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tschybrid.cpp
2531 lines (2151 loc) · 82.5 KB
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tschybrid.cpp
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#include "tschybrid.h"
#include "experimentalData.h"
#include "GraphSegmentation/ColoredSegments/coloredSegments.h"
#include "VPC_toolkit/VPC.h"
#include "VPC_toolkit/VPC.h"
int vpc_label = 0;
TSCHybrid::TSCHybrid(QCustomPlot* tsc_plot,
QCustomPlot* ssg_plot,
QCustomPlot* place_map,
QCustomPlot* tsc_avg_plot,
Parameters* params,
Dataset* dataset)
{
this->tsc_plot = tsc_plot;
this->ssg_plot = ssg_plot;
this->tsc_avg_plot = tsc_avg_plot;
this->params = params;
this->dataset = dataset;
///////////////////
// Plot settings //
///////////////////
QPen pen1, pen2, pen3, pen4;
pen1.setWidth(PEN_WIDTH1);
pen1.setColor(Qt::red);
pen2.setWidth(PEN_WIDTH2);
pen2.setColor(Qt::black);
pen3.setWidth(PEN_WIDTH2);
pen3.setColor(Qt::red);
pen4.setWidth(PEN_WIDTH3);
pen4.setColor(Qt::green);
QMargins plot_margin(COH_PLOT_MARGIN,0,COH_PLOT_MARGIN,0);
//Settings for ssg plot
for(int i = 0; i <= PLOT_PLACES_IDX; i++)
this->ssg_plot->addGraph();
this->ssg_plot->graph(PLOT_TRACK_IDX)->setPen(pen4);
this->ssg_plot->graph(PLOT_TRACK_IDX)->setLineStyle(QCPGraph::lsNone);
this->ssg_plot->graph(PLOT_TRACK_IDX)->setScatterStyle(QCPScatterStyle::ssDisc);
this->ssg_plot->graph(PLOT_THRES_IDX)->setPen(pen1);
this->ssg_plot->graph(PLOT_SCORES_IDX)->setPen(pen2);
this->ssg_plot->setMaximumWidth(COH_PLOT_W);
this->ssg_plot->setMinimumWidth(COH_PLOT_W);
this->ssg_plot->setMinimumHeight(COH_PLOT_H);
this->ssg_plot->setMaximumHeight(COH_PLOT_H);
this->ssg_plot->yAxis->setTickLabels(false);
this->ssg_plot->plotLayout()->setAutoMargins(QCP::msNone);
this->ssg_plot->plotLayout()->setMargins(plot_margin);
this->ssg_plot->graph(PLOT_VPC_IDX)->setPen(pen2);
this->ssg_plot->graph(PLOT_VPC_IDX)->setLineStyle(QCPGraph::lsNone);
this->ssg_plot->graph(PLOT_VPC_IDX)->setScatterStyle(QCPScatterStyle::ssCircle);
this->ssg_plot->graph(PLOT_VPC_IDX+1)->setPen(pen2);
this->ssg_plot->graph(PLOT_VPC_IDX+1)->setLineStyle(QCPGraph::lsNone);
this->ssg_plot->graph(PLOT_VPC_IDX+1)->setScatterStyle(QCPScatterStyle::ssCircle);
//Settings for tsc plot
for(int i = 0; i <= PLOT_PLACES_IDX; i++)
this->tsc_plot->addGraph();
this->tsc_plot->graph(PLOT_THRES_IDX)->setPen(pen1);
this->tsc_plot->graph(PLOT_SCORES_IDX)->setPen(pen2);
this->tsc_plot->setMaximumWidth(COH_PLOT_W);
this->tsc_plot->setMinimumWidth(COH_PLOT_W);
this->tsc_plot->setMinimumHeight(COH_PLOT_H);
this->tsc_plot->setMaximumHeight(COH_PLOT_H);
this->tsc_plot->yAxis->setTickLabels(false);
this->tsc_plot->plotLayout()->setAutoMargins(QCP::msNone);
this->tsc_plot->plotLayout()->setMargins(plot_margin);
this->tsc_plot->graph(PLOT_UNINFORMATIVE_IDX)->setPen(pen2);
this->tsc_plot->graph(PLOT_UNINFORMATIVE_IDX)->setLineStyle(QCPGraph::lsNone);
this->tsc_plot->graph(PLOT_UNINFORMATIVE_IDX)->setScatterStyle(QCPScatterStyle::ssTriangle);
this->tsc_plot->graph(PLOT_INCOHERENT_IDX)->setPen(pen2);
this->tsc_plot->graph(PLOT_INCOHERENT_IDX)->setLineStyle(QCPGraph::lsNone);
this->tsc_plot->graph(PLOT_INCOHERENT_IDX)->setScatterStyle(QCPScatterStyle::ssCircle);
//Settings for tsc avg plot
for(int i = 0; i <= PLOT_PLACES_IDX; i++)
this->tsc_avg_plot->addGraph();
this->tsc_avg_plot->graph(PLOT_INCOHERENT_IDX+2)->setPen(pen2);
this->tsc_avg_plot->graph(PLOT_INCOHERENT_IDX+2)->setLineStyle(QCPGraph::lsNone);
