int RegionMerger::findClosest(int i){
if(regionList.count(i)==0)
throw string("RegionMerger::findClosests(): index not in regionlist.");
Region *r1=&(regionList[i]);
//cout << "findClosest: region " <<i<<" has "<<r1->nList.size()
// <<" neighbours." << endl;
int minind=-1;
float mindist=9999999999999999.0;
set<int>::iterator it;
for(it=r1->nList.begin(); it != r1->nList.end(); it++){
//Region *r = &(regionList[*it]);
float dist=regionDist(i,*it);
//Feature::VectorSqrDistance(r->fV,r1->fV);
if(dist < mindist){
mindist=dist;
minind=*it;
}
}
return minind;
}
double CovariancePatchModelv2::updateModelDistance(int indx, Mat& covMat) {
double dist = 0;//, minDist = 100000;
for (int numSample=0; numSample<m_onlineModel[indx].size(); numSample++) {
dist += regionDist(m_onlineModel[indx][numSample].m_covMatrix,covMat, tracker_param,MAT_MAP_LOG);
//if (dist<minDist) minDist = dist;
}
return dist/m_onlineModel[indx].size();
//return minDist;
}
double CovariancePatchModel::modelDistance(CovariancePatchDescriptor *f1) {
double dist = 0,totalDist = 0, minDist = 100000;
for (int nfeatures = 0; nfeatures<f1->m_descp.size(); nfeatures++) {
dist = 0;
minDist = 100000;
for (int nModel = 0; nModel<m_onlineModel.size(); nModel++) {
dist = regionDist(m_onlineModel[nModel].m_descp[nfeatures],f1->m_descp[nfeatures],tracker_param);
if (dist<minDist) minDist = dist;
}
totalDist += minDist;
}
return totalDist;
}
void RegionMerger::fillPriorityQueue(){
currentTime=0;
queue_vector.clear();
Region *r;
map<int,Region>::iterator rit;
for(rit=regionList.begin();rit!=regionList.end();rit++){
r=&(rit->second);
r->timestamp=0;
// updateFeatureValues(i);
// set<int>::iterator it;
// for(it=r->nList.begin(); it != r->nList.end(); it++)
// if(*it > i){
// regionDiff d;
// d.timestamp=0;
// d.r1=i;
// d.r2=*it;
// d.dist=-regionDist(i,*it);
// queue.push(d);
// }
r->closestNeighbour=findClosest(rit->first);
regionDiff d;
d.timestamp=0;
d.r1=rit->first;
d.r2=r->closestNeighbour;
d.dist=-regionDist(rit->first,r->closestNeighbour);
//queue.push(d);
// cout << "Initial merge: " << d.print() << endl;
queue_vector.push_back(d);
}
make_heap(queue_vector.begin(),queue_vector.end());
}
double CovariancePatchModelv2::modelDistance(CovariancePatchDescriptor *f1) {
double dist = 0,totalDist = 0, minDist = 100000;// alpha = 0.05;//0.05
Point2f aux(0,0);
for (int nfeatures = 1; nfeatures<f1->m_descp.size(); nfeatures++) {
dist = 0;
minDist = 100000;
for (int nModel = 0; nModel<m_onlineModel[nfeatures].size(); nModel++) {
dist = regionDist(m_onlineModel[nfeatures][nModel].m_covMatrix,f1->m_descp[nfeatures],tracker_param);
aux = getAreaCenter(f1->m_rect, nfeatures);
dist += tracker_param->alpha*sqrt(pow((double)(m_onlineModel[nfeatures][nModel].m_pos.x-aux.x),2)+
pow((double)(m_onlineModel[nfeatures][nModel].m_pos.y-aux.y),2));
if (dist<minDist) minDist = dist;
}
totalDist += minDist;
}
return totalDist;
}
void RegionMerger::initialApproximateMerge(){
// const int batchSize=40;
const int initialStop=400;
int batchnr=0;
while((int)regionList.size() > initialStop){
// cout << "beginning batch of initialApproximateMerge" << endl;
// cout <<"regionCount="<<regionList.size() << endl;
set<int> region;
set<int> neighbours;
set<regionDiff> joins;
int batchSize=(regionList.size()-numberOfRegions)/2;
//int batchSize=500;
const int l=regionList.size();
vector<int> labelsInRL;
map<int,Region>::iterator rit;
for(rit=regionList.begin();rit!=regionList.end();rit++)
labelsInRL.push_back(rit->first);
// cout << labelsInRL.size() << " labels collected:( l=" << l<<")"<<endl;
// for(size_t i=0;i<labelsInRL.size();i++)
// cout<<labelsInRL[i]<<endl;
for(int i=0;i<batchSize;i++){
int j;
int r=random(l-1);
//cout << "r="<<r<<endl;
j=labelsInRL[r];
if(region.count(j)||neighbours.count(j)) continue;
//cout << "region set: "<<formVirtualSegmentLabel(region)<<endl;
