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SemanticFastForward.m
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%%%%%%%%%%%%%%%%%%%Semantic%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% This file is part of SemanticFastForward_JVCI.
%
% SemanticFastForward_JVCI is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% SemanticFastForward_JVCI is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with SemanticFastForward_JVCI. If not, see <http://www.gnu.org/licenses/>.
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% Class Name: SemanticFastForward
%
% This class is an adaptation of the FastForwardSequenceProducer class present
% in the EgoSampling code. It contains the implementation of the SequenceProducer
% in order to perform the creation of the Semantic Fast-Forward video.
%
% $Date: July 26, 2017
% ________________________________________
classdef SemanticFastForward < SemanticSequenceProducer
properties
OF_ind_source;
OF_ind_dest;
Frame_selector;
Shakiness_cost;
Forwardness_cost;
Velocity_cost;
Appearance_cost;
Semantic_cost;
Total_cost;
Higher_order_forwardness_cost;
Higher_order_shakiness_cost;
gaze_frames;
non_walk;
ResultsMetaData;
end
methods
function obj = SemanticFastForward(sd, cfg, SemanticData, use_range, optimize)
obj = obj@SemanticSequenceProducer(sd, cfg, SemanticData, use_range, optimize);
obj.OF_ind_source = [];
obj.OF_ind_dest = [];
obj.Shakiness_cost = [];
obj.Forwardness_cost =[];
obj.Velocity_cost = [];
obj.Appearance_cost = [];
obj.Semantic_cost = [];
obj.Total_cost = [];
obj.gaze_frames = [];
obj.non_walk = [];
obj.Higher_order_shakiness_cost = [];
obj.Higher_order_forwardness_cost = [];
obj.ResultsMetaData = struct();
obj.OF_ind_source = 0; obj.OF_ind_dest = 0;
if obj.cfg.get('endInd') > size(obj.sd.CDC_Raw_X,1) + obj.sd.StartFrame-1
obj.cfg.set('endInd', size(obj.sd.CDC_Raw_X,1) + obj.sd.StartFrame-1)
end
switch obj.cfg.get('FrameSelector')
case 'DynamicProgramming'
obj.Frame_selector = DynamicProgrammingFrameSelector(obj.cfg);
obj.cfg.set('UseHigherOrder',true);
case 'ShortestPath'
obj.Frame_selector = ShortestPathFrameSelector(obj.cfg);
case 'Naive'
obj.Frame_selector = NaiveFrameSelector(obj.cfg);
% Cripple all the OF and other estimators
obj.cfg.set('OFEstimator','None');
obj.cfg.set('VelocityCostFunction','None');
obj.cfg.set('AppearanceCostFunction','None');
obj.cfg.set('ShakinessCostFunction','None');
obj.cfg.set('ForwardnessCostFunction','None');
obj.cfg.set('SemanticCostFunction','None');
obj.cfg.set('UseHigherOrder',false);
case 'NaiveSemantic'
obj.Frame_selector = NaiveSemanticFrameSelector(obj.cfg, obj.SemanticData);
% Cripple all the OF and other estimators
obj.cfg.set('OFEstimator','None');
obj.cfg.set('VelocityCostFunction','None');
obj.cfg.set('AppearanceCostFunction','None');
obj.cfg.set('ShakinessCostFunction','None');
obj.cfg.set('ForwardnessCostFunction','None');
obj.cfg.set('SemanticCostFunction','None');
obj.cfg.set('UseHigherOrder',false);
otherwise
error('Unknown ''frame selector'' value "%s"',obj.cfg.get('FrameSelector'));
end
end
function PrepareCostTerms(obj)
%% prepare functions
%OF estimator
switch obj.cfg.get('OFEstimator')
case 'Cumulative'
OFEstimator = CumulativeLKEstimator(obj.sd,obj.cfg);
case 'None'
% Cripple the optical flow estimator
OFEstimator = OpticalFlowEstimator(obj.sd,obj.cfg);
otherwise
error('Unknown ''OFEstimator'' value "%s"',obj.cfg.get('OFEstimator'));
end
%shakiness cost function
switch obj.cfg.get('ShakinessCostFunction')
case 'FOE'
shakinessCostEstimator = FOEDistanceCost(obj.sd,obj.cfg);
case 'Epipole.vs.FOE'
