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Gestures.cpp
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#include <cfloat>
#include <assert.h>
#include <algorithm>
#include "Gestures.h"
#ifdef WITH_OPENGL
#include "TrackerDrawingOpenGL.h"
#include "DrawingFunctions.h"
#endif
//Sorting functions to find best fitting gestures.
static bool sortByLevel0(const GestureDistance *lhs, const GestureDistance *rhs) {
return lhs->m_L2NormSquared[0] < rhs->m_L2NormSquared[0];
}
static bool sortByLevel1(const GestureDistance *lhs, const GestureDistance *rhs) {
return lhs->m_L2NormSquared[1] < rhs->m_L2NormSquared[1];
}
static bool sortByLevel2(const GestureDistance *lhs, const GestureDistance *rhs) {
return lhs->m_L2NormSquared[2] < rhs->m_L2NormSquared[2];
}
static bool sortByLevel3(const GestureDistance *lhs, const GestureDistance *rhs) {
return lhs->m_L2NormSquared[3] < rhs->m_L2NormSquared[3];
}
static bool sortByOrder(const GestureDistance *lhs, const GestureDistance *rhs) {
if( lhs->m_sorting_weight == rhs->m_sorting_weight){
return lhs->m_L2NormSquared[1] < rhs->m_L2NormSquared[1];
}
return lhs->m_sorting_weight < rhs->m_sorting_weight;
}
static bool sortByLevelWeightSum(const GestureDistance *lhs, const GestureDistance *rhs) {
return lhs->m_L2_weight < rhs->m_L2_weight;
}
typedef bool (*sortDef)(const GestureDistance*, const GestureDistance*);
static const sortDef sortFunctions[4] = { sortByLevel0, sortByLevel1, sortByLevel2, sortByLevel3};
/* Approx |f(t)-g(t)|_2^2 over I=[0,1] with N equidistant supporting points.
*
* Requires N>1.
* \sum_i( (d_{i+1}+d_i)/2 ) = (d_0+d_{N-1})/2 + sum_{i=1}^{N-2} d_i
* */
static double quadratureSquared( double *inA, double *inB, const size_t abLen ){
if( abLen<2 ) return 0.0;
double d,sum;
size_t N = abLen;
d = *inA - *inB;
sum = d*d/2;
++inA;
++inB;
--N;
while( N ){
d = *inA - *inB;
sum += d*d;
++inA;
++inB;
--N;
}
sum -= d*d/2;
return sum/(abLen-1);
}
Gesture::Gesture( cBlob &blob, size_t skipped_begin_nodes, size_t skipped_end_nodes ):
m_n(0),m_ncoeffs(0),m_nbreak(0),
m_time_max(1.0),
//m_grid(NULL),
m_curvePointDistances(NULL),
m_debugDurationGrid(NULL),
m_gestureName(NULL),
m_gestureId(gestureIdCounter++),
//m_bw(NULL),
m_ReducedBasis(NULL)
{
m_gestureId = blob.id;
// Init static variables
#ifdef ROBUST_FIT
if( rw == NULL ){
#else
if( mw == NULL ){
#endif
initStaticGestureVariables();
}
m_raw_values[0]= NULL;
m_raw_values[1]= NULL;
m_splineCurve[0] = NULL;
m_splineCurve[1] = NULL;
#ifdef STORE_IN_MEMBER_VARIABLE
m_c[0]= NULL;
m_c[1]= NULL;
m_cov[0]= NULL;
m_cov[1]= NULL;
#endif
#ifdef WITH_HISTORY
if( blob.history.get() != nullptr ){
/* 0. Count number of useful elements of history.
* Blobs with .event = BLOB_PENDING should be ignored.*/
size_t n(0);
int globKnot(0);
int duration(-1);
std::deque<cBlob>::iterator it = blob.history.get()->begin();
const std::deque<cBlob>::iterator itEnd = blob.history.get()->end();
if( blob.event != BLOB_PENDING ){
duration = blob.duration+1; //TODO check if +1 is ness.?
++n;
}
for ( ; it != itEnd ; ++it){
if( (*it).event == BLOB_UP ){
fprintf(stderr,"%s:Chain contain blob with BLOB_UP event.\n",__FILE__);
}
if( (*it).event != BLOB_PENDING ){
if( duration == -1 ){
duration = blob.duration;
}
globKnot = duration - (*it).duration;// + 1; /* TODO Remove +1 shift here but increase/decrease(?) duration value in history. */
if( globKnot >= MAX_DURATION_STEPS ){
fprintf(stderr,"%s:Excess max duration for gestures.\n",__FILE__);
/* The tracked data is to far in the past. Ignore all older nodes. */
break;
}else{
++n;
}
}
}
/* 1. Setup sizes and init vectors */
if( n <= skipped_begin_nodes + skipped_end_nodes ){
// Not enough nodes.
return;
}
m_n = n - skipped_begin_nodes - skipped_end_nodes;
assert( m_n < 1000000 ); //underflow check
assert( m_n > 0 );
m_ncoeffs = NCOEFFS_FUNC(m_n);
m_nbreak = m_ncoeffs + 2 - SPLINE_DEG;
/* m_nbreak must be at least 2 for a successful
* bspline initialisation. We check this here,
* but respect a possible underflowing of the variable.
