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jfx_kalman_filter_src
Commit 6ab18761 authored by oscar's avatar oscar
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      BaseTracker/iou.cpp deleted 100644 → 0
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      #include "Iou.h"
      void HungarianMatching(const std::vector<std::vector<float>>& iou_matrix,
      size_t nrows, size_t ncols,
      std::vector<std::vector<float>>& association)
      {
      Matrix<float> matrix(nrows, ncols);
      // Initialize matrix with IOU values
      for (size_t i = 0; i < nrows; i++) {
      for (size_t j = 0; j < ncols; j++) {
      // Multiply by -1 to find max cost
      if (iou_matrix[i][j] != 0) {
      matrix(i, j) = -iou_matrix[i][j];
      }
      else {
      // TODO: figure out why we have to assign value to get correct result
      matrix(i, j) = 1.0f;
      }
      }
      }
      // // Display begin matrix state.
      // for (size_t row = 0 ; row < nrows ; row++) {
      // for (size_t col = 0 ; col < ncols ; col++) {
      // std::cout.width(10);
      // std::cout << matrix(row,col) << ",";
      // }
      // std::cout << std::endl;
      // }
      // std::cout << std::endl;
      // Apply Kuhn-Munkres algorithm to matrix.
      Munkres<float> m;
      m.solve(matrix);
      // // Display solved matrix.
      // for (size_t row = 0 ; row < nrows ; row++) {
      // for (size_t col = 0 ; col < ncols ; col++) {
      // std::cout.width(2);
      // std::cout << matrix(row,col) << ",";
      // }
      // std::cout << std::endl;
      // }
      // std::cout << std::endl;
      for (size_t i = 0; i < nrows; i++) {
      for (size_t j = 0; j < ncols; j++) {
      association[i][j] = matrix(i, j);
      }
      }
      }
      struct CVPoint2f
      {
      CVPoint2f(float _x, float _y):x(_x),y(_y)
      {
      }
      CVPoint2f(const CVPoint2f& obj)
      {
      x = obj.x;
      y = obj.y;
      }
      float x;
      float y;
      };
      bool bInBox(const std::vector<CVPoint2f> &vpBoxA, const CVPoint2f &p)
      {
      std::vector<CVPoint2f> corners = vpBoxA;
      for(int i = 0; i<vpBoxA.size(); i++) //01230123
      corners.push_back(vpBoxA[i]);
      std::vector< std::vector<double> > linesA;
      for(int i = 0; i<vpBoxA.size(); i++)
      {
      CVPoint2f p1 = corners[i];
      CVPoint2f p2 = corners[i+1];
      CVPoint2f p3 = corners[i+2];
      double a;
      if(p1.x - p2.x == 0)
      a = -(p1.y - p2.y)/0.0001;
      else
      a = -(p1.y - p2.y)/(p1.x - p2.x);
      double b = 1;
      double c = -a * p2.x - p2.y;
      double d = a*p3.x + b*p3.y + c;
      std::vector<double> line{a,b,c,d};
      linesA.push_back(line);
      }
      for(int i=0; i<linesA.size(); i++)
      {
      std::vector<double > l = linesA[i];
      double y = l[0] * p.x + l[1] * p.y +l[2];
      if(y * l[3] < 0)
      return false;
      }
      return true;
      }
      double InterSection_2D(const std::vector<CVPoint2f> &vpBoxA, const std::vector<CVPoint2f> &vpBoxB)
      {
      double min_x, max_x, min_y, max_y;
      min_x = vpBoxA[0].x;
      max_x = vpBoxA[0].x;
      min_y = vpBoxA[0].y;
      max_y = vpBoxA[0].y;
      for(int i=1; i<vpBoxA.size(); i++)
      {
      CVPoint2f p = vpBoxA[i];
      if(p.x > max_x)
      max_x = p.x;
      if(p.x < min_x)
      min_x = p.x;
      if(p.y > max_y)
      max_y = p.y;
      if(p.y < min_y)
      min_y = p.y;
      }
      for(int i=0; i<vpBoxB.size(); i++)
      {
      CVPoint2f p = vpBoxB[i];
      if(p.x > max_x)
      max_x = p.x;
      if(p.x < min_x)
      min_x = p.x;
      if(p.y > max_y)
      max_y = p.y;
      if(p.y < min_y)
      min_y = p.y;
      }
      //将两个BBox的定点坐标最小值设置为0, 以防止有负数的产生
      std::vector<CVPoint2f> vpBoxAA = vpBoxA;
      std::vector<CVPoint2f> vpBoxBB = vpBoxB;
      //if(min_x < 0 && min_y < 0)
      for(int i=0; i<vpBoxA.size(); i++)
      {
      vpBoxAA[i].x = vpBoxAA[i].x - min_x;
      vpBoxAA[i].y = vpBoxAA[i].y - min_y;
      vpBoxBB[i].x = vpBoxBB[i].x - min_x;
      vpBoxBB[i].y = vpBoxBB[i].y - min_y;
      }
      int imax_x = (int)((max_x - min_x) * 10000);
      int imax_y = (int)((max_y - min_y) * 10000);
      double points_inA = 0, points_inB = 0, points_inAB = 0;
      srand((int)time(0));
      for(int i = 0; i<100000; i++)
      {
      int xx = rand()%(imax_x)+1; //生成[1, imax_x]之间的整数
      int yy = rand()%(imax_y)+1; //生成[1, imax_y]之间的整数
