold test\\hksingle_corr%.2d_%.2f.txt",centerFrame,perC);
FILE *in_correspond = fopen(corr_file_name,"w");
for ( int i=0; i<sampleCenterVtxId.size();i++ )
{
for (int j=0; j<(sizeof(smp_range)/sizeof(IndexType));j++)
{
if(centerFrame==smp_range[j] || totalTraj[i].trajLifeSpan.start > smp_range[j] )continue;
if(totalTraj[i].trajLifeSpan.end < smp_range[j])break;
IndexType v = sampleCenterVtxId[i];
fprintf(in_correspond,"%d %d %d %d\n", centerFrame, v, smp_range[j], totalTraj[i].trajNode[smp_range[j] - totalTraj[i].trajLifeSpan.start]);
}
}
fclose(in_correspond);
#endif
bubleSort(sampleCenterVtxId,labels,labels.size());
vector<IndexType> label_smooth(labels.size(),0);
//separate the same motion at nonadjacent region.
//diff_using_bfs(labels,sampleCenterVtxId,centerFrame);
//smooth the segmentation results.
nonrigid.smoothSmapleLabel_KDTree(sample0,sampleCenterVtxId,labels,label_smooth);
IndexType nLabels = 1;
// in order to set the label system continuous and the 0 as the first label
nLabels = orderLabels(label_smooth);
Loggger<<"seg size = "<<nLabels;
vector<IndexType> result_label(sample0.num_vertices(),0);
// propagate the sample vertexes to original point cloud.
nonrigid.propagateLabel2Orignal(sample0,sampleCenterVtxId,label_smooth,result_label);
#ifdef SAVE_LABELS
char label_labsmooth[1024];
//sprintf(label_labsmooth,"F:\\EG2015\\rebuttal1127\\hanger\\hanger_labels%.2d_%.2f.txt",centerFrame,perC);
//sprintf(label_labsmooth,"G:\\Projects\\EG2015\\rebuttal1127\\15_26\\hklabels%.2d_%.2f.txt",centerFrame,perC);
//sprintf(label_labsmooth,"G:\\Projects\\EG2015\\rebuttal1127\\hanger\\hangerAll\\hangerAll_labels%.2d_%.2f.txt",centerFrame,perC);
//horse eva 12-15
sprintf(label_labsmooth,"G:\\Data\\born\\one_chair\\downsample\\orilabels%.2d_%.2f.txt",centerFrame,perC);
FILE *in_label_smooth = fopen(label_labsmooth, "w");
IndexType tpd = 0;
for ( int i=0; i<set[centerFrame].num_vertices(); i++ )
{
fprintf( in_label_smooth, "%d %d %d\n", centerFrame, result_label[i], i );
}
fclose(in_label_smooth);
#endif
#ifdef SAVE_CORRESPONDENCE
//visualize the segmentation results in point cloud.