*/
//if( m_nbreak-2 < 1000000 )
if( m_n > 10 )
{
printf("n,nc,nb=%lu,%lu,%lu \n", m_n, m_ncoeffs, m_nbreak);
//m_grid = gsl_vector_alloc( m_nbreak/*+2*(SPLINE_DEG-1)*/ );
m_ReducedBasis = gsl_matrix_alloc(m_n, m_ncoeffs);
m_raw_values[0] = gsl_vector_alloc(m_n);
m_raw_values[1] = gsl_vector_alloc(m_n);
m_debugDurationGrid = gsl_vector_alloc(m_n);
#ifdef STORE_IN_MEMBER_VARIABLE
m_c[0] = gsl_vector_alloc(m_ncoeffs);
m_c[1] = gsl_vector_alloc(m_ncoeffs);
m_cov[0] = gsl_matrix_alloc(m_ncoeffs, m_ncoeffs);
m_cov[1] = gsl_matrix_alloc(m_ncoeffs, m_ncoeffs);
#endif
//m_bw = gsl_bspline_alloc(SPLINE_DEG, m_nbreak);
const size_t basisIndex = m_ncoeffs-NCOEFFS_MIN;
/* 2. Filling vectors. Note that values are backward aligned. [current value,..., oldest value] */
int knot(0);
globKnot = 0;
//gsl_vector_set(m_grid, 0, 0.0); // unknown behaviour for skipped_*_nodes>0
if( blob.event != BLOB_PENDING ){
if( skipped_end_nodes == 0
){
const gsl_vector_const_view subrow = gsl_matrix_const_subrow ( FullBasis[basisIndex], globKnot, 0, m_ncoeffs);
gsl_matrix_set_row( m_ReducedBasis, knot, &subrow.vector );
gsl_vector_set_fast(m_raw_values[0], knot, blob.location.x);
gsl_vector_set_fast(m_raw_values[1], knot, blob.location.y);
gsl_vector_set_fast(m_debugDurationGrid, 0, 0.0);
++knot;
}else{
--skipped_end_nodes;
}
}
std::deque<cBlob>::iterator it = blob.history.get()->begin();
const std::deque<cBlob>::iterator itEnd = blob.history.get()->end();
for ( ; it != itEnd ; ++it){
if( (*it).event == BLOB_PENDING ) continue;
if( skipped_end_nodes > 0 ){
--skipped_end_nodes;
continue;
}
//Global knot of uniform grid
globKnot = duration - (*it).duration;// + 1;
gsl_vector_set_fast(m_raw_values[0], knot, (*it).location.x);
gsl_vector_set_fast(m_raw_values[1], knot, (*it).location.y);
gsl_vector_set_fast(m_debugDurationGrid, knot, ((double)globKnot)/MAX_DURATION_STEPS);
//gsl_vector_set_fast( m_grid, knot, gsl_vector_get( FullGrid, globKnot ) );
const gsl_vector_const_view subrow2 = gsl_matrix_const_subrow( FullBasis[basisIndex], globKnot, 0, m_ncoeffs);
gsl_matrix_set_row( m_ReducedBasis, knot, &subrow2.vector );
++knot;
if( knot >= m_n ) break; // just ness. if skipped_begin_nodes>0
}
//printf("Matrix:\n");
//gsl_matrix_fprintf(stdout,m_ReducedBasis, "%f");
//gsl_vector_fprintf(stdout,m_debugDurationGrid, "%f");
//gsl_bspline_knots(m_grid, m_bw);//internally, m_grid data will be copied, which is omitable
m_time_max = ((double)globKnot)/MAX_DURATION_STEPS;
}else{
// To less points
m_n = 0;
m_ncoeffs = 0;
m_nbreak = 0;
}
}
#else
fprinf(stderr, "Gesture construtor require history of blob position.\n");
#endif
construct();
}
Gesture::Gesture(int *inTimestamp, double *inX, double *inY, size_t xy_Len, size_t stride, bool reversedTime ):
m_n(xy_Len),m_ncoeffs(0),m_nbreak(0),
m_time_max(1.0),
m_curvePointDistances(NULL),
m_gestureName(NULL),
m_gestureId(gestureIdCounter++),
m_debugDurationGrid(NULL),
m_ReducedBasis(NULL)
{
//init static variables
#ifdef ROBUST_FIT
if( rw == NULL ){
#else
if( mw == NULL ){
#endif
initStaticGestureVariables();
}
m_raw_values[0]= NULL;
m_raw_values[1]= NULL;
m_splineCurve[0] = NULL;
m_splineCurve[1] = NULL;
#ifdef STORE_IN_MEMBER_VARIABLE
m_c[0]= NULL;
m_c[1]= NULL;
m_cov[0]= NULL;
m_cov[1]= NULL;
#endif
if( m_n > MAX_DURATION_STEPS ) m_n = MAX_DURATION_STEPS;
m_ncoeffs = NCOEFFS_FUNC(m_n);
m_nbreak = m_ncoeffs + 2 - SPLINE_DEG;
/* m_nbreak must be at least 2 for a successful
* bspline initialisation. We check this here,
* but respect a possible underflowing of the variable.