this->tsc_avg_plot->graph(PLOT_INCOHERENT_IDX+2)->setScatterStyle(QCPScatterStyle::ssDot);
this->tsc_avg_plot->graph(PLOT_INCOHERENT_IDX+3)->setPen(pen3);
this->tsc_avg_plot->graph(PLOT_INCOHERENT_IDX+3)->setLineStyle(QCPGraph::lsNone);
this->tsc_avg_plot->graph(PLOT_INCOHERENT_IDX+3)->setScatterStyle(QCPScatterStyle::ssCircle);
this->tsc_avg_plot->graph(PLOT_SCORES_IDX)->setPen(pen1);
this->tsc_avg_plot->setMaximumWidth(COH_PLOT_W);
this->tsc_avg_plot->setMinimumWidth(COH_PLOT_W);
this->tsc_avg_plot->setMinimumHeight(COH_PLOT_H);
this->tsc_avg_plot->setMaximumHeight(COH_PLOT_H);
this->tsc_avg_plot->yAxis->setTickLabels(false);
this->tsc_avg_plot->plotLayout()->setAutoMargins(QCP::msNone);
this->tsc_avg_plot->plotLayout()->setMargins(plot_margin);
//Traveled places plot initialization
this->place_map = place_map;
// for(int i = 0; i <= PLOT_PLACES_IDX; i++)
// this->place_map->addGraph();
// this->place_map->axisRect()->setAutoMargins(QCP::msNone);
// this->place_map->axisRect()->setMargins(QMargins(0,0,0,0));
// this->place_map->setMaximumWidth(COLD_MAP_W);
// this->place_map->setMinimumWidth(COLD_MAP_W);
// this->place_map->setMinimumHeight(COLD_MAP_H);
// this->place_map->setMaximumHeight(COLD_MAP_H);
// this->place_map->xAxis->grid()->setVisible(false);
// this->place_map->yAxis->grid()->setVisible(false);
// this->place_map->xAxis->setTicks(false);
// this->place_map->yAxis->setTicks(false);
// this->place_map->xAxis->setVisible(false);
// this->place_map->yAxis->setVisible(false);
// this->place_map->xAxis->setRange(COLD_MAP_L, COLD_MAP_R);
// this->place_map->yAxis->setRange(COLD_MAP_T, COLD_MAP_B);
// //Plot dataset map
// QCPItemPixmap *plot_bg_img = new QCPItemPixmap(this->place_map);
// string overlay_img = string(OUTPUT_FOLDER)+"cold.png";
// plot_bg_img->setPixmap(QPixmap(overlay_img.c_str()));
// plot_bg_img->topLeft->setType(QCPItemPosition::ptViewportRatio);
// plot_bg_img->topLeft->setCoords(0,0);
// this->place_map->addLayer("imageLayer");
// this->place_map->addItem(plot_bg_img);
// this->place_map->addLayer("plotLayer");
// this->place_map->setCurrentLayer("plotLayer");
seg_track = new SegmentTrack(params,dataset);
recognition = new Recognition (params,
dataset,
seg_track->gm,
seg_track->seg);
is_processing = false;
stop_processing = false;
next_frame = true;
perform_recognition = false;
save2database = false;
//If you're running TSC model, erase comments
//tsc = new TSC(dataset);
//If you're not running TSC model
//Filters init
//string filters_dir = OUTPUT_FOLDER+string("visual_filters");
//ImageProcess::readFilter(QString(filters_dir.c_str()).append("/filtre0.txt"),29,false,false,false);
//ImageProcess::readFilter(QString(filters_dir.c_str()).append("/filtre6.txt"),29,false,false,false);
//ImageProcess::readFilter(QString(filters_dir.c_str()).append("/filtre12.txt"),29,false,false,false);
//ImageProcess::readFilter(QString(filters_dir.c_str()).append("/filtre18.txt"),29,false,false,false);
//ImageProcess::readFilter(QString(filters_dir.c_str()).append("/filtre36.txt"),29,false,false,false);
//Bubble process init
//bubbleProcess::calculateImagePanAngles(FOCAL_LENGHT_PIXELS, params->ssg_params.img_width, params->ssg_params.img_height);
//bubbleProcess::calculateImageTiltAngles(FOCAL_LENGHT_PIXELS, params->ssg_params.img_width, params->ssg_params.img_height);
}
TSCHybrid::~TSCHybrid()
{
delete recognition;
delete seg_track;
}
void TSCHybrid::readFromDB()
{
//remove comments on places you like to load from DB
vector<int> places;
places.push_back(SITE_FR1);
