Event Simulator::simulate (const Launch launch)
{
Vec3D position(0,0,0);
Vec3D velocity = launch.speed * Vec3D(
cos(launch.theta)*cos(launch.phi),
cos(launch.theta)*sin(launch.phi),
sin(launch.theta)
);
double t = 0;
Vec3D prev_position(0, 0, 0);
do
{
prev_position = position;
Vec3D acceleration = this->calculate_friction(velocity) + this->calculate_nonfriction(position,velocity);
position = position + this->dtime * velocity + .5 * (this->dtime*this->dtime) * acceleration;
velocity = velocity + this->dtime * acceleration;
t += this->dtime;
}
while (position.z > target_elevation);
Target trg = Target(0.5 * (position.x + prev_position.x), 0.5 * (position.y + prev_position.y));
return Event(launch, trg, t - 0.5*dtime);
}
// Compute single tracking score
TrackingScore* TrackingEvaluator::computeScore(const TrackedObject& tracked_object, const Mat& frame, int frame_number, TrackingScoreHistory *history)
{
// Create score
TrackingScore* score = new TrackingScore(&nbc);
// Add score to history
history->addScore(score, frame_number);
// Get blob
const cvb::CvBlob& orig_blob = tracked_object.currentRegion();
// Random move blobs - to test certainties
cvb::CvBlob blob;
cvCloneBlob(orig_blob, blob);
// Save shape ratio
score->setShapeRatio(((float)blob.width())/((float)blob.height()));
// Save area
score->setArea(blob.width()*blob.height());
// Compute object's binary mask, for the histogram
Mat mask = drawBlob(blob, true, frame.cols, frame.rows);
// Get grayscale frame
Mat frame_gs;
cvtColor(frame, frame_gs, CV_BGR2GRAY);
// Split the color channels
Mat* channels = new Mat[3];
split(frame, channels);
Mat frame_b = channels[0];
Mat frame_g = channels[1];
Mat frame_r = channels[2];
delete [] channels;
// Compute histograms
Histogram hist_gs(frame_gs, mask);
Histogram hist_r(frame_r, mask);
Histogram hist_g(frame_g, mask);
Histogram hist_b(frame_b, mask);
// Save histogram
score->setHistograms(hist_gs, hist_r, hist_g, hist_b);
// Select part of frame on which to compute the texture features
Mat copy_gs = frame_gs.clone();
// Blacken non-mask pixels
for(unsigned int x=blob.x; x<=blob.maxx; x++)
{
for(unsigned int y=blob.y; y<=blob.maxy; y++)
{
if(mask.at<uchar>(y,x) == 0)
{
copy_gs.at<uchar>(y,x) = 0;
}
}
}
// Crop image
Rect region(blob.x, blob.y, blob.width(), blob.height());
Mat texture_input = copy_gs(region);
// Compute texture features for this object
vector<float> texture_features = GaborFilter::applyFilterSet(texture_input, gabor_scales, parameters.get<int>("num_orientations"), false, 1, 0.5, 101);
// Save texture features
score->setTextureFeatures(texture_features);
// Set temporal score to the number of appearances
score->temporal_score = history->numScores();
// Get the frame number of the previous detection of this object, if available
int prev_frame = -1;
TrackingScore* prev_score = NULL;
cvb::CvBlob prev_blob;
if(history->numScores() > 1)
{
// Read frame number
prev_frame = *(tracked_object.frameList().end() - 2);
// Get previous score
prev_score = (TrackingScore*) history->getScore(prev_frame);
// Get previous blob
prev_blob = *(tracked_object.regionList().end() - 2);
// Compute shape ratio score
score->shape_ratio_score = computeShapeRatioScore(prev_score->getShapeRatio(), score->getShapeRatio());
// Compute area score
score->area_score = computeAreaScore(prev_score->getArea(), score->getArea());
// Compute histogram difference score
score->histogram_diff_score = computeHistogramDiffScore(score, prev_score);
// Compute texture difference score
score->texture_diff_score = computeTextureDiffScore(score->getTextureFeatures(), prev_score->getTextureFeatures());
// Compute velocity for this score
Point2f prev_position((prev_blob.maxx+prev_blob.x)/2, (prev_blob.maxy+prev_blob.y)/2);
Point2f curr_position((blob.maxx+blob.x)/2, (blob.maxy+blob.y)/2);
float velocity = sqrt((prev_position.x-curr_position.x)*(prev_position.x-curr_position.x) + (prev_position.y-curr_position.y)*(prev_position.y-curr_position.y));
score->setVelocity(velocity);
// Add velocity to the accumulated velocity for this object (will be used to compute an average according to the number of detections)
history->accumulateVelocity(velocity);
// Check if the previous score has its velocity set
if(prev_score->getVelocity() > 0)
{
//cout << "computing ms: " << score->getVelocity() << ", " << history->getAverageVelocity() << endl;
// Compute motion smoothness score, based on current velocity and average velocity
score->motion_smoothness = computeMotionSmoothnessScore(score->getVelocity(), history->getAverageVelocity());
}
else
{
// Set score to 0
score->motion_smoothness = 0.0f;
// Mark score as not full
score->full = false;
}
// Compute direction for this score
float direction = fastAtan2(-curr_position.y + prev_position.y, curr_position.x - prev_position.x);
score->setDirection(direction);
// Check if the previous score has its direction set
//cout << "direction: " << direction << ", prev_score direction: " << prev_score->getDirection() << endl;
if(prev_score->getDirection() > 0)
{
//cout << "computing d : " << prev_score->getDirection() << ", " << score->getDirection() << endl;
// Compute direction score, based on current direction and previous direction
score->direction_score = computeDirectionScore(score->getDirection(), prev_score->getDirection());
}
else
{
// Set score to 0
score->direction_score = 0.0f;
// Mark score as not full
score->full = false;
}
//if(score->full)// && (frame_number % 10) == 0)
//{
// out_file << score->shape_ratio_score << " " << score->area_score << " " << score->histogram_diff_score << " " << score->motion_smoothness << " " << score->direction_score << " " << score->texture_diff_score << " 1" << endl;
// cout << score->shape_ratio_score << " " << score->area_score << " " << score->histogram_diff_score << " " << score->motion_smoothness << " " << score->direction_score << " " << score->texture_diff_score << " 1" << endl;
//}
//out_file << score->shape_ratio_score << " " << score->histogram_diff_score << " 1";
//if(pd)
// out_file << score->value() << endl;
}
else
{
// Set score as certain
score->certain = true;
}
Log::debug() << "tracking score: " << score->value() << "(" << score->shape_ratio_score << ", " << score->area_score << ", " << score->histogram_diff_score << ", " << (score->full ? score->motion_smoothness : -1) << ", " << (score->full ? score->direction_score : -1 ) << ", " << score->texture_diff_score << ")" << endl;
// Return score
return score;
}