*/
//if( m_nbreak-2 < 1000000 )
if( m_n > 10 )
{
//m_grid = gsl_vector_alloc( m_nbreak/*+2*(SPLINE_DEG-1)*/ );
m_ReducedBasis = gsl_matrix_alloc(m_n, m_ncoeffs);
m_raw_values[0] = gsl_vector_alloc(m_n);
m_raw_values[1] = gsl_vector_alloc(m_n);
m_debugDurationGrid = gsl_vector_alloc(m_n);
#ifdef STORE_IN_MEMBER_VARIABLE
m_c[0] = gsl_vector_alloc(m_ncoeffs);
m_c[1] = gsl_vector_alloc(m_ncoeffs);
m_cov[0] = gsl_matrix_alloc(m_ncoeffs, m_ncoeffs);
m_cov[1] = gsl_matrix_alloc(m_ncoeffs, m_ncoeffs);
#endif
//m_bw = gsl_bspline_alloc(SPLINE_DEG, m_nbreak);
const size_t basisIndex = m_ncoeffs-NCOEFFS_MIN;
/* 1. Filling vectors */
//gsl_vector_set(m_grid, 0, 0.0);
if( reversedTime ){
int endTime(inTimestamp[xy_Len-1]);
inTimestamp += xy_Len;
inX += (xy_Len-1)*stride;
inY += (xy_Len-1)*stride;
for (size_t i=0; i<xy_Len; ++i, inX-=stride, inY-=stride, --inTimestamp ){
int curTime(endTime - *inTimestamp);
if( curTime >= MAX_DURATION_STEPS ){
fprintf(stderr,"%s:Excess max duration for gestures.\n",__FILE__);
/* The tracked data is to far in the past. Cut of at this position and short
* the dimension of the basis matrix.
* Note: The selection of m_ncoeffs could be to high for the new m_n.
*/
m_n = i;
m_ReducedBasis->size1 = m_n;
m_raw_values[0]->size = m_n;
m_raw_values[1]->size = m_n;
--inTimestamp;
break;
}
gsl_vector_set_fast(m_raw_values[0], i, *inX);
gsl_vector_set_fast(m_raw_values[1], i, *inY);
gsl_vector_set_fast(m_debugDurationGrid, i, curTime);
const gsl_vector_const_view subrow2 = gsl_matrix_const_subrow( FullBasis[basisIndex], curTime, 0, m_ncoeffs);
gsl_matrix_set_row( m_ReducedBasis, i, &subrow2.vector );
}
m_time_max = ((double)(endTime-*(inTimestamp+1)))/MAX_DURATION_STEPS;
}else{ // time not reversed
for (size_t i=0; i<xy_Len; ++i, inX+=stride, inY+=stride, ++inTimestamp ){
if( *inTimestamp >= MAX_DURATION_STEPS ){
fprintf(stderr,"%s:Excess max duration for gestures.\n",__FILE__);
/* The tracked data is to far in the past. Cut of at this position and short
* the dimension of the basis matrix.
* Note: The selection of m_ncoeffs could be to high for the new m_n.