//places.push_back(SITE_SA1);
//places.push_back(SITE_LJ1);
//places.push_back(SITE_NC1);
places.push_back(SITE_FR2);
//places.push_back(SITE_SA2);
//places.push_back(SITE_LJ2);
// places.push_back(SITE_NC2);
//places.push_back(SITE_CV);
//places.push_back(SITE_JM);
//places.push_back(SITE_JM2
for(int i = 0; i < places.size(); i++)
{
vector<SSG> readSSG;
DatabaseHandler db;
db.setConnName("conn"+QString::number(places[i]).toStdString());
db.openDB(OUTPUT_FOLDER+string("dataset_")+QString::number(places[i]).toStdString()+string("_places.db"));
readSSG = db.getAllSSGsNew();
db.closeDB();
SSGs.insert(SSGs.end(), readSSG.begin(), readSSG.end());
readSSG.clear();
}
//remove comments on places you like to load from DB
vector<int> places_second_visit;
//places_second_visit.push_back(SITE_FR2);
//places_second_visit.push_back(SITE_SA2);
//places_second_visit.push_back(SITE_LJ2);
//places_second_visit.push_back(SITE_NC2);
for(int i = 0; i < places_second_visit.size(); i++)
{
vector<SSG> readSSG;
DatabaseHandler db;
db.setConnName("conn"+QString::number(places_second_visit[i]).toStdString());
db.openDB(OUTPUT_FOLDER+string("dataset_")+QString::number(places_second_visit[i]).toStdString()+string("_places.db"));
readSSG = db.getAllSSGsNew();
db.closeDB();
SSGs_second_visit.insert(SSGs_second_visit.end(), readSSG.begin(), readSSG.end());
readSSG.clear();
}
// DatabaseHandler db2;
// db2.setConnName("conn2");
// db2.openDB(OUTPUT_FOLDER+string("dataset_1.db"));
// db2.createTables();
// for(int i = 0; i < allSSG1.size(); i++)
// db2.insertSSG(allSSG1[i]);
// db2.closeDB();
}
void TSCHybrid::clearPastData()
{
SSGs.clear();
img_files.clear();
seg_track->getM().release();
seg_track->getM_ns().clear();
coords.clear();
for(int i = 0; i < tsc_plot->graphCount(); i++)
tsc_plot->graph(i)->clearData();
for(int i = 0; i < ssg_plot->graphCount(); i++)
ssg_plot->graph(i)->clearData();
for(int i = 0; i < place_map->graphCount(); i++)
place_map->graph(i)->clearData();
for(int i = 0; i < tsc_avg_plot->graphCount(); i++)
tsc_avg_plot->graph(i)->clearData();
}
void TSCHybrid::stopProcessing()
{
stop_processing = true;
}
void compareTransitions(VPC_Input& vpc, vector<int>& ssg)
{
int home = vpc_label;
cout << "Total image sizes:" << vpc.labels[home].size() << " " << ssg.size() << endl;
int true_pos = 0;
int false_pos = 0;
int trans_count = 0;
int trans_flag = 0;
int true_pos_flag = 0;
int region_count = 0;
for(int i = 0; i < ssg.size(); i++)
{
if(vpc.labels[home].size() < ssg.size())
break;
if(trans_flag > 0 && vpc.labels[home][i] != 0)
{
cout << "Results for region " << ++region_count << " " << (float)true_pos_flag/trans_flag << endl;
trans_flag = 0;
true_pos_flag = 0;
}
if(vpc.labels[home][i] == 0)
{
trans_count++;
trans_flag++;
}
if(vpc.labels[home][i] == 0 && ssg[i] < 0)
{
true_pos++;
true_pos_flag++;
}
}
if(trans_count > 0)
cout << "Total score is: " << (float)true_pos/trans_count << endl;
else
cout << "No transition in dataset" << endl;
}
void TSCHybrid::processImagesHierarchicalVPC(const string folder, const int start_idx, const int end_idx, int dataset_id)
{
VPC_Input vpc_input;
VPC_ReadLabelFile(3,vpc_input);
cout << "Total image sizes:" << vpc_input.labels[vpc_label].size() << endl;
is_processing = true;
//Read dataset image files
img_files = getFiles(folder);
Mat img_org, img;
qint64 last_time;
//SSG related variables
static vector<vector<NodeSig> > ns_vec; //Stores last tau_w node signatures
static vector<float> coherency_scores_ssg; //Stores all coherency scores
