mtt_association.cpp

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#include <mtt/mtt_association.h>

unsigned int last_id=0; 

void AssociateObjects(vector<t_listPtr> &list,vector<t_objectPtr> &objects,t_config& config,t_flag& flags)
{       
        for(uint i=0;i<objects.size();i++)
                objects[i]->object_found=false;
        
        double min_ret=1;
        int min_index=-1;
        double ret=1;
        bool association_found;
        double remove_threshold;
        
        for(uint i=0;i<list.size();i++)
        {
                min_ret=1;
                association_found=false;
                
                for(uint h=0;h<objects.size();h++)
                {
                        ret = CheckAssociationCriteria(*list[i],*objects[h]);
                        
                        if(ret<min_ret && ret<0) 
                        {
                                min_ret=ret;
                                min_index=h;
                                association_found=true;
                        }
                }
                
                //PFLN
                if(association_found)
                {
                        //                      double lret;
                        //                      double min_lret=1;
                        double dist;
                        double min_dist=1e6;
                        
                        int index_e=-1;
                        for(uint e=0;e<list.size();e++)
                        {
                                if(i==e)
                                        continue;
                                
                                dist=point2point_distance(objects[min_index]->cx,objects[min_index]->cy,list[e]->position.predicted_x,list[e]->position.predicted_y);
                                
                                if(dist<min_dist)
                                {
                                        min_dist=dist;
                                        index_e=e;
                                }
                        }
                        
                        //Exclusion zone B
                        //                      printf("%d %2.2f %2.2f\n",mlist->id,min_lret,min_ret);
                        
                        if(min_dist < config.ezB && list[index_e]->timers.lifetime > list[i]->timers.lifetime)
                        {
                                //                              printf("C%d A%d C%2.2f A%2.2f\n",mlist->id,aux2->id,min_ret,min_lret);
                                association_found=false;
                        }
                }
                
                //PFLN
                if(association_found && objects[min_index]->object_found==false)
                {
                        
                        if(list[i]->classification.partialy_occluded==false && objects[min_index]->partialy_occluded)
                        {
                                
                                objects[min_index]->cx=(objects[min_index]->cx+list[i]->position.predicted_x)/2;
                                objects[min_index]->cy=(objects[min_index]->cy+list[i]->position.predicted_y)/2;
                                
                        }
                        //PFLN
                        SingleObjectAssociation(*list[i],*objects[min_index]);
                        objects[min_index]->object_found=true;
                        list[i]->classification.occluded=false;
                        list[i]->classification.partialy_occluded=objects[min_index]->partialy_occluded;
                        
                        //PFLN
                }else
                {
                        //PFLN
                        
                        list[i]->classification.occluded=true;
                        list[i]->timers.occludedtime++;
                        
                        
                        list[i]->measurements.x=list[i]->position.predicted_x;
                        list[i]->measurements.y=list[i]->position.predicted_y;
                        
                        remove_threshold=list[i]->timers.lifetime;
                        
                        if(remove_threshold>config.max_missing_iterations)
                                remove_threshold=config.max_missing_iterations;
                        
                        if(list[i]->timers.occludedtime>remove_threshold)
                                RemoveFromList(list,list[i]->id);
                }
        }
                
        double dist_to_object=1e6;
        for(uint g=0;g<objects.size();g++)
        {
                objects[g]->min_distance_to_existing_object=1e6;
                
                for(uint i=0;i<list.size();i++)
                {
                        dist_to_object=point2point_distance(objects[g]->cx,objects[g]->cy,list[i]->measurements.x,list[i]->measurements.y);
                        
                        if(dist_to_object<objects[g]->min_distance_to_existing_object)
                                objects[g]->min_distance_to_existing_object=dist_to_object;
                }
                