shakinessCostEstimator = EpipoleFOEDistanceCost(obj.sd,obj.cfg);
case 'AngleDiff'
shakinessCostEstimator = AngleDiffrenceCost(obj.sd,obj.cfg,80);
case 'FFT'
shakinessCostEstimator = FFTCost(obj.sd,obj.cfg);
case 'ImpulseJitter'
shakinessCostEstimator = ImpulseJitterCost(obj.sd,obj.cfg);
case 'SequenceNet'
shakinessCostEstimator = SequenceNetCost(obj.sd,obj.cfg);
case 'None'
shakinessCostEstimator = ZeroCost(obj.sd,obj.cfg);
otherwise
error('Unknown ''ShakinessCostFunction'' value "%s"',obj.cfg.get('ShakinessCostFunction'));
end
%forwardness cost function
switch obj.cfg.get('ForwardnessCostFunction')
case 'FOE'
forwardnessCostEstimator = FOEDistanceCost(obj.sd,obj.cfg);
case 'None'
forwardnessCostEstimator = ZeroCost(obj.sd,obj.cfg);
otherwise
error('Unknown ''ForwardnessCostFunction'' value "%s"',obj.cfg.get('ForwardnessCostFunction'));
end
%velocity cost function
switch obj.cfg.get('VelocityCostFunction')
case 'OFMagnitudeCost'
velocityCostEstimator = OFMagnitudeCost(obj.sd,obj.cfg);
case 'None'
velocityCostEstimator = ZeroCost(obj.sd,obj.cfg);
otherwise
error('Unknown ''VelocityCostFunction'' value "%s"',obj.cfg.get('VelocityCostFunction'));
end
%appearance cost function
switch obj.cfg.get('AppearanceCostFunction')
case 'ColorHistogram'
appearanceCostEstimator = ColorHistogramCost(obj.sd,obj.cfg);
case 'None'
appearanceCostEstimator = ZeroCost(obj.sd,obj.cfg);
otherwise
error('Unknown ''AppearanceCostFunction'' value "%s"',obj.cfg.get('AppearanceCostFunction'));
end
%Semantic cost function
switch obj.cfg.get('SemanticCostFunction')
case 'Semantic'
semanticCostEstimator = SemanticCost(obj.sd,obj.cfg, obj.SemanticData);
case 'None'
semanticCostEstimator = ZeroCost(obj.sd,obj.cfg);
otherwise
error('Unknown ''SemanticCostFunction'' value "%s"', obj.cfg.get('SemanticCostFunction'));
end
%% Calculate batches of cost functions
startInd = obj.cfg.get('startInd');
endInd = obj.cfg.get('endInd');
tempDist = obj.cfg.get('maxTemporalDist');
skipRatio = obj.cfg.get('FastForwardSkipRatio');
lastSparseInd =1;
batchSize = min(obj.cfg.get('maxBatchMemory')/tempDist, endInd-startInd+1);
numberOfBatches = ceil((endInd-startInd)/batchSize);
[video_dir, fname, ~] = fileparts(obj.cfg.get('inputVideoFileName'));
fname_costs = [video_dir '/' obj.cfg.get('ExpName') '_Costs_' num2str(skipRatio) 'x.mat'];%Costs_Bkp_MScExperiments/
if (exist(fname_costs, 'file') == 2 )
load(fname_costs);
fprintf('%sCosts loaded from "%s"...\n',log_line_prefix, fname_costs);
if(strcmp(obj.cfg.get('ShakinessCostFunction'), 'ImpulseJitter'))
if(~any(strcmp(who,'shakiness_cost_by_cumultive_shifts')))
cumulative_shifts_filename = [video_dir '/' fname '_cumulativeShifts.mat'];
temporal_dist = obj.cfg.get('maxTemporalDist');
shakiness_cost_by_cumultive_shifts = genJitterCosts(cumulative_shifts_filename, temporal_dist);
shakiness_cost_by_cumultive_shifts = shakiness_cost_by_cumultive_shifts(1:end-4,:);
end
obj.Shakiness_cost = shakiness_cost_by_cumultive_shifts(startInd:endInd);
elseif(strcmp(obj.cfg.get('ShakinessCostFunction'), 'SequenceNet'))
if(~any(strcmp(who,'shakiness_cost_sequence_net')))
[dir, fname, ~] = fileparts(obj.cfg.get('inputVideoFileName'));
sequence_net_filename = [dir '/sequenceNet_' fname '.csv'];
shakiness_cost_sequence_net = csvread(sequence_net_filename);
shakiness_cost_sequence_net = shakiness_cost_sequence_net(startInd:endInd,:);
end
obj.Shakiness_cost = shakiness_cost_sequence_net;
else
obj.Shakiness_cost = shakiness_cost;
end
% The velocity term needs to be recalculated if the required speed is different
if exist('required_speedup', 'var') && obj.cfg.get('FastForwardSkipRatio') ~= required_speedup ||...