static vector<int> detected_places_unfiltered;
static vector<int> detected_places; //Stores all detected place ids
static SSG temp_SSG(0); temp_SSG.setStartFrame(0);
static TreeNode* hierarchy_tree;
static vector<PlaceSSG> places;
static int frame_count = 0;
last_time = QDateTime::currentMSecsSinceEpoch();
static float ssg_best_coherency_score = 0;
static queue<Mat> img_history;
static queue<Mat> img_resized_history;
int delay = params->seg_track_params.tau_w/2 + params->ssg_params.tau_n;
static queue<int> hist;
//Process all images
for(int frame_no = start_idx; frame_no < end_idx-1; frame_no++)
{
qint64 time = QDateTime::currentMSecsSinceEpoch();
img_org = imread(folder + img_files[frame_no]);
resize(img_org, img, cv::Size(params->ssg_params.img_width, params->ssg_params.img_height));
//Keep last tau_w/2+tau_n images.
img_history.push(img_org);
img_resized_history.push(img);
hist.push(frame_count);
if(img_history.size() > delay)
{
img_history.pop();
img_resized_history.pop(); hist.pop();
}
emit showImgOrg(mat2QImage(img_resized_history.front()));
///////////////
//Process SSG//
///////////////
seg_track->processImage(img, ns_vec);
//Calculate coherency based on existence map
calcCohScore(seg_track, coherency_scores_ssg);
//Show connectivity map
showMap(seg_track->getM());
//Decide last frame is whether transition or place
//Results are written into detected places
int detection_result = detectPlace(coherency_scores_ssg,detected_places_unfiltered,detected_places);
//Plot transition and place regions
plotScoresSSG(coherency_scores_ssg, detected_places, vpc_input.labels[vpc_label]);
//If started for new place
//Create new SSG
if(detection_result == DETECTION_PLACE_STARTED)
{
//Clear SSG
temp_SSG.nodes.clear();
temp_SSG.mean_invariant.release();
temp_SSG.member_invariants.release();
temp_SSG.setId(temp_SSG.getId()+1);
temp_SSG.setStartFrame(frame_no);
Mat map = seg_track->getM();
Mat map_col = map.col(map.size().width - 1 - delay);
vector<NodeSig> ns = ns_vec[ns_vec.size() - 1 - delay];
SSGProc::updateSSG(temp_SSG, ns, map_col);
SSGProc::updateSSGInvariants(temp_SSG, img_history.front(), params);
//Reset coherency score
ssg_best_coherency_score = coherency_scores_ssg.back();
}
else if(detection_result == DETECTION_PLACE_ENDED)
{
temp_SSG.setEndFrame(frame_no);
SSGs.push_back(temp_SSG);
if(temp_SSG.member_invariants.empty() == false)
{
SSGs.push_back(temp_SSG);
}
//qDebug() << "Place detected" << SSGs.size();
}
else if(detection_result == DETECTION_IN_PLACE)
{
temp_SSG.basepoints.push_back(ns_vec.back());
Mat map = seg_track->getM();
Mat map_col = map.col(map.size().width - 1 - delay);
vector<NodeSig> ns = ns_vec[ns_vec.size() - 1 - delay];
SSGProc::updateSSG(temp_SSG, ns, map_col);
//SSGProc::updateSSGInvariants(temp_SSG, img_history.front(), params);
//If current frame is more coherent, set this frame as sample frame of SSG
if(ssg_best_coherency_score < coherency_scores_ssg.back())
{
temp_SSG.setSampleFrame(folder + img_files[frame_no]);
temp_SSG.setColor(dataset_id);
ssg_best_coherency_score = coherency_scores_ssg.back();
}
}
frame_count++;
//Free variables
img.release();
img_org.release();
//Wait a little for GUI processing
waitKey(1);
if(detected_places.size() > 0)
writeDetectedPlace(detected_places.back());
else
writeDetectedPlace(0);
}
compareTransitions(vpc_input, detected_places);
}
void TSCHybrid::processImagesHierarchical(const string folder, const int start_idx, const int end_idx, int dataset_id)
{