IndexType i = 0;
IndexType k = 0;
for (Sample::vtx_iterator v_iter = sample0.begin();
v_iter != sample0.end();
v_iter++,i++ )
{
if (isSelector[i])
{
(*v_iter)->set_visble(true);
//(*v_iter)->set_label( labels[k] );//orignal label
(*v_iter)->set_label( label_smooth[k] );//smooth label
k++;
}else
{
(*v_iter)->set_visble(false);
}
}
#endif
}
//
// //IndexType frames[] = {1,2,3,4,5,6,7,8,9,10/*,11,12,13,14,15,16,17,18,19,20*/};
// if ( !isEqual)
// {
// for ( IndexType i= (centerFrame - trajLen/2 ); i<= (centerFrame + trajLen/2 ); i++ )
// {
// for (IndexType j=0; j<set[i].num_vertices(); j++)
// {
// set[i][j].set_visble(false);
// }
// }
//
// //ÉèÖÃÖÐÐÄ֡ŤÇúÁ¿´óµÄµãlabelΪ0
// // IndexType i = 0;
// // for (Sample::vtx_iterator v_iter = sample0.begin();
// // v_iter != sample0.end();
// // v_iter++,i++ )
// // {
// // if (isSelector[i])
// // {
// // (*v_iter)->set_visble(true);
// // (*v_iter)->set_label( 0 );//smooth label
// // }/*else
// // {
// // (*v_iter)->set_visble(false);
// // }*/
// // }
//
//
// //¼Ç¼ÖÐÐÄÖ¡¶¥µã±êÇ©Çé¿ö
// map<IndexType, IndexType> inter_labels;
//
// //¿ÉÊÓ»¯¹ì¼£µÄlabel
// IndexType trajSize = totalTraj.size();
//
// //for (IndexType tId = 0; tId < trajSize; tId ++) //¹ì¼£
// //{
// // IndexType nodeId = 0;
// // for (IndexType stF = totalTraj[tId].trajLifeSpan.start; stF <= totalTraj[tId].trajLifeSpan.end; stF ++, nodeId ++) //Ö¡
// // {
// // set[stF][totalTraj[tId].trajNode[nodeId] ].set_visble(true);
//
// // set[stF][totalTraj[tId].trajNode[nodeId] ].set_label(labels[tId]);
//
// //
// // }
// //}
//
//
// //Ö»¿ÉÊÓ»¯ÖÐÐÄÖ¡----0816
// for (IndexType tId = 0; tId < trajSize; tId ++) //¹ì¼£
// {
// IndexType nodeId = 0;
//
// for (IndexType stF = totalTraj[tId].trajLifeSpan.start; stF <= totalTraj[tId].trajLifeSpan.end; stF ++, nodeId ++) //Ö¡
// {
// if ( centerFrame == stF)
// {
//
// inter_labels[totalTraj[tId].trajNode[nodeId] ] = labels[tId];
//
// }
//
// }
// }
//
// //»ñÈ¡Õë¶Ô²ÉÑùµãµÄ±êÇ©
// vector<IndexType> order_labels;
// order_labels.resize(sampleCenterVtxId.size(),0);
//
// for (IndexType i= 0; i < sampleCenterVtxId.size(); i ++)
// {
// if (inter_labels.find(sampleCenterVtxId[i]) != inter_labels.end() )
// {
// order_labels[i] = inter_labels[sampleCenterVtxId[i] ];
//
// }else
// {
// Loggger<<"Unmark point.\n";
// }
//
// }
//
// bubleSort(sampleCenterVtxId,order_labels,order_labels.size());//ΪÁËÅäºÏ¶¥µãºÅÂëË÷Òý-
//
// vector<IndexType> label_smooth(order_labels.size(),0);
//
// //nonrigid.smoothSmapleLabel_KDTree(sample0,sampleCenterVtxId,labels,label_smooth);
//
// diff_using_bfs(order_labels,sampleCenterVtxId,centerFrame);//ÏàͬÑÕÉ«²»Í¬Á¬Í¬¿é±ê¼Ç²»Í¬ÑÕÉ«
//
// nonrigid.smoothSmapleLabel_KDTree(sample0,sampleCenterVtxId,order_labels,label_smooth);
//
// IndexType nLabels = 0;
//
// nLabels = orderLabels(label_smooth);
//
// Loggger<<"seg size = "<<nLabels; //ÊǵÄlabel±êºÅ´Ó0¿ªÊ¼¼ÆËã
//
// //¿ÉÊÓ»¯ÖÐÐÄÖ¡
//
// IndexType i = 0;
// IndexType k = 0;
// for (Sample::vtx_iterator v_iter = sample0.begin();
// v_iter != sample0.end();
// v_iter++,i++ )
// {
// if (isSelector[i])
// {
// (*v_iter)->set_visble(true);
// (*v_iter)->set_label( label_smooth[k] );//smooth label
// k++;
// }else
// {
// (*v_iter)->set_visble(false);
// }
// }
//
// }
UNLOCK(set[centerFrame]);
Loggger<< " End Clustering.\n";
emit finish_compute();
}