*/
m_n = i;
m_ReducedBasis->size1 = m_n;
m_raw_values[0]->size = m_n;
m_raw_values[1]->size = m_n;
++inTimestamp;
break;
}
gsl_vector_set_fast(m_raw_values[0], i, *inX);
gsl_vector_set_fast(m_raw_values[1], i, *inY);
gsl_vector_set_fast(m_debugDurationGrid, i, *inTimestamp);
const gsl_vector_const_view subrow2 = gsl_matrix_const_subrow( FullBasis[basisIndex], *inTimestamp, 0, m_ncoeffs);
gsl_matrix_set_row( m_ReducedBasis, i, &subrow2.vector );
}
//printf("Matrix:\n");
//gsl_matrix_fprintf(stdout,m_ReducedBasis, "%f");
//gsl_bspline_knots(m_grid, m_bw);//internally, m_grid data will be copied, which is omitable
m_time_max = ((double)*(inTimestamp-1))/MAX_DURATION_STEPS;
}
}else{
// To less points
m_n = 0;
}
construct();
}
size_t Gesture::getNumberOfRawSupportNodes() const {
return m_n;
}
Gesture::Gesture(int *inTimestamp, double *inXY, size_t xy_Len, bool reversedTime ):
m_n(xy_Len),m_ncoeffs(0),m_nbreak(0),
m_time_max(1.0),
m_curvePointDistances(NULL),
m_gestureName(NULL),
m_gestureId(gestureIdCounter++),
m_debugDurationGrid(NULL),
m_ReducedBasis(NULL)
//:Gesture(inTimestamp, inXY, inXY+1, xy_Len, 2)
{
// new(this) Gesture(inTimestamp, inXY, inXY+1, xy_Len, 2, reversedTime);
//init static variables
#ifdef ROBUST_FIT
if( rw == NULL ){
#else
if( mw == NULL ){
#endif
initStaticGestureVariables();
}
m_raw_values[0]= NULL;
m_raw_values[1]= NULL;
m_splineCurve[0] = NULL;
m_splineCurve[1] = NULL;
#ifdef STORE_IN_MEMBER_VARIABLE
m_c[0]= NULL;
m_c[1]= NULL;
m_cov[0]= NULL;
m_cov[1]= NULL;
#endif
if( m_n > MAX_DURATION_STEPS ) m_n = MAX_DURATION_STEPS;
m_ncoeffs = NCOEFFS_FUNC(m_n);
m_nbreak = m_ncoeffs + 2 - SPLINE_DEG;
if( m_n > 10 )
{
m_ReducedBasis = gsl_matrix_alloc(m_n, m_ncoeffs);
m_raw_values[0] = gsl_vector_alloc(m_n);
m_raw_values[1] = gsl_vector_alloc(m_n);
m_debugDurationGrid = gsl_vector_alloc(m_n);
#ifdef STORE_IN_MEMBER_VARIABLE
m_c[0] = gsl_vector_alloc(m_ncoeffs);
m_c[1] = gsl_vector_alloc(m_ncoeffs);
m_cov[0] = gsl_matrix_alloc(m_ncoeffs, m_ncoeffs);
m_cov[1] = gsl_matrix_alloc(m_ncoeffs, m_ncoeffs);
#endif
const size_t basisIndex = m_ncoeffs-NCOEFFS_MIN;
/* 1. Filling vectors */
if( reversedTime ){
int endTime(inTimestamp[xy_Len-1]);
inTimestamp += xy_Len-1;
inXY += (xy_Len-1)*2;
for (size_t i=0; i<xy_Len; ++i, inXY-=2, --inTimestamp ){
int curTime(endTime - *inTimestamp);
if( curTime >= MAX_DURATION_STEPS ){
fprintf(stderr,"%s:Excess max duration for gestures.\n",__FILE__);
/* The tracked data is to far in the past. Cut of at this position and short
* the dimension of the basis matrix.
* Note: The selection of m_ncoeffs could be to high for the new m_n.
*/
m_n = i;
m_ReducedBasis->size1 = m_n;
m_raw_values[0]->size = m_n;
m_raw_values[1]->size = m_n;
--inTimestamp;
break;
}
gsl_vector_set_fast(m_raw_values[0], i, inXY[0]);
gsl_vector_set_fast(m_raw_values[1], i, inXY[1]);
gsl_vector_set_fast(m_debugDurationGrid, i, curTime);
const gsl_vector_const_view subrow2 = gsl_matrix_const_subrow( FullBasis[basisIndex], curTime, 0, m_ncoeffs);
gsl_matrix_set_row( m_ReducedBasis, i, &subrow2.vector );
}
m_time_max = ((double)(endTime-*(inTimestamp+1)))/MAX_DURATION_STEPS;
}else{ // time not reversed
for (size_t i=0; i<xy_Len; ++i, inXY+=2, ++inTimestamp ){
if( *inTimestamp >= MAX_DURATION_STEPS ){
fprintf(stderr,"%s:Excess max duration for gestures.\n",__FILE__);
/* The tracked data is to far in the past. Cut of at this position and short
* the dimension of the basis matrix.
* Note: The selection of m_ncoeffs could be to high for the new m_n.