VPC_Input vpc_input;
VPC_ReadLabelFile(1,vpc_input);
is_processing = true;
//Read dataset image files
img_files = getFiles(folder);
qDebug() << "dadsa";
Mat img_org, img;
qint64 last_time;
//SSG related variables
static vector<vector<NodeSig> > ns_vec; //Stores last tau_w node signatures
static vector<float> coherency_scores_ssg; //Stores all coherency scores
static vector<int> detected_places_unfiltered;
static vector<int> detected_places; //Stores all detected place ids
static SSG temp_SSG(0); temp_SSG.setStartFrame(0);
static TreeNode* hierarchy_tree;
static vector<PlaceSSG> places;
static int frame_count = 0;
last_time = QDateTime::currentMSecsSinceEpoch();
static float ssg_best_coherency_score = 0;
static queue<Mat> img_history;
static queue<Mat> img_resized_history;
int delay = params->seg_track_params.tau_w/2 + params->ssg_params.tau_n;
static queue<int> hist;
//Create database
DatabaseHandler db;
if(save2database)
{
stringstream ss_db;
ss_db << "conn_db_" << dataset_id;
db.setConnName(ss_db.str());
stringstream ss;
ss << OUTPUT_FOLDER << "dataset_" << dataset_id << "_places.db";
db.openDB(ss.str());
db.createTables();
}
//Process all images
for(int frame_no = start_idx; frame_no < end_idx-1; frame_no++)
{
qint64 time = QDateTime::currentMSecsSinceEpoch();
if(stop_processing)
{
clearPastData();
break;
}
while(next_frame == false)
{
waitKey(1);
}
img_org = imread(folder + img_files[frame_no]);
resize(img_org, img, cv::Size(params->ssg_params.img_width, params->ssg_params.img_height));
//Remove comments if you want to use
//Gokce's segmentation results
//img = segmentImageGokce(img);
//Keep last tau_w/2+tau_n images.
img_history.push(img_org);
img_resized_history.push(img);
hist.push(frame_count);
if(img_history.size() > delay)
{
img_history.pop();
img_resized_history.pop(); hist.pop();
}
emit showImgOrg(mat2QImage(img_resized_history.front()));
///////////////
//Process SSG//
///////////////
seg_track->processImage(img, ns_vec);
//Calculate coherency based on existence map
calcCohScore(seg_track, coherency_scores_ssg);
//Show connectivity map
showMap(seg_track->getM());
//Decide last frame is whether transition or place
//Results are written into detected places
int detection_result = detectPlace(coherency_scores_ssg,detected_places_unfiltered,detected_places);
//cv::Point2f coord = getCoordCold(img_files[dataset->start_idx+detected_places.size()]);
//coords.push_back(coord);
//Plot transition and place regions
//plotScoresSSG(coherency_scores_ssg, detected_places);
//If started for new place
//Create new SSG
if(detection_result == DETECTION_PLACE_STARTED)
{
//Clear SSG
temp_SSG.nodes.clear();
temp_SSG.mean_invariant.release();
temp_SSG.member_invariants.release();
temp_SSG.setId(temp_SSG.getId()+1);
temp_SSG.setStartFrame(frame_no);
Mat map = seg_track->getM();
Mat map_col = map.col(map.size().width - 1 - delay);
vector<NodeSig> ns = ns_vec[ns_vec.size() - 1 - delay];
SSGProc::updateSSG(temp_SSG, ns, map_col);
SSGProc::updateSSGInvariants(temp_SSG, img_history.front(), params);
//Reset coherency score
ssg_best_coherency_score = coherency_scores_ssg.back();
}
else if(detection_result == DETECTION_PLACE_ENDED)
{
temp_SSG.setEndFrame(frame_no);
SSGs.push_back(temp_SSG);
// if(save2database)
// {
// db.insertSSG(temp_SSG);
// }
if(temp_SSG.member_invariants.empty() == false)
{
qint64 timex1 = QDateTime::currentMSecsSinceEpoch();
SSGs.push_back(temp_SSG);
qint64 timex2 = QDateTime::currentMSecsSinceEpoch();
if(save2database)
{