obj.cfg.get('FastForwardSkipRatio') ~= 10 %The default speedup is 10 (if different it should recalculate)
for batch = 1:numberOfBatches
startBatch = startInd + batchSize*(batch-1);
endBatch = min(startBatch + batchSize-1, endInd);
fprintf('%sEstimating optical flow between pairs of frames...\n',log_line_prefix);
[OF_X,OF_Y,OF_ind_source_batch,OF_ind_dest_batch] = OFEstimator.estimateBatch(startBatch, endBatch);
fprintf('%sRecalculating velocity cost...\n',log_line_prefix);
[Velocity_cost_batch] = velocityCostEstimator.calculateCostBatch(OF_X, OF_Y,startBatch, endBatch);
numSparseInd = numel(OF_ind_source_batch);
obj.OF_ind_source(lastSparseInd : lastSparseInd + numSparseInd-1) = OF_ind_source_batch + startBatch-1;
obj.OF_ind_dest (lastSparseInd : lastSparseInd + numSparseInd-1) = OF_ind_dest_batch + startBatch-1;
lastSparseInd = lastSparseInd + numSparseInd;
obj.Velocity_cost(startBatch-startInd+1 : endBatch-startInd+1, :) = Velocity_cost_batch;
end
else
obj.Velocity_cost = velocity_cost;
end
obj.Appearance_cost = appearance_cost;
obj.Semantic_cost = semantic_cost;
if obj.cfg.get('UseHigherOrder')
obj.Forwardness_cost = forwardness_cost(startInd:endInd,:);
obj.Higher_order_shakiness_cost = higher_order_shakiness_cost(startInd:endInd,:);
obj.Higher_order_forwardness_cost = higher_order_forwardness_cost(startInd:endInd,:);
end
else
obj.Shakiness_cost = zeros(endInd-startInd,tempDist);
obj.Velocity_cost = zeros(endInd-startInd,tempDist);
obj.Appearance_cost = zeros(endInd-startInd,tempDist);
obj.Forwardness_cost = zeros(endInd-startInd,tempDist);
obj.Semantic_cost = zeros(endInd-startInd,tempDist);
if obj.cfg.get('UseHigherOrder')
obj.Higher_order_shakiness_cost = zeros(endInd-startInd,tempDist,tempDist);
if strcmp(obj.cfg.get('ForwardnessCostFunction'),'FOE')
obj.Higher_order_forwardness_cost = zeros(endInd-startInd,tempDist,tempDist);
end
end
for batch = 1:numberOfBatches
startBatch = startInd + batchSize*(batch-1);
endBatch = min(startBatch + batchSize-1, endInd);
fprintf('\n%sStarting batch No. %d from frame %d to frame %d\n',log_line_prefix, batch, startBatch, endBatch);
fprintf('%sEstimating optical flow between pairs of frames...\n',log_line_prefix);
[OF_X,OF_Y,OF_ind_source_batch,OF_ind_dest_batch] = OFEstimator.estimateBatch(startBatch, endBatch);
fprintf('%sCalculating shakiness cost...\n',log_line_prefix);
if obj.cfg.get('UseHigherOrder')
[Higher_order_shakiness_cost_batch] = shakinessCostEstimator.calculateTriFrameCostBatch (OF_X, OF_Y, startBatch, endBatch);
if strcmp(obj.cfg.get('ForwardnessCostFunction'),'FOE')