                //Exclusion zone A
                if(objects[g]->min_distance_to_existing_object < config.ezA && flags.fi==false)
                        continue;
                
                if(objects[g]->object_found==false)
                        AddObjectToList(list,*objects[g],config);
        }
        
        return;
}

void RemoveFromList(vector<t_listPtr> &list,unsigned int id)
{
        vector<t_listPtr>::iterator it;
        
        for(it=list.begin();it!=list.end();it++)
        {
                if((*it)->id==id)
                {
                        cvReleaseKalman(&((*it)->motion_models.cv_x_kalman));
                        cvReleaseKalman(&((*it)->motion_models.cv_y_kalman));
                        cvReleaseKalman(&((*it)->motion_models.ca_x_kalman));
                        cvReleaseKalman(&((*it)->motion_models.ca_y_kalman));   

                        free((*it)->errors_cv.x_innovation);
                        free((*it)->errors_cv.x_residue);
                        free((*it)->errors_cv.y_innovation);
                        free((*it)->errors_cv.y_residue);
                        free((*it)->errors_cv.lateral_error);
                        //PFLN
                        free((*it)->errors_ca.x_innovation);
                        free((*it)->errors_ca.x_residue);
                        free((*it)->errors_ca.y_innovation);
                        free((*it)->errors_ca.y_residue);
                        free((*it)->errors_ca.lateral_error);

                        //PFLN
                        free((*it)->path_cv.x);
                        free((*it)->path_cv.y);
                        //PFLN
                        free((*it)->path_ca.x);
                        free((*it)->path_ca.y);
                        
                        list.erase(it);
                        return;
                }       
        }
}

void AllocErrors(t_errors*error,t_config&config)
{
        error->x_innovation=(double*)malloc(config.estimation_window_size*sizeof(double));
        
        error->x_residue=(double*)malloc(config.estimation_window_size*sizeof(double));
        
        error->y_innovation=(double*)malloc(config.estimation_window_size*sizeof(double));
        
        error->y_residue=(double*)malloc(config.estimation_window_size*sizeof(double));
        
        error->lateral_error=(double*)malloc(config.estimation_window_size*sizeof(double));
        
        error->x_inno_cov=0;
        error->x_resi_cov=0;
        error->y_inno_cov=0;
        error->y_resi_cov=0;
        error->lateral_error_cov=0;
        
        error->max_number_points=config.estimation_window_size;
        error->number_points=0;
        error->position=0;
        error->latest=0;
        error->next=1;
}

void SingleObjectAssociation(t_list& list,t_object& object)
{
        list.measurements.x=object.cx;
        list.measurements.y=object.cy;
        list.shape=object;
        
        SetOjectMorphology(list,object);
        object.object_found=true;
        object.id=list.id;
        
        list.timers.lifetime++;
        
        list.timers.occludedtime-=1;
        if(list.timers.occludedtime<0)
                list.timers.occludedtime=0;
}

void SetOjectMorphology(t_list&list,t_object& object)
{
        list.object_morphology.apparent_size=object.size;
}

void SetSearchArea(t_list& list,t_config&config)
{
        list.search_area.angle=list.velocity.velocity_angle;
        list.search_area.center_x=list.position.predicted_x;
        list.search_area.center_y=list.position.predicted_y;
        
        //      printf("%d %p Xp %2.2f Yp %2.2f\n",list->id,list,list->search_area.center_x,list->search_area.center_y);
        
        //      printf("%d EA %2.2f EB %2.2f\n",list->id,list->search_area.ellipse_A,list->search_area.ellipse_B);
        
        double size=list.object_morphology.apparent_size;
        double size_factor=0.1;
        
        double default_size=config.min_ellipse_axis;
        
        double xIl,yIl;
        
        if(list.model==CV)
        {
                xIl=list.errors_cv.x_inno_cov;
                yIl=list.errors_cv.y_inno_cov;
        }else
        {
                xIl=list.errors_ca.x_inno_cov;
                yIl=list.errors_ca.y_inno_cov;
        }
        
        int not_found_counter=list.timers.occludedtime;
        double not_found_factor=2;
        
        double innovation_error=sqrt(sqrt(xIl*xIl+yIl*yIl));
        double lateral_error=sqrt(list.errors_cv.lateral_error_cov);
        double A_innovation_factor,B_innovation_factor;
        double lateral_factor;
        
        if( list.velocity.velocity_module < 0.200 )
        {
                A_innovation_factor=5;
                B_innovation_factor=4;
                lateral_factor=1;
                