//cout << "neighbours: "<<formVirtualSegmentLabel(neighbours)<<endl;
region.insert(j);
//char jstr[80];
//sprintf(jstr,"%d",j);
//if(regionList.count(j)==0)
// throw string("accepted region ")+jstr+ " not in regionlist";
const set<int> &nbr=regionList[j].nList;
//cout << "accepted region "<<j<<" w/ neighbours " << endl
// <<" "<< formVirtualSegmentLabel(nbr)<<endl;
neighbours.insert(nbr.begin(),nbr.end());
regionDiff tmp;
tmp.r1=j;
tmp.r2=findClosest(j);
//cout << "closest region: "<<tmp.r2<<endl;
tmp.dist=regionList[j].count*regionDist(tmp.r1,tmp.r2);
tmp.dist=regionDist(tmp.r1,tmp.r2);
joins.insert(tmp);
}
// cout <<"joins.size()="<<joins.size()<<endl;
// sort(joins.begin(),joins.end());
int i=0;
map<int,int> joinedTo;
int njoins=joins.size()/2; // arbitrary choice, quite aggressive
if(njoins<1) njoins=1;
for(set<regionDiff>::iterator it=joins.begin();i<njoins;
i++,it++){
regionDiff d=*it;
//cout << "i= "<<i<<" dist="<<it->dist<<endl;
while(joinedTo.count(d.r1)) d.r1=joinedTo[d.r1];
while(joinedTo.count(d.r2)) d.r2=joinedTo[d.r2];
if(d.r1==d.r2) continue;
mergeRegions(d.r1,d.r2,full_update);
// if(regionList.size() != countRegions()){
// cout << "batch nr " << batchnr << endl;
// cout << "joined regions "<<d.r1<<" and "<<d.r2<<endl;
// cout << "regionList.size()="<<regionList.size()<<" (real="<<countRegions()
// << ") -> batchSize="<<batchSize<<endl;
//}
if(d.r1<d.r2) joinedTo[d.r2]=d.r1;
else joinedTo[d.r1]=d.r2;
}
batchnr++;
}
}
void RegionMerger::mergeTopRegions(){
//regionDiff d=queue.top();
//queue.pop();
pop_heap(queue_vector.begin(),queue_vector.end());
regionDiff d=queue_vector.back();
queue_vector.pop_back();
if(regionList.count(d.r1)==0 ||regionList.count(d.r2)==0){
// cout << "popped inexistent merge" << endl;
return;
}
if(d.r1>d.r2){
int tmp=d.r1;
d.r1=d.r2;
d.r2=tmp;
}
Region *r1=&(regionList[d.r1]);
Region *r2=&(regionList[d.r2]);
if(d.timestamp < r1->timestamp || d.timestamp < r2->timestamp) return;
currentTime++;
int i=d.r1,i2=d.r2;
// cout << "Merging regions " << d.r1 <<" and " << d.r2
// << " w\\ d=" << d.dist << endl;
// cout << "Feature vectors:" << endl << " r1: ";
// Feature::printFeatureVector(cout,r1->fV);
// cout << endl << " r2: ";
// Feature::printFeatureVector(cout,r2->fV);
// cout << "Neighbours of r1: " << endl;
set<int>::iterator it;
// for(it=r1->nList.begin(); it != r1->nList.end(); it++){
// if(regionList[*it].count){
// cout << " #"<<*it<<" (size "<<regionList[*it].count<<"):";
// Feature::printFeatureVector(cout,regionList[*it].fV);
// cout << endl;
// }
// }
// cout << "Neighbours of r2: " << endl;
// for(it=r2->nList.begin(); it != r2->nList.end(); it++){
// if(regionList[*it].count){
// cout << " #"<<*it<<" (size "<<regionList[*it].count<<"):";
// Feature::printFeatureVector(cout,regionList[*it].fV);
// cout << endl;
// }
// }
mergeRegions(d.r1,d.r2,full_update);
// now pointer r2 becomes invalid
for(it=r1->nList.begin(); it != r1->nList.end(); it++){
Region *r=&(regionList[*it]);
bool otherBefore = (r->closestNeighbour != i && r->closestNeighbour != i2);
r->closestNeighbour=findClosest(*it);
if(r->closestNeighbour != i && otherBefore) continue;
// other relevant merges remain in the queue
regionDiff d;
d.timestamp=currentTime;
d.r1=*it;
d.r2=r->closestNeighbour;
d.dist = -regionDist(d.r1,d.r2);
//queue.push(d);
// cout << "pushed merge: " << d.print() << endl;
queue_vector.push_back(d);
push_heap(queue_vector.begin(),queue_vector.end());
}
if(r1->nList.size()){
r1->closestNeighbour=findClosest(i);
regionDiff dn;
dn.timestamp=currentTime;
dn.r1=i;
dn.r2=r1->closestNeighbour;
dn.dist = -regionDist(dn.r1,dn.r2);
//queue.push(d);
queue_vector.push_back(dn);
//cout << "pushed merge: " << dn.print() << endl;
push_heap(queue_vector.begin(),queue_vector.end());
r1->timestamp=currentTime;
//r2->timestamp=currentTime;
}
// dumpRegionList();
}