[Higher_order_forwardness_cost_batch] = forwardnessCostEstimator.calculateTriFrameCostBatch (OF_X, OF_Y, startBatch, endBatch);
end
end
[Shakiness_cost_batch] = shakinessCostEstimator.calculateCostBatch (OF_X, OF_Y, startBatch, endBatch);
fprintf('%sCalculating forwardness cost...\n',log_line_prefix);
[Forwardness_cost_batch] = forwardnessCostEstimator.calculateCostBatch (OF_X, OF_Y, startBatch, endBatch);
fprintf('%sCalculating velocity cost...\n',log_line_prefix);
[Velocity_cost_batch] = velocityCostEstimator.calculateCostBatch(OF_X, OF_Y,startBatch, endBatch);
fprintf('%sCalculating appearance cost...\n',log_line_prefix);
[Appearance_cost_batch] = appearanceCostEstimator.calculateCostBatch(OF_X, OF_Y, startBatch, endBatch);
fprintf('%sCalculating semantic cost...\n',log_line_prefix);
[Semantic_cost_batch] = semanticCostEstimator.calculateCostBatch (OF_X, OF_Y, startBatch, endBatch);
numSparseInd = numel(OF_ind_source_batch);
obj.OF_ind_source(lastSparseInd : lastSparseInd + numSparseInd-1) = OF_ind_source_batch + startBatch-1;
obj.OF_ind_dest (lastSparseInd : lastSparseInd + numSparseInd-1) = OF_ind_dest_batch + startBatch-1;
lastSparseInd = lastSparseInd + numSparseInd;
obj.Shakiness_cost(startBatch-startInd+1 : endBatch-startInd+1, :) = Shakiness_cost_batch;
obj.Velocity_cost(startBatch-startInd+1 : endBatch-startInd+1, :) = Velocity_cost_batch;
obj.Appearance_cost(startBatch-startInd+1 : endBatch-startInd+1, :) = Appearance_cost_batch;
obj.Forwardness_cost(startBatch-startInd+1 : endBatch-startInd+1, :) = Forwardness_cost_batch;
obj.Semantic_cost(startBatch-startInd+1 : endBatch-startInd+1, :) = Semantic_cost_batch;
if obj.cfg.get('UseHigherOrder')
obj.Higher_order_shakiness_cost(startBatch-startInd+1 : endBatch-startInd+1, :, :) = Higher_order_shakiness_cost_batch;
if strcmp(obj.cfg.get('ForwardnessCostFunction'),'FOE')
obj.Higher_order_forwardness_cost(startBatch-startInd+1 : endBatch-startInd+1, :, :) = Higher_order_forwardness_cost_batch;
end
end
end
fprintf('%sSaving costs to "%s"...\n',log_line_prefix, fname_costs);
shakiness_cost = obj.Shakiness_cost;
velocity_cost = obj.Velocity_cost;
appearance_cost = obj.Appearance_cost;
semantic_cost = obj.Semantic_cost;
forwardness_cost = obj.Forwardness_cost;
higher_order_shakiness_cost = obj.Higher_order_shakiness_cost;
higher_order_forwardness_cost = obj.Higher_order_forwardness_cost;
required_speedup = obj.cfg.get('FastForwardSkipRatio');
save(fname_costs, '-v7.3','shakiness_cost','velocity_cost','appearance_cost', 'higher_order_shakiness_cost',...