*/
m_n = i;
m_ReducedBasis->size1 = m_n;
m_raw_values[0]->size = m_n;
m_raw_values[1]->size = m_n;
++inTimestamp;
break;
}
gsl_vector_set_fast(m_raw_values[0], i, inXY[0]);
gsl_vector_set_fast(m_raw_values[1], i, inXY[1]);
gsl_vector_set_fast(m_debugDurationGrid, i, *inTimestamp);
const gsl_vector_const_view subrow2 = gsl_matrix_const_subrow( FullBasis[basisIndex], *inTimestamp, 0, m_ncoeffs);
gsl_matrix_set_row( m_ReducedBasis, i, &subrow2.vector );
}
m_time_max = ((double)*(inTimestamp-1))/MAX_DURATION_STEPS;
}
}else{
// To less points
m_n = 0;
}
construct();
}
Gesture::~Gesture(){
//gsl_vector_free(m_grid);
gsl_matrix_free(m_ReducedBasis);
gsl_vector_free(m_debugDurationGrid);
if( m_curvePointDistances != NULL ){
for( size_t i=0; i<CompareDistancesNum; ++i){
gsl_vector_free(m_curvePointDistances[i]);
}
free(m_curvePointDistances);
}
gsl_vector_free(m_splineCurve[0]);
gsl_vector_free(m_splineCurve[1]);
gsl_vector_free(m_raw_values[0]);
gsl_vector_free(m_raw_values[1]);
#ifdef STORE_IN_MEMBER_VARIABLE
gsl_vector_free(m_c[0]);
gsl_vector_free(m_c[1]);
gsl_matrix_free(m_cov[0]);
gsl_matrix_free(m_cov[1]);
#endif
//gsl_bspline_free(m_bw);
free(m_gestureName);
}
void Gesture::construct(){
if( m_n == 0 ) return;
evalSplineCoefficients();
evalOrientation();
double *outX, *outY;
size_t outLen;
evalSpline(&outX,&outY,&outLen);
evalDistances();
}
#ifdef ROBUST_FIT
void Gesture::evalSplineCoefficients(){
if( m_n == 0 ) return;
/* Shrink workspace on reduced dimension.
*/
#if 1
gsl_multifit_robust_realloc(rw, m_n, m_ncoeffs);
#else
gsl_multifit_robust_free(rw); rw = NULL;
rw = gsl_multifit_robust_alloc(m_n, m_ncoeffs);
#endif
const size_t basisIndex = m_ncoeffs-NCOEFFS_MIN;
for( size_t d=0; d<DIM; ++d){
#ifdef STORE_IN_MEMBER_VARIABLE
gsl_multifit_robust(m_ReducedBasis, m_raw_values[d], m_c[d], m_cov[d], rw);
#else
gsl_multifit_robust(m_ReducedBasis, m_raw_values[d], Global_c[basisIndex][d], Global_cov[basisIndex][d], rw);
#endif
}
}
#else
void Gesture::evalSplineCoefficients(){
if( m_n == 0 ) return;
/* Shrink workspace on reduced dimension.
*/
#if 1
gsl_multifit_linear_realloc(mw, m_n, m_ncoeffs);
#else
gsl_multifit_linear_free(mw); mw = NULL;
mw = gsl_multifit_linear_alloc(m_n, m_ncoeffs);
#endif
const size_t basisIndex = m_ncoeffs-NCOEFFS_MIN;
for( size_t d=0; d<DIM; ++d){
double chisq;
#ifdef STORE_IN_MEMBER_VARIABLE
gsl_multifit_linear(m_ReducedBasis, m_raw_values[d], m_c[d], m_cov[d], &chisq, mw);
//gsl_vector_fprintf(stdout, m_c[d], "%f ");
//printf("====\n");
#else
gsl_multifit_linear(m_ReducedBasis, m_raw_values[d], Global_c[basisIndex][d], Global_cov[basisIndex][d], &chisq, mw);
#endif
}
}
#endif
void Gesture::evalSpline(double **outX, double **outY, size_t *outLen ){
if( m_n == 0 ) return;
size_t j;
if( m_splineCurve[0] == NULL ){
m_splineCurve[0] = gsl_vector_alloc(NUM_EVALUATION_POINTS);
m_splineCurve[1] = gsl_vector_alloc(NUM_EVALUATION_POINTS);
}else{
//values are already evaluated
*outX = m_splineCurve[0]->data;
*outY = m_splineCurve[1]->data;
*outLen = NUM_EVALUATION_POINTS;
return;
}
*outX = m_splineCurve[0]->data;
*outY = m_splineCurve[1]->data;
*outLen = NUM_EVALUATION_POINTS;
//*outX = new double[NUM_EVALUATION_POINTS];
//*outY = new double[NUM_EVALUATION_POINTS];
const size_t basisIndex = m_ncoeffs-NCOEFFS_MIN;
// Eval basis on [0, m_time_max]
double t_step = m_time_max/(NUM_EVALUATION_POINTS-1) - 1E-10;
double t_pos = 0.0;
gsl_vector *tmpB = gsl_vector_alloc(m_ncoeffs);
for ( j=0; j<NUM_EVALUATION_POINTS; ++j, t_pos+=t_step )
{
double x_j,y_j, xerr, yerr;
//Nun berechne ich die Basiswerte ja doch in jedem Objekt...