db.insertSSG(temp_SSG);
}
qint64 timex3 = QDateTime::currentMSecsSinceEpoch();
qDebug() << "Place recognized time SSG:" << timex2-timex1 << "DB: " << timex3-timex2;
}
qDebug() << "Place detected" << SSGs.size();
if(perform_recognition)
{
SSGProc::filterSummarySegments(temp_SSG, params->ssg_params.tau_p);
emit showSSG(mat2QImage(SSGProc::drawSSG(temp_SSG, img)));
PlaceSSG new_place(temp_SSG.getId(), temp_SSG);
qint64 last_time = QDateTime::currentMSecsSinceEpoch();
recognition->performRecognition(places, new_place, &hierarchy_tree);
qint64 last_time2 = QDateTime::currentMSecsSinceEpoch();
qDebug() << "Rec time:" << places.size() << (last_time2-last_time)/1000.0;
}
}
else if(detection_result == DETECTION_IN_PLACE)
{
temp_SSG.basepoints.push_back(ns_vec.back());
Mat map = seg_track->getM();
Mat map_col = map.col(map.size().width - 1 - delay);
vector<NodeSig> ns = ns_vec[ns_vec.size() - 1 - delay];
SSGProc::updateSSG(temp_SSG, ns, map_col);
SSGProc::updateSSGInvariants(temp_SSG, img_history.front(), params);
//If current frame is more coherent, set this frame as sample frame of SSG
if(ssg_best_coherency_score < coherency_scores_ssg.back())
{
temp_SSG.setSampleFrame(folder + img_files[frame_no]);
temp_SSG.setColor(dataset_id);
ssg_best_coherency_score = coherency_scores_ssg.back();
}
}
frame_count++;
//Free variables
img.release();
img_org.release();
//Wait a little for GUI processing
waitKey(1);
qint64 time2 = QDateTime::currentMSecsSinceEpoch();
writeFrameSec(time2-time);
if(detected_places.size() > 0)
writeDetectedPlace(detected_places.back());
else
writeDetectedPlace(0);
//qDebug() << frame_no;
//next_frame = false;
}
if(save2database)
{
qDebug() << "Finished creating" << dataset_id << "th" << "dataset in " << (QDateTime::currentMSecsSinceEpoch()-last_time)/1000.0 << "seconds";
db.closeDB();
}
is_processing = false;
stop_processing = false;
compareTransitions(vpc_input, detected_places);
}
void TSCHybrid::TSCPlaces2SSGPlaces(vector<Place>& TSC_places, vector<SSG>& SSG_places)
{
for(int i = 0; i < TSC_places.size(); i++)
{
SSG new_ssg(i);
new_ssg.member_invariants = TSC_places[i].memberInvariants.clone();
new_ssg.mean_invariant = TSC_places[i].meanInvariant.clone();
new_ssg.setStartFrame((int)TSC_places[i].members[0].id);
new_ssg.setEndFrame((int)TSC_places[i].members.back().id);
new_ssg.setColor(TSC_places[i].color);
SSG_places.push_back(new_ssg);
}
}
void TSCHybrid::processImagesHierarchicalTSC(const string folder, const int start_idx, const int end_idx, int dataset_id)
{
is_processing = true;
//Read dataset image files
img_files = getFiles(folder);
Mat img_org, img;
qint64 last_time;
//SSG related variables
static vector<vector<NodeSig> > ns_vec; //Stores last tau_w node signatures
static vector<float> coherency_scores_ssg; //Stores all coherency scores
static vector<int> detected_places_unfiltered;
static vector<int> detected_places; //Stores all detected place ids
static SSG temp_SSG(0); temp_SSG.setStartFrame(0);
static TreeNode* hierarchy_tree = NULL;
static vector<PlaceSSG> places;
//TSC related variables
static vector<float> scores_tsc;
static int frame_count = 0;
last_time = QDateTime::currentMSecsSinceEpoch();
//Process all images
for(int frame_no = start_idx; frame_no < end_idx-1; frame_no++)
{
if(stop_processing)
{
//clearPastData();
//break;
}
while(next_frame == false)
{
waitKey(1);
}
img_org = imread(folder + img_files[frame_no]);
//resize(img_org, img, cv::Size(0,0), IMG_RESCALE_RAT, IMG_RESCALE_RAT);