'higher_order_forwardness_cost','forwardness_cost','semantic_cost');
fprintf('%sCosts file saved to "%s"...\n',log_line_prefix, fname_costs);
end
end
function GetTopSemanticValue(obj)
% Get the semantic value of the video with the max values naïvely
number_of_frames = obj.cfg.get('endInd')-obj.cfg.get('startInd')+1;
%Sort detected semantic in descend order
Semantic_Value = cell(obj.cfg.get('endInd')-obj.cfg.get('startInd')+1, 1);
ds_dts = obj.SemanticData(obj.cfg.get('startInd'):obj.cfg.get('endInd'));
Semantic_Value(:) = {0};%Initializes the cell
for i=1:size(ds_dts,1)
Semantic_Value{i} = FrameSemanticValue(ds_dts{i});
end
[dummy, Index] = sort(cellfun(@double, Semantic_Value(:)), 'descend');
%Select the frames which contain the most semantic
frame_indices = sort(Index(1:round(number_of_frames/obj.cfg.get('FastForwardSkipRatio')+1)));
total_semantic_values_in_frames = 0.;
for i=1:numel(frame_indices)
aux = obj.Filter_Semantics(ds_dts{frame_indices(i)});
frame_value = FrameSemanticValue(aux);
% Total Semantic values
total_semantic_values_in_frames = total_semantic_values_in_frames + frame_value;
end
obj.TopSemanticValue = total_semantic_values_in_frames;
end
function OptimizeViaPSO(obj)
fprintf('%sRunning Particle Swarm Optimization (PSO)...\n', log_line_prefix);
obj.cfg.get('PSO.problem.nVar');
%% Problem Definiton
problem.CostFunction = @(x) obj.EvalParticle(x); % Cost Function
problem.nVar = obj.cfg.get('PSO.problem.nVar'); % Number of Unknown (Decision) Variables
problem.VarMin = obj.cfg.get('PSO.problem.VarMin'); % Lower Bound of Decision Variables
problem.VarMax = obj.cfg.get('PSO.problem.VarMax'); % Upper Bound of Decision Variables
%% Calling PSO
%out = PSO(problem, params);
rng default
options = optimoptions('particleswarm','SwarmSize', obj.cfg.get('PSO.params.nPop'), 'MaxStallIterations', 8,...
'MaxIterations', obj.cfg.get('PSO.params.MaxIt'), 'UseParallel', true, 'Display', 'iter');%Use ['Display', 'off'] to disable verbose
if obj.cfg.get('UseHigherOrder')
BestSol.Position = particleswarm(problem.CostFunction,obj.cfg.get('PSO.problem.nVar'),...
[0 0 0 0 0 0 0 0 0 0], [],options);
else
BestSol.Position = particleswarm(problem.CostFunction,obj.cfg.get('PSO.problem.nVar'),...
[0 0 0 0 0 0 0 0], [],options);
end
fprintf('%sDone with Particle Swarm Optimization!\n',log_line_prefix);
if obj.cfg.get('UseHigherOrder')
fprintf('%sBest Solution found: Alphas[%.3f, %.3f], Betas[%.3f, %.3f], Gammas[%.3f, %.3f], Etas[%.3f, %.3f], Zetas[%.3f, %.3f], Deltas[%.3f, %.3f]\n',log_line_prefix,...
BestSol.Position(1), BestSol.Position(2), BestSol.Position(3), BestSol.Position(4),...
BestSol.Position(5), BestSol.Position(6), BestSol.Position(7), BestSol.Position(8),...
BestSol.Position(9), BestSol.Position(10), BestSol.Position(11), BestSol.Position(12));
else
fprintf('%sBest Solution found: Alphas[%.3f, %.3f], Betas[%.3f, %.3f], Gammas[%.3f, %.3f], Etas[%.3f, %.3f]\n',log_line_prefix,...
BestSol.Position(1), BestSol.Position(2), BestSol.Position(3), BestSol.Position(4),...
