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Track.cpp
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Track.cpp
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#include "include/Track.h"
#include "opencv2/opencv.hpp"
#include <iostream>
using namespace cv;
using namespace std;
int Track::NextID = 0;
Track::Track(Point2f pt, float dt, float acceleration, Intersection inters)
{
track_id = NextID;
NextID++;
KF = new TKalmanFilter(pt, dt, acceleration);
prediction = pt;
misses = 0;
velocity = 0;
classId = 0;
conf = 0.0;
trace.push_back(prediction);
int current_lane = inters.lane_map.at<Vec3b>(pt.y, pt.x)[0];
lane.push_back(current_lane);
float dist;
if (current_lane == 0 || current_lane == 255)
dist = 0;
else {
vector<Point> stopBar = inters.approaches[current_lane / 10].stop_bar;
dist = point2line(pt, stopBar) * inters.ftpp;
}
dist2StopBar.push_back(dist);
}
// ---------------------------------------------------------------------------
//
// ---------------------------------------------------------------------------
Track::~Track()
{
delete KF;
}
void Track::UpdateTrack(Point2f center, cv::Rect current_box, Intersection inters) {
box = current_box;
Point2f last_center = trace[trace.size() - 1];
trace.push_back(center);
Point2f movement;
//cout << center << ",," << last_center << endl;
movement.x = center.x - last_center.x;
movement.y = center.y - last_center.y;
//cout << movement << endl;
//float movement = sqrt(1.0*pow(last_center.x - center.x, 2) + pow(last_center.y - center.y, 2));
movements.push_back(movement);
//find current lane
int current_lane = inters.lane_map.at<Vec3b>(center.y, center.x)[0];
lane.push_back(current_lane);
//calculater the distance to stopbar
float dist;
if (current_lane == 0 || current_lane == 255)
dist = 0;
else {
vector<Point> stopBar = inters.approaches[current_lane / 10].stop_bar;
dist = point2line(center, stopBar) * inters.ftpp;
}
dist2StopBar.push_back(dist);
predictFuture();
return;
}
float Track::point2line(Point p, vector<Point> l) {
float a = l[0].y - l[1].y;
float b = l[1].x - l[0].x;
float c = l[0].x * l[1].y - l[1].x * l[0].y;
return abs(a * p.x + b * p.y + c) / sqrt(a * a + b * b);
}
void Track::predictFuture() {
if (trace.size() > 10) {
future_trace.clear();
Point current_location = trace[trace.size() - 1];
Point2f location = current_location;
float move_x = 0.0, move_y = 0.0, d_x = 0.0,d_y = 0.0;
for (int i = 0; i < 10; i++) {
//cout << movements[movements.size() - i - 1] << endl;
move_x += movements[movements.size() - i - 1].x;
move_y += movements[movements.size() - i - 1].y;
//d_x = d_x + movements[movements.size() - i - 1].x - movements[movements.size() - i - 2].x;
//d_y = d_y + movements[movements.size() - i - 1].y - movements[movements.size() - i - 2].y;
}
move_x = move_x / 10;
move_y = move_y / 10;
speed.x = move_x;
speed.y = move_y;
/*d_x = movements[movements.size() - 1].x + movements[movements.size() - 2].x + movements[movements.size() - 3].x + movements[movements.size() - 4].x + movements[movements.size() - 5].x -
(movements[movements.size() - 6].x + movements[movements.size() - 7].x + movements[movements.size() - 8].x + movements[movements.size() - 9].x + movements[movements.size() - 10].x);
d_x = d_x / 5;
d_y = movements[movements.size() - 1].y + movements[movements.size() - 2].y + movements[movements.size() - 3].y + movements[movements.size() - 4].y + movements[movements.size() - 5].y -
(movements[movements.size() - 6].y + movements[movements.size() - 7].y + movements[movements.size() - 8].y + movements[movements.size() - 9].y + movements[movements.size() - 10].y);
d_y = d_y / 5;*/
for (int i = 0; i < predict_frames; i++) {
//int x = trace[trace.size() - 10 + i % 10].x - trace[trace.size() - 11 + i % 10].x;
//int y = trace[trace.size() - 10 + i % 10].y - trace[trace.size() - 11 + i % 10].y;
//cout << move_x << "y: " << move_y << ", d_x" << d_x << ", dy " << d_y << endl;
location.x += move_x;
location.y += move_y;
//move_x += d_x;
//move_y += d_y;
future_trace.push_back(location);
}
}
////keep the magnitute and angle speed
//if (bird_trace.size() > 10) {
// future_trace.clear();
// Point current_location = bird_trace[bird_trace.size() - 1];
// Point location = current_location;
// float v_x = (bird_trace[bird_trace.size() - 6].x - bird_trace[bird_trace.size() - 1].x);
// float v_y = (bird_trace[bird_trace.size() - 6].y - bird_trace[bird_trace.size() - 1].y);
// float v_x_p = (bird_trace[bird_trace.size() - 11].x - bird_trace[bird_trace.size() - 6].x);
// float v_y_p = (bird_trace[bird_trace.size() - 11].y - bird_trace[bird_trace.size() - 6].y);
// float theta, d_theta, mag;
// if (v_x == 0) {
// theta = atan(v_y / 0.001);
// }
// else
// theta = atan(v_y / v_x);
// if (v_x_p == 0)
// d_theta = (atan(v_y_p / 0.001) - theta)/5.0;
// else
// d_theta = (atan(v_y_p / v_x_p) - theta) / 5.0;
// mag = sqrt(pow(v_x, 2) + pow(v_y, 2))/5.0;
// for (int i = 0; i < predict_frames; i++) {
// theta -= d_theta;
// int d_x = mag * cos(theta);
// int d_y = mag * sin(theta);
// location.x += d_x;
// location.y += d_y;
// future_trace.push_back(location);
// }
//}
////kalman filter
//if (bird_trace.size() > 2) {
// future_trace.clear();
// Point start_location = bird_trace[0];
// Point current_location = bird_trace[bird_trace.size() - 1];
// TKalmanFilter* pred_KF = new TKalmanFilter(start_location, 1, 0.1);
// for (int i = 1; i < bird_trace.size(); i++) {
// Mat prediction = pred_KF->kalman->predict();
// Mat measurement(2, 1, CV_32FC1);
// measurement.at<float>(0) = bird_trace[i].x; //update using measurements
// measurement.at<float>(1) = bird_trace[i].y;
// Mat estimated = pred_KF->kalman->correct(measurement);
// }
// for (int i = 0; i < predict_frames; i++) {
// Mat prediction = pred_KF->kalman->predict();
// Mat measurement(2, 1, CV_32FC1);
// measurement.at<float>(0) = prediction.at<float>(0); //update using measurements
// measurement.at<float>(1) = prediction.at<float>(1);
// Mat estimated = pred_KF->kalman->correct(measurement);
// future_trace.push_back(Point(estimated.at<float>(0), estimated.at<float>(1)));
// }
// delete pred_KF;
//}
return;
}