gsl_bspline_eval(t_pos, tmpB, bw[basisIndex]);
#ifdef STORE_IN_MEMBER_VARIABLE
#ifdef ROBUST_FIT
//gsl_multifit_robust_est(tmpB, Global_c[basisIndex][0], Global_cov[basisIndex][0], &x_j, &yerr);
//gsl_multifit_robust_est(tmpB, Global_c[basisIndex][1], Global_cov[basisIndex][1], &x_j, &yerr);
#else
gsl_multifit_linear_est(tmpB, m_c[0], m_cov[0], &x_j, &xerr);
gsl_multifit_linear_est(tmpB, m_c[1], m_cov[1], &y_j, &yerr);
#endif
#else
gsl_multifit_linear_est(tmpB, Global_c[basisIndex][0], Global_cov[basisIndex][0], &x_j, &xerr);
gsl_multifit_linear_est(tmpB, Global_c[basisIndex][1], Global_cov[basisIndex][1], &y_j, &yerr);
//gsl_multifit_robust_est(tmpB, Global_c[basisIndex][0], Global_cov[basisIndex][0], &x_j, &yerr);
//gsl_multifit_robust_est(tmpB, Global_c[basisIndex][1], Global_cov[basisIndex][1], &x_j, &yerr);
#endif
(*outX)[j] = x_j;
(*outY)[j] = y_j;
//printf("%f %f %f\n",t_pos,x_j,y_j);
}
gsl_vector_free(tmpB);
/*
// Use preevaluated basis. This does not work because basis was evaluated on
// interval [0,1] not [0,m_time_max].
for ( j=0; j<NUM_EVALUATION_POINTS; ++j)
{
double x_j,y_j, xerr, yerr;
const double t_pos = gsl_vector_get_fast(EvalGrid, j);
const gsl_vector_const_view t_basis = gsl_matrix_const_subrow ( EvalGridBasis[basisIndex], j, 0, m_ncoeffs);
const gsl_vector *tmpB = &t_basis.vector;
#ifdef STORE_IN_MEMBER_VARIABLE
gsl_multifit_linear_est(tmpB, m_c[0], m_cov[0], &x_j, &xerr);
gsl_multifit_linear_est(tmpB, m_c[1], m_cov[1], &y_j, &yerr);
#else
gsl_multifit_linear_est(tmpB, Global_c[basisIndex][0], Global_cov[basisIndex][0], &x_j, &xerr);
gsl_multifit_linear_est(tmpB, Global_c[basisIndex][1], Global_cov[basisIndex][1], &y_j, &yerr);
//gsl_multifit_robust_est(tmpB, Global_c[basisIndex][0], Global_cov[basisIndex][0], &x_j, &yerr);
//gsl_multifit_robust_est(tmpB, Global_c[basisIndex][1], Global_cov[basisIndex][1], &x_j, &yerr);
#endif
(*outX)[j] = x_j;
(*outY)[j] = y_j;
//printf("%f %f %f\n",t_pos,x_j,y_j);
}
*/
}
/* Interpretation of the three values in m_orientationTriangle:
* m_orientationTriangle[0] 'Mean' of curve start
* m_orientationTriangle[1] 'Mean' of middle values
* m_orientationTriangle[2] 'Mean' of curve end
*/
void Gesture::evalOrientation(){
size_t pos;
m_orientationTriangle[0].x = 0.0; m_orientationTriangle[0].y = 0.0;
m_orientationTriangle[1].x = 0.0; m_orientationTriangle[1].y = 0.0;
m_orientationTriangle[2].x = 0.0; m_orientationTriangle[2].y = 0.0;
//assume m_n>2*NUM_END_NODES
for( pos=0; pos<NUM_END_NODES; ++pos){
m_orientationTriangle[0].x += gsl_vector_get_fast(m_raw_values[0],pos);
m_orientationTriangle[0].y += gsl_vector_get_fast(m_raw_values[1],pos);
}
for( ; pos<m_n-NUM_END_NODES; ++pos){
m_orientationTriangle[1].x += gsl_vector_get_fast(m_raw_values[0],pos);
m_orientationTriangle[1].y += gsl_vector_get_fast(m_raw_values[1],pos);
}
for( ; pos<m_n; ++pos){
m_orientationTriangle[2].x += gsl_vector_get_fast(m_raw_values[0],pos);
m_orientationTriangle[2].y += gsl_vector_get_fast(m_raw_values[1],pos);
}
m_orientationTriangle[0].x /= NUM_END_NODES;
m_orientationTriangle[0].y /= NUM_END_NODES;
m_orientationTriangle[1].x /= m_n-2*NUM_END_NODES;
m_orientationTriangle[1].y /= m_n-2*NUM_END_NODES;
m_orientationTriangle[2].x /= NUM_END_NODES;
m_orientationTriangle[2].y /= NUM_END_NODES;
}
/* Low order approximation of curve length */
double Gesture::evalCurveLength(){
size_t pos;
double curveLen = 0.0;
for( pos=0; pos<NUM_EVALUATION_POINTS-1; ++pos){
double tmpX, tmpY;
tmpX = gsl_vector_get_fast(m_splineCurve[0],pos+1) - gsl_vector_get_fast(m_splineCurve[0],pos);
tmpY = gsl_vector_get_fast(m_splineCurve[1],pos+1) - gsl_vector_get_fast(m_splineCurve[1],pos);
curveLen += sqrt( tmpX*tmpX + tmpY*tmpY );
}
return curveLen;
}