        }else
        {
                A_innovation_factor=5;
                B_innovation_factor=0.5;
                lateral_factor=4;
        }
        
        if(innovation_error<0.001)
                innovation_error=0.001;
        
        list.search_area.ellipse_A = not_found_factor*pow(not_found_counter,2) + A_innovation_factor*innovation_error + default_size + size_factor*size;
        list.search_area.ellipse_B = not_found_factor*pow(not_found_counter,2) + B_innovation_factor*innovation_error + default_size + size_factor*size + lateral_error*lateral_factor;
        
        if(list.search_area.ellipse_A > config.max_ellipse_axis)
                list.search_area.ellipse_A = config.max_ellipse_axis + default_size + size_factor*size;
        
        if(list.search_area.ellipse_B > config.max_ellipse_axis)
                list.search_area.ellipse_B = config.max_ellipse_axis + default_size + size_factor*size;
        
        if(list.timers.lifetime < 5)
        {
//              list.search_area.ellipse_A+=1.0;
//              list.search_area.ellipse_B+=1.0;
        }
}

void AddPointPath(t_path*path,double x,double y)
{
        path->x[path->position]=x;
        path->y[path->position]=y;
        
        path->latest=path->position;
        path->position++;
        
        if(path->position==path->max_number_points)
                path->position=0;
        
        path->next=path->position;
        
        if(path->number_points<path->max_number_points)
                path->number_points++;
}

double CheckAssociationCriteria(t_list&list,t_object& object)
{
        double ox=object.cx;
        double oy=object.cy;
        
        double angle=-list.search_area.angle;
        double s=list.search_area.ellipse_B;
        double r=list.search_area.ellipse_A;
        double M=cos(angle);
        double N=sin(angle);
        double c=list.search_area.center_x;
        double d=list.search_area.center_y;
        double tx=ox-c;
        double ty=oy-d;
        double A=(M*tx-N*ty)*(M*tx-N*ty);
        double B=(N*tx+M*ty)*(N*tx+M*ty);
        double Z=s*s*A+r*r*B-r*r*s*s;
        
        if(Z<0)
                return Z;
        else
                return 1;
}

void AddObjectToList(vector<t_listPtr> &list,t_object& object,t_config&config)
{
        t_listPtr element(new t_list);
                
        AllocMotionModels(*element,config);
        
        AllocPath(&(element->path_cv),config);
        AllocPath(&(element->path_ca),config);
        
        AllocErrors(&(element->errors_cv),config);
        AllocErrors(&(element->errors_ca),config);
        
        element->measurements.x=object.cx;
        element->measurements.y=object.cy;
        element->position.estimated_x=object.cx;
        element->position.estimated_y=object.cy;
        
        InitialiseSearchArea(*element,config);
        InitialiseTimers(&(element->timers));
        InitialiseClassification(&(element->classification));
        
        element->object_morphology.apparent_size=object.size;
        
        element->model=CV;
        element->shape=object;
        
        element->id=last_id;
//      element->branches=NULL;
//      element->next=NULL;
        
//      cout<<"id "<<element->id<<endl;
        last_id++;
        
        list.push_back(element);
        
        return;
}

void InitialiseClassification(t_classification*classification)
{
        classification->velocity_classification=MOVING;
        classification->occluded=false;
        classification->partialy_occluded=false;
}

void InitialiseTimers(t_timers*timer)
{
        timer->occludedtime=0;
        timer->lifetime=0;
}

void InitialiseSearchArea(t_list&list,t_config&config)
{
        list.search_area.ellipse_A=config.max_ellipse_axis;
        list.search_area.ellipse_B=config.max_ellipse_axis;
        list.search_area.angle=0;
        list.search_area.center_x=list.position.estimated_x;
        list.search_area.center_y=list.position.estimated_y;
}

void AllocPath(t_path*path,t_config&config)
{
        path->x=(double*)malloc(config.path_lenght*sizeof(double));
        
        path->y=(double*)malloc(config.path_lenght*sizeof(double));
        
        path->max_number_points=config.path_lenght;
        path->number_points=0;
        path->position=0;
        path->latest=0;
        path->next=1;
        
        return;
}