resize(img_org, img, cv::Size(params->ssg_params.img_width, params->ssg_params.img_height));
//emit showImgOrg(mat2QImage(img));
///////////////
//Process TSC//
///////////////
//Process image
bool isLastImage = frame_no == end_idx-2;
float score = tsc->processImage(img_org, false);
if(isLastImage)
{
if(tsc->detector.currentPlace && tsc->detector.currentPlace->id > 0 && tsc->detector.currentPlace->members.size() > 0)
{
tsc->detector.currentPlace->calculateMeanInvariant();
if(tsc->detector.currentPlace->memberIds.rows >= tsc->detector.tau_p)
{
tsc->detector.detectedPlaces.push_back(*tsc->detector.currentPlace);
tsc->detector.placeID++;
}
}
}
if(tsc->detector.detectedPlaces.size() > 0 && tsc->detector.detectedPlaces.back().color == 0)
{
tsc->detector.detectedPlaces.back().color = dataset_id;
}
scores_tsc.push_back(score);
//Plot TSC scores
if(!isLastImage)
plotScoresTSC_(scores_tsc, tsc->detector.currentPlace, tsc->detector.currentBasePoint, tsc->detector.detectedPlaces);
frame_count++;
if(frame_count%100 == 0)
{
qDebug() << "Time elapsed in 100 frames: " << frame_count << (QDateTime::currentMSecsSinceEpoch() - last_time)/1000.0;
last_time = QDateTime::currentMSecsSinceEpoch();
}
//Free variables
img.release();
img_org.release();
//Wait a little for GUI processing
waitKey(1);
//next_frame = false;
}
//Create database
DatabaseHandler db;
if(save2database)
{
stringstream ss_db;
ss_db << "conn_db_" << dataset_id;
db.setConnName(ss_db.str());
stringstream ss;
ss << OUTPUT_FOLDER << "dataset_bd_" << dataset_id << "_places.db";
db.openDB(ss.str());
db.createTables();
}
vector<SSG> SSGs_fromTSC;
TSCPlaces2SSGPlaces(tsc->detector.detectedPlaces, SSGs_fromTSC);
for(int i = 0; i < SSGs_fromTSC.size(); i++)
{
db.insertSSG(SSGs_fromTSC[i]);
}
db.closeDB();
is_processing = false;
stop_processing = false;
}
void TSCHybrid::reRecognizeInOrderTSCMethod(int method)
{
TreeNode* hierarchy_tree;
vector<PlaceSSG> places;
//TSC places to SSG places conversion
SSGs_fromTSC.clear();
TSCPlaces2SSGPlaces(tsc->detector.detectedPlaces, SSGs_fromTSC);
vector<SSG> SSGs = this->SSGs_fromTSC;
vector<string> image_files = getFiles(dataset->location);
plotDetectedPlaces(SSGs, image_files, dataset);
recognition->setRecognitionMethod(method);
for(int i = 0; i < SSGs.size(); i++)
{
PlaceSSG new_place(SSGs[i].getId(), SSGs[i]);
recognition->performRecognition(places, new_place, &hierarchy_tree);
}
}
void TSCHybrid::reRecognizeInOrder(int method)
{
TreeNode* hierarchy_tree;
vector<PlaceSSG> places;
recognition->setRecognitionMethod(method);
vector<vector<vector<pair<int,int> > > > familiarities;
vector<pair<pair<int,int>, pair<int,int> > > recognized_places;
for(int i = 0; i < SSGs.size(); i++)
{
qint64 last_time = QDateTime::currentMSecsSinceEpoch();
SSG ssg = SSGs[i];
SSGProc::filterSummarySegments(ssg, params->ssg_params.tau_p);
PlaceSSG new_place(SSGs[i].getId(), ssg);
recognition->performRecognitionHybrid(places, new_place, &hierarchy_tree, familiarities);
qint64 last_time2 = QDateTime::currentMSecsSinceEpoch();
qDebug() << last_time2 - last_time;
}
//qDebug() << "N2N Tree Distances:";
//recognition->calculateN2NDistanceMatrix(hierarchy_tree);
//recognition->calculateRecPerformance(hierarchy_tree);
//recognition->calculateFamiliarityPerformance(familiarities);
//recognition->calculateRecPerformance(recognized_places);
//recognition->calculateBDDistanceMatrix(hierarchy_tree);
//recognition->calculateSSGDistanceMatrix(hierarchy_tree);
}
void TSCHybrid::reRecognizeInOrderSecondVisits(int method)
{
TreeNode* hierarchy_tree;
vector<PlaceSSG> places;
recognition->setRecognitionMethod(method);
vector<vector<vector<pair<int,int> > > > familiarities;
vector<pair<pair<int,int>, pair<int,int> > > recognized_places;
for(int i = 0; i < SSGs.size(); i++)
{
SSG ssg = SSGs[i];
SSGProc::filterSummarySegments(ssg, params->ssg_params.tau_p);
PlaceSSG new_place(ssg.getId(), ssg);
places.push_back(new_place);
}
for(int i = 0; i < SSGs_second_visit.size(); i++)
{
SSG ssg = SSGs_second_visit[i];
SSGProc::filterSummarySegments(ssg, params->ssg_params.tau_p);
PlaceSSG new_place(SSGs_second_visit[i].getId(), ssg);
recognition->performRecognitionHybridNoRec(places, new_place, &hierarchy_tree, familiarities, recognized_places);
}
//qDebug() << "N2N Tree Distances:";
//recognition->calculateN2NDistanceMatrix(hierarchy_tree);
//recognition->calculateRecPerformance(hierarchy_tree);
//recognition->calculateFamiliarityPerformance(familiarities);
//recognition->calculateRecPerformance(recognized_places);
recognition->calculateRecPerformanceCombined(recognized_places);
}
void TSCHybrid::reRecognizeBatch(int method)
{
TreeNode* hierarchy_tree;
vector<PlaceSSG> places;
//Plot place in map
vector<string> image_files = getFiles("/home/isl-mahmut/Datasets/lj_seq1_cloudy2/std_cam/");
plotDetectedPlacesBD(SSGs, image_files, dataset);
// recognition->setRecognitionMethod(method);
// int i = 0;
// for(i = 0; i < SSGs.size()-1; i++)
// {
// SSG ssg = SSGs[i];
// SSGProc::filterSummarySegments(ssg, params->ssg_params.tau_p);
// PlaceSSG new_place(ssg.getId(), ssg);
// places.push_back(new_place);
// }
// SSG ssg = SSGs[i];
// SSGProc::filterSummarySegments(ssg, params->ssg_params.tau_p);
// PlaceSSG new_place(ssg.getId(), ssg);
// vector<vector<vector<pair<int,int> > > > familiarities;
// recognition->performRecognitionHybrid(places, new_place, &hierarchy_tree, familiarities);
// //recognition->calculateRecPerformance(places.size(), dist_matrix, hierarchy_tree);
// qDebug() << "N2N";
// recognition->calculateN2NTreeDistanceMatrix(hierarchy_tree);
// qDebug() << "BD";
// recognition->calculateBDDistanceMatrix(hierarchy_tree);
// qDebug() << "SSG";
// recognition->calculateSSGDistanceMatrix(hierarchy_tree);
}
float TSCHybrid::calcCohScore(SegmentTrack* seg_track, vector<float>& coh_scores)
{
Mat M = seg_track->getM();
vector<pair<NodeSig, int> > M_ns = seg_track->getM_ns();
float tau_w = params->seg_track_params.tau_w;
//Wait until at least tau_w frames
if(M.size().width < tau_w)
return 0.0;
//Fill first tau_w frames with zeros
else if(M.size().width == tau_w)
coh_scores.resize(tau_w/2, 0);
int active_nodes = 0;
float coh_score = 0;
float incoherency = 0.0;
float coherency = 0.0;
//Detect each appeared or disappeared node at the last tau_w frame
for(int i = 0; i < M.size().height; i++)
{
//Keeps how long node appeared through window
int nr_appear = 0;
for(int j = M.size().width-tau_w; j < M.size().width-1; j++)
{
//Incoherency: Disappeared node
if(M.at<int>(i, j) == 0 && M.at<int>(i, j+1) > 0)
{
if(M_ns[i].second > params->ssg_params.tau_f)
incoherency += params->ssg_params.coeff_node_disappear1;
else
incoherency += params->ssg_params.coeff_node_disappear2;
}
//Incoherency: Appeared node
if(M.at<int>(i, j) == 0 && M.at<int>(i, j+1) > 0)
{
incoherency += params->ssg_params.coeff_node_appear;
}
//Coherency: Stabile node
if(M.at<int>(i,j) > 0)
nr_appear++;
}
//Active nodes are only the ones that appeared at least one time through window
if(nr_appear > 0)
active_nodes++;