/* Compare spline(t_n) with spline(t_n+CompareDistances[i]) and scale with length of polygon. */
void Gesture::evalDistances(){
if( m_curvePointDistances == NULL ){
m_curvePointDistances = (gsl_vector**) malloc( CompareDistancesNum*sizeof(gsl_vector*) );
for( size_t i=0; i<CompareDistancesNum; ++i){
m_curvePointDistances[i] = gsl_vector_alloc(NUM_EVALUATION_POINTS-CompareDistances[i]);
}
}
const double curveScale = 1/evalCurveLength();
/* 2. Eval distances for certain levels. */
for( size_t i=0; i<CompareDistancesNum; ++i){
double *out = m_curvePointDistances[i]->data;
size_t start = 0;
size_t end = CompareDistances[i];
for( start=0 ; end < NUM_EVALUATION_POINTS ; ++start, ++end ){
double tmpX, tmpY;
tmpX = gsl_vector_get_fast(m_splineCurve[0],end) - gsl_vector_get_fast(m_splineCurve[0],start);
tmpY = gsl_vector_get_fast(m_splineCurve[1],end) - gsl_vector_get_fast(m_splineCurve[1],start);
*out++ = sqrt( tmpX*tmpX + tmpY*tmpY )*curveScale;
}
}
}
/* Looking at absolute and relative distances
* of first and third point of m_orientationTriangle
* and decide if this gesture is alike a closed curve.
*/
bool Gesture::isClosedCurve(/* float *outAbs, float *outRel*/){
float dx,dy;
float outAbs, outRel;
dx = m_orientationTriangle[0].x-m_orientationTriangle[2].x;
dy = m_orientationTriangle[0].y-m_orientationTriangle[2].y;
float a = sqrt( dx*dx + dy*dy );
dx = m_orientationTriangle[1].x-m_orientationTriangle[0].x;
dy = m_orientationTriangle[1].y-m_orientationTriangle[0].y;
float b = sqrt( dx*dx + dy*dy );
dx = m_orientationTriangle[2].x-m_orientationTriangle[1].x;
dy = m_orientationTriangle[2].y-m_orientationTriangle[1].y;
float c = sqrt( dx*dx + dy*dy );
outAbs = a;
outRel = a/(a+b+c);
if( outAbs < 10.0 || outRel < 0.2 )
return true;
return false;
}
void Gesture::setGestureName(const char* name){
size_t len = strnlen(name, 255);
if( m_gestureName != NULL ){
free( m_gestureName );
}
char *gestureName = (char*) malloc( (len+1)*sizeof(char) );
memcpy( gestureName, name, len*sizeof(char) );
gestureName[len] = '\0';
m_gestureName = gestureName;
}
const char* Gesture::getGestureName() const{
return m_gestureName;
}
size_t Gesture::getGestureId() const{
return m_gestureId;
}
//=======================================================
GestureStore::GestureStore():
gestures()
{
}
GestureStore::~GestureStore(){
//Release stored gestures
std::vector<Gesture*>::iterator it = gestures.begin();
const std::vector<Gesture*>::iterator itEnd = gestures.end();
for( ; it != itEnd ; ++it ){
delete (*it);
}
}
/* All patters will be deleted in the destrutor. */
void GestureStore::addPattern(Gesture *pGesture){
gestures.push_back(pGesture);
}
std::vector<Gesture*> & GestureStore::getPatterns() {
return gestures;
}
/* Use very simple quadrature-formular to measure
* the distance between the input spline S and the
* stored splines G_i.
*
* TODO:
* Use triangle inequality
* dist(D_i,S) - dist(D_i,D_j) <= dist(D_j,S)
* or other inequalities to
* to cut of some integrations.
*/
void GestureStore::compateWithPatterns(Gesture *pGesture, GesturePatternCompareResult &gpcr ){
gpcr.minDist = FLT_MAX;
gpcr.minGest = NULL;
if( pGesture->getNumberOfRawSupportNodes() == 0 ) return;
std::vector<Gesture*>::iterator it = gestures.begin();
const std::vector<Gesture*>::iterator itEnd = gestures.end();
double avgDist = 0.0;
//Number of dist, which will be used for averaging
int countDist = 0;
size_t level = 0;
std::vector<GestureDistance> distObjects;
std::vector<GestureDistance*> distPointers; //for sorting
for( ; it != itEnd ; ++it ){
distObjects.emplace_back( GestureDistance(pGesture, (*it)) );
}
for( auto& x: distObjects){
distPointers.push_back(&x);
}
/* Compare on stage 1. This compare
* by the L2 norm (linear quadrature) on the v=m_curvePointDistances[0] vectors.