BestSol.Position(5), BestSol.Position(6), BestSol.Position(7), BestSol.Position(8));
end
%% Setting the BEST parameters
obj.cfg.set('ShakinessTermWeight', [BestSol.Position(1), BestSol.Position(2)]);
obj.cfg.set('VelocityTermWeight', [BestSol.Position(3), BestSol.Position(4)]);
obj.cfg.set('AppearanceTermWeight', [BestSol.Position(5), BestSol.Position(6)]);
obj.cfg.set('SemanticTermWeight', [BestSol.Position(7), BestSol.Position(8)]);
if obj.cfg.get('UseHigherOrder')
obj.cfg.set('HighOrderTermWeight', [BestSol.Position(9), BestSol.Position(10)]);
obj.cfg.set('ForwardnessTermWeight', [BestSol.Position(11), BestSol.Position(12)]);
end
end
function solution = EvalParticle(obj, x)
%% Setting the TEMPORARY parameters
obj.cfg.set('ShakinessTermWeight', [x(1), x(2)]);
obj.cfg.set('VelocityTermWeight', [x(3), x(4)]);
obj.cfg.set('AppearanceTermWeight', [x(5), x(6)]);
obj.cfg.set('SemanticTermWeight', [x(7), x(8)]);
if obj.cfg.get('UseHigherOrder')
obj.cfg.set('HighOrderTermWeight', [x(9), x(10)]);
obj.cfg.set('ForwardnessTermWeight', [x(11), x(12)]);
end
if obj.use_range
obj.SolveSemantic();
else
obj.Solve();
end
[~, ~, jitter, jitter_ceil, instability, instability_ceil, ~, total_semantic_values_in_frames] = obj.GetResults();
original_num_frames = obj.cfg.get('endInd') - obj.cfg.get('startInd') + 1;
num_frames = numel(obj.Frame_indices);
desired_speedup = obj.cfg.get('FastForwardSkipRatio');
expected_num_frames = original_num_frames/desired_speedup;
if obj.TopSemanticValue == 0
solution = (jitter/jitter_ceil) + abs((num_frames - expected_num_frames)/expected_num_frames);
else
solution = (jitter/jitter_ceil) + abs((num_frames - expected_num_frames)/expected_num_frames) + ((obj.TopSemanticValue - total_semantic_values_in_frames)/obj.TopSemanticValue);
end
end
function SolveSemantic(obj)
%% Setting up values
startInd = obj.cfg.get('startInd');
alphas = obj.cfg.get('ShakinessTermWeight');
betas = obj.cfg.get('VelocityTermWeight');
gamas = obj.cfg.get('AppearanceTermWeight');
etas = obj.cfg.get('SemanticTermWeight');
if obj.cfg.get('UseHigherOrder')
deltas = obj.cfg.get('ForwardnessTermWeight');
zetas = obj.cfg.get('HighOrderTermWeight');
end
alpha = alphas(1);
beta = betas(1);
gama = gamas(1);
eta = etas(1);
if obj.cfg.get('UseHigherOrder')
delta = deltas(1);
zeta = zetas(1);
end
semantic_alpha = alphas(2);
semantic_beta = betas(2);
semantic_gama = gamas(2);
semantic_eta = etas(2);
if obj.cfg.get('UseHigherOrder')
semantic_delta = deltas(2);
semantic_zeta = zetas(2);
end
RangesAndSpeedups = obj.cfg.get('RangesAndSpeedups');
Sterm = zeros(size(obj.Shakiness_cost));
Vterm = zeros(size(obj.Velocity_cost));
Aterm = zeros(size(obj.Appearance_cost));
Mterm = zeros(size(obj.Semantic_cost));
Fterm = zeros(size(obj.Forwardness_cost));
if obj.cfg.get('UseHigherOrder')
Hterm = zeros(size(obj.Higher_order_shakiness_cost));
else
Hterm = [];
end
%% Getting total costs for all graph edges
for r=1:size(RangesAndSpeedups,2)
range_start = RangesAndSpeedups(1,r);
range_end = RangesAndSpeedups(2,r);
is_semantic = RangesAndSpeedups(4,r);
if(is_semantic)
%% Getting total cost for patch (semantic)
Sterm((range_start:range_end)-startInd+1,:)=(semantic_alpha * obj.Shakiness_cost((range_start:range_end)-startInd+1,:));
Vterm((range_start:range_end)-startInd+1,:)=(semantic_beta * obj.Velocity_cost((range_start:range_end)-startInd+1,:));
Aterm((range_start:range_end)-startInd+1,:)=(semantic_gama * obj.Appearance_cost((range_start:range_end)-startInd+1,:));
Mterm((range_start:range_end)-startInd+1,:)=(semantic_eta * obj.Semantic_cost((range_start:range_end)-startInd+1,:));
if obj.cfg.get('UseHigherOrder')
Fterm((range_start:range_end)-startInd+1,:)=(semantic_delta * obj.Forwardness_cost((range_start:range_end)-startInd+1,:));
Hterm((range_start:range_end)-startInd+1,:,:)=(semantic_zeta * obj.Higher_order_shakiