[3] | 1 | #include <math.h> |
---|
| 2 | #include <Detection/detection.hh> |
---|
| 3 | #include <param.hh> |
---|
| 4 | |
---|
| 5 | /** |
---|
| 6 | * areClose(Detection &, Detection &, Param &): |
---|
| 7 | * A Function to test whether object1 and object2 are |
---|
| 8 | * within the spatial and velocity thresholds specified |
---|
| 9 | * in the parameter set par. |
---|
| 10 | * Returns true if at least pixel of object1 is close to |
---|
| 11 | * at least one pixel of object2. |
---|
| 12 | */ |
---|
| 13 | |
---|
| 14 | bool areClose(Detection &obj1, Detection &obj2, Param &par) |
---|
| 15 | { |
---|
| 16 | |
---|
| 17 | // In each case, for two pixels to be close they need to satisfy *both* |
---|
| 18 | // thresholds, hence the && in the definition of "thisOneClose". |
---|
| 19 | // For an overall match between the objects, we only require one |
---|
| 20 | // matching pair of pixels, hence the || in the "close" definition. |
---|
| 21 | |
---|
| 22 | bool close = false; |
---|
| 23 | |
---|
| 24 | /* */ |
---|
| 25 | // Check to see if the objects are nearby. |
---|
| 26 | // .. Only do the pixel-by-pixel comparison if their pixel ranges overlap. |
---|
| 27 | |
---|
| 28 | bool *flagAdj = new bool; |
---|
| 29 | *flagAdj = par.getFlagAdjacent(); |
---|
| 30 | float *threshS = new float; |
---|
| 31 | *threshS = par.getThreshS(); |
---|
| 32 | float *threshV = new float; |
---|
| 33 | *threshV = par.getThreshV(); |
---|
| 34 | |
---|
| 35 | int *gap = new int; |
---|
| 36 | if(*flagAdj) *gap = 1; |
---|
| 37 | else *gap = int( ceilf(*threshS) ); |
---|
| 38 | long *min1 = new long; |
---|
| 39 | long *min2 = new long; |
---|
| 40 | long *max1 = new long; |
---|
| 41 | long *max2 = new long; |
---|
| 42 | *min1 = obj1.getXmin(); |
---|
| 43 | *min2 = obj2.getXmin(); |
---|
| 44 | *max1 = obj1.getXmax(); |
---|
| 45 | *max2 = obj2.getXmax(); |
---|
| 46 | // Test X ranges |
---|
| 47 | bool *areNear = new bool; |
---|
| 48 | *areNear = |
---|
| 49 | ((*min1-*min2+*gap)*(*min1-*max2-*gap) <= 0 ) || |
---|
| 50 | ((*max1-*min2+*gap)*(*max1-*max2-*gap) <= 0 ) || |
---|
| 51 | ((*min2-*min1+*gap)*(*min2-*max1-*gap) <= 0 ) || |
---|
| 52 | ((*max2-*min1+*gap)*(*max2-*max1-*gap) <= 0 ) ; |
---|
| 53 | |
---|
| 54 | // Test Y ranges |
---|
| 55 | *min1 = obj1.getYmin(); |
---|
| 56 | *min2 = obj2.getYmin(); |
---|
| 57 | *max1 = obj1.getYmax(); |
---|
| 58 | *max2 = obj2.getYmax(); |
---|
| 59 | *areNear = *areNear && |
---|
| 60 | ( ((*min1-*min2+*gap)*(*min1-*max2-*gap) <= 0 ) || |
---|
| 61 | ((*max1-*min2+*gap)*(*max1-*max2-*gap) <= 0 ) || |
---|
| 62 | ((*min2-*min1+*gap)*(*min2-*max1-*gap) <= 0 ) || |
---|
| 63 | ((*max2-*min1+*gap)*(*max2-*max1-*gap) <= 0 ) ); |
---|
| 64 | |
---|
| 65 | // Test Z ranges |
---|
| 66 | *min1 = obj1.getZmin(); |
---|
| 67 | *min2 = obj2.getZmin(); |
---|
| 68 | *max1 = obj1.getZmax(); |
---|
| 69 | *max2 = obj2.getZmax(); |
---|
| 70 | *areNear = *areNear && |
---|
| 71 | ( ((*min1-*min2+*threshV)*(*min1-*max2-*threshV) <= 0 ) || |
---|
| 72 | ((*max1-*min2+*threshV)*(*max1-*max2-*threshV) <= 0 ) || |
---|
| 73 | ((*min2-*min1+*threshV)*(*min2-*max1-*threshV) <= 0 ) || |
---|
| 74 | ((*max2-*min1+*threshV)*(*max2-*max1-*threshV) <= 0 ) ); |
---|
| 75 | |
---|
| 76 | delete gap; |
---|
| 77 | delete min1; |
---|
| 78 | delete min2; |
---|
| 79 | delete max1; |
---|
| 80 | delete max2; |
---|
| 81 | |
---|
| 82 | if(*areNear){ |
---|
| 83 | // pixel ranges overlap -- so do pixel-by-pixel comparison to make sure. |
---|
| 84 | // otherwise close=false, and so don't need to do anything before returning. |
---|
| 85 | |
---|
| 86 | float *first = new float[3]; //just store x,y,z positions of objects. |
---|
| 87 | float *second = new float[3]; |
---|
| 88 | int *counter = new int; |
---|
| 89 | int *countermax = new int; |
---|
| 90 | int *size2 = new int; |
---|
| 91 | *counter = 0; |
---|
| 92 | *countermax = obj1.getSize()*obj2.getSize(); |