*/
for( auto& x: distObjects){
x.evalL2Dist(0);
}
std::sort(distPointers.begin(), distPointers.end(), sortFunctions[0]);
/* Filtering out high distances and sort nearby gestures for other levels*/
size_t i = 0;
size_t iMin = 5;//minimal number of gestures for next level
size_t iCut;
for( size_t iL = 1; iL<CompareDistancesNum; ++iL){
double l2Limit = 10 * distPointers[0]->m_L2NormSquared[iL-1];
iCut = iMin;
for( auto& x: distPointers){
++i;
x->m_sorting_weight += i;
if( i <= iMin ) continue;
if( x->m_L2NormSquared[iL-1] < l2Limit ) continue;
iCut = i;
break;
}
distPointers.erase(distPointers.begin()+iCut, distPointers.end());
for( auto& x: distPointers){
x->evalL2Dist(iL);
}
std::sort(distPointers.begin(), distPointers.end(), sortFunctions[iL]);
i = 0;
//--iMin;
}
for( auto& x: distPointers){
++i;
x->m_sorting_weight += i;
}
//std::sort(distPointers.begin(), distPointers.end(), sortByOrder);
std::sort(distPointers.begin(), distPointers.end(), sortByLevelWeightSum);
i = 0;
for( const auto& x: distPointers){
printf("%i %i %1.5f %1.5f %1.5f %1.5f %s\n", i,
x->m_sorting_weight,
x->m_L2NormSquared[0],
x->m_L2NormSquared[1],
x->m_L2NormSquared[2],
x->m_L2NormSquared[3],
x->m_to->getGestureName());
++i;
}
gpcr.minGest = distPointers[0]->m_to;
gpcr.minDist = distPointers[0]->m_L2_weight;
gpcr.avgDist = gpcr.minDist;// TODO: Remove this stuff.
printf("Curve distance to %s: %f\n", gpcr.minGest->getGestureName(), gpcr.minDist);
/* //old
for( ; it != itEnd ; ++it ){
double dist = quadratureSquared(
pGesture->m_curvePointDistances[level]->data,
(*it)->m_curvePointDistances[level]->data,
pGesture->m_curvePointDistances[level]->size );
if( dist < gpcr.minDist ){
gpcr.minDist = dist;
gpcr.minGest = (*it);
}
++countDist;
avgDist += dist;
printf("Curve distance: %f\n", dist);
}
gpcr.avgDist = avgDist/countDist;
*/
}
double GestureDistance::evalL2Dist( size_t level){
assert(level<CompareDistancesNum);
if( m_L2NormSquared[level] != DBL_MAX ){
m_L2_weight -= m_L2NormSquared[level];
}
m_L2NormSquared[level] = quadratureSquared(
m_from->m_curvePointDistances[level]->data,
m_to->m_curvePointDistances[level]->data,
m_from->m_curvePointDistances[level]->size );
m_L2_weight += m_L2NormSquared[level];
return m_L2NormSquared[level];
}
void addGestureTestPattern(GestureStore &gestureStore){
size_t n = 30;
double xy[2*n];
int time[n];
double *pos=&xy[0];
size_t i=0;
//L-shape
for( ; i<20; ++i){
*pos++ = 100;
*pos++ = 100 + i*5;
time[i] = i;
}
for( ; i<30; ++i){
*pos++ = 100 + (i-20)*5;
*pos++ = 100 + 20*5;
time[i] = i;
}
Gesture *gest1 = new Gesture( time, xy, n, false);
gest1->setGestureName("L-shape");
gestureStore.addPattern(gest1);
Gesture *gest1inv = new Gesture( time, xy, n, true);
gest1inv->setGestureName("Inv L-shape");
gestureStore.addPattern(gest1inv);
//Circle
pos=&xy[0];
for(i=0 ; i<30; ++i){
*pos++ = 300 + 20*cos(2*3.1415*i/30);
*pos++ = 150 + 20*sin(2*3.1415*i/30);
}
Gesture *gest2 = new Gesture( time, xy, n, false);
gest2->setGestureName("Circle");
gestureStore.addPattern(gest2);
//Line
pos=&xy[0];
for(i=0 ; i<30; ++i){
*pos++ = 200 - 6*i - (i*333)%7;
*pos++ = 100 + 6*i + (i*111)%7;
}
Gesture *gest3 = new Gesture( time, xy, n, false);
gest3->setGestureName("Line");
gestureStore.addPattern(gest3);
//U-Shape
pos=&xy[0];