      CVPoint2f p((float)xx / 10000.0, (float)yy / 10000.0);
      if( bInBox(vpBoxAA, p) )
      ++points_inA;
      if( bInBox(vpBoxBB, p) )
      ++points_inB;
      if( bInBox(vpBoxAA, p) && bInBox(vpBoxBB, p) )
      ++points_inAB;
      }
      double iou = points_inAB / (points_inA + points_inB - points_inAB);
      //cout<<"points_inA : "<<points_inA<<", points_inB: "<<points_inB<<" ,points_inAB: "<<points_inAB<<endl;
      return iou;
      }
      //double CuboidIoU(const Eigen::MatrixXd &truth_poses, const Eigen::MatrixXd &landmark_poses)
      double CuboidIoU(const std::vector<float> &truth_poses, const std::vector<float> &landmark_poses)
      {
      std::vector<CVPoint2f> vground_points;
      std::vector<CVPoint2f> vlandmark_points;
      if(1) //通过坐标旋转求取groundtruth立方体中 2D-Boundbox四个顶点的坐标
      {
      //double cen_x = truth_poses(0,0);
      //double cen_y = truth_poses(0,1);
      //double len = truth_poses(0,6);
      //double wid = truth_poses(0,7);
      //double yaw = truth_poses(0,5);
      double cen_x = truth_poses[0];
      double cen_y = truth_poses[1];
      double len = truth_poses[6];
      double wid = truth_poses[7];
      double yaw = truth_poses[5];
      double x, y, xx, yy;
      x = cen_x - len;
      y = cen_y - wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p0(xx, yy);
      x = cen_x - len;
      y = cen_y + wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p1(xx, yy);
      x = cen_x + len;
      y = cen_y + wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p2(xx, yy);
      x = cen_x + len;
      y = cen_y - wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p3(xx, yy);
      vground_points = {p0, p1, p2, p3};
      }
      if(1)//通过坐标旋转求取landmark中 2D-Boundbox四个顶点的坐标
      {
      //double cen_x = landmark_poses(0,0);
      //double cen_y = landmark_poses(0,1);
      //double len = landmark_poses(0,6);
      //double wid = landmark_poses(0,7);
      //double yaw = landmark_poses(0,5);
      double cen_x = landmark_poses[0];
      double cen_y = landmark_poses[1];
      double len = landmark_poses[6];
      double wid = landmark_poses[7];
      double yaw = landmark_poses[5];
      double x, y, xx, yy;
      x = cen_x - len;
      y = cen_y - wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p0(xx, yy);
      x = cen_x - len;
      y = cen_y + wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p1(xx, yy);
      x = cen_x + len;
      y = cen_y + wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p2(xx, yy);
      x = cen_x + len;
      y = cen_y - wid;
      xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
      yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
      CVPoint2f p3(xx, yy);
      vlandmark_points = {p0, p1, p2, p3};
      }
      double iou_2d = InterSection_2D(vlandmark_points, vground_points);
      std::cout << " iou_2d = " << iou_2d << std::endl;
      double iou_3d = 0;
      if (iou_2d > 0) {
      //double tru_minz = truth_poses(0, 2) - truth_poses(0, 8);
      //double tru_maxz = truth_poses(0, 2) + truth_poses(0, 8);
      //double land_minz = landmark_poses(0, 2) - landmark_poses(0, 8);
      //double land_maxz = landmark_poses(0, 2) + landmark_poses(0, 8);
      double tru_minz = truth_poses[2] - truth_poses[8];
      double tru_maxz = truth_poses[2] + truth_poses[8];
      double land_minz = landmark_poses[2] - landmark_poses[8];
      double land_maxz = landmark_poses[2] + landmark_poses[8];
      if (land_maxz <= tru_maxz && land_maxz >= tru_minz) {
      double height_iou = (land_maxz - tru_minz) / (tru_maxz - land_minz);
      iou_3d = iou_2d * height_iou;
      } else if (tru_maxz < land_maxz && tru_maxz > land_minz) {
      double height_iou = (tru_maxz - land_minz) / (land_maxz - tru_minz);
      iou_3d = iou_2d * height_iou;
      }
      }
      return iou_3d;
      }
      //void main(int argc, char **argv)
      //{
      // Eigen::MatrixXd truth_poses(1,9);
      // truth_poses<<-0.4875, -0.798913, -1.125, 0, 0, -1.27409, 0.240477, 0.235315, 0.375;
      // Eigen::MatrixXd landmark_poses(1,9);
      // landmark_poses<<-0.506616, -0.796303, -1.20499, 0, 0, -0.345443, 0.22, 0.22, 0.4 ;
      // double iou_3d = CuboidIoU_once(truth_poses, landmark_poses);
      // cout<<"the iou of two cuboid is: "<<iou_3d<<endl;
      // return;
      //}
      \ No newline at end of file
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