---|
| 93 | *size2 = obj2.getSize(); |
---|
| 94 | |
---|
| 95 | while(!close && *counter<*countermax ){ |
---|
| 96 | // run this until we run out of pixels or we find a close pair. |
---|
| 97 | |
---|
| 98 | first[0] = obj1.getX(*counter/(*size2)); |
---|
| 99 | first[1] = obj1.getY(*counter/(*size2)); |
---|
| 100 | first[2] = obj1.getZ(*counter/(*size2)); |
---|
| 101 | second[0] = obj2.getX(*counter%(*size2)); |
---|
| 102 | second[1] = obj2.getY(*counter%(*size2)); |
---|
| 103 | second[2] = obj2.getZ(*counter%(*size2)); |
---|
| 104 | |
---|
| 105 | if(*flagAdj){ |
---|
| 106 | //This step just tests to see if there is a pair of *adjacent* pixels spatially, |
---|
| 107 | // and if the velocity pixels are within the threshold. |
---|
| 108 | close = close || |
---|
| 109 | ( (fabsf(first[0]-second[0]) <= 1.) //X vals adjacent? |
---|
| 110 | && (fabsf(first[1]-second[1]) <= 1.) //Y vals adjacent? |
---|
| 111 | && (fabsf(first[2]-second[2]) <= *threshV) //Z vals close? |
---|
| 112 | ); |
---|
| 113 | } |
---|
| 114 | else{ |
---|
| 115 | close = close || |
---|
| 116 | ( (hypot(first[0]-second[0],first[1]-second[1])<=*threshS) |
---|
| 117 | && (fabsf(first[2]-second[2]) <= *threshV ) |
---|
| 118 | ); |
---|
| 119 | } |
---|
| 120 | |
---|
| 121 | (*counter)++; |
---|
| 122 | } |
---|
| 123 | |
---|
| 124 | delete [] first; |
---|
| 125 | delete [] second; |
---|
| 126 | delete counter; |
---|
| 127 | delete countermax; |
---|
| 128 | delete size2; |
---|
| 129 | |
---|
| 130 | } |
---|
| 131 | |
---|
| 132 | delete areNear; |
---|
| 133 | delete flagAdj; |
---|
| 134 | delete threshS; |
---|
| 135 | delete threshV; |
---|
| 136 | |
---|
| 137 | return close; |
---|
| 138 | |
---|
| 139 | } |
---|
| 140 | |
---|
| 141 | /* |
---|
| 142 | //////// OLD STUFF //////////////////// |
---|
| 143 | |
---|
| 144 | for(int i=0; i<obj1.getSize(); i++){ |
---|
| 145 | Voxel *first = new Voxel; |
---|
| 146 | *first = obj1.getPixel(i); |
---|
| 147 | |
---|
| 148 | for(int j=0; j<obj2.getSize(); j++){ |
---|
| 149 | Voxel *second = new Voxel; |
---|
| 150 | *second = obj2.getPixel(j); |
---|
| 151 | |
---|
| 152 | if(par.getFlagAdjacent()){ |
---|
| 153 | //This step just tests to see if there is a pair of *adjacent* pixels. |
---|
| 154 | // thisOneClose = (abs(first->getX()-second->getX())<=1) && |
---|
| 155 | // (abs(first->getY()-second->getY())<=1) && |
---|
| 156 | // (abs(first->getZ()-second->getZ())<=1); |
---|
| 157 | //This step just tests to see if there is a pair of *adjacent* pixels spatially, |
---|
| 158 | // and if the velocity pixels are within the threshold. |
---|
| 159 | |
---|
| 160 | close = close || |
---|
| 161 | ( (abs(first->getX()-second->getX()) <= 1) //X vals adjacent? |
---|
| 162 | && (abs(first->getY()-second->getY()) <= 1) //Y vals adjacent? |
---|
| 163 | && (abs(first->getZ()-second->getZ()) <= par.getThreshV()) //Z vals close? |
---|
| 164 | ); |
---|
| 165 | } |
---|
| 166 | else{ |
---|
| 167 | // This tests to see if the pixels are within the spatial and velocity thresholds. |
---|
| 168 | // spatialSep = hypot( first->getX() - second->getX(), |
---|
| 169 | // first->getY() - second->getY()); |
---|
| 170 | |
---|
| 171 | // freqSep = abs( first->getZ() - second->getZ() ); |
---|
| 172 | |
---|
| 173 | // thisOneClose = ( spatialSep <= par.getThreshS() ) && |
---|
| 174 | // ( freqSep <= par.getThreshV() ); |
---|
| 175 | |
---|
| 176 | close = close || |
---|
| 177 | ( (hypot(first->getX()-second->getX(),first->getY()-second->getY())<=par.getThreshS()) |
---|
| 178 | && (abs(first->getZ()-second->getZ()) <= par.getThreshV() ) |
---|
| 179 | ); |
---|
| 180 | } |
---|
| 181 | |
---|
| 182 | // close = close || thisOneClose; |
---|
| 183 | |
---|
| 184 | delete second; |
---|
| 185 | } |
---|
| 186 | delete first; |
---|
| 187 | } |
---|
| 188 | |
---|
| 189 | */ |
---|
| 190 | |
---|
| 191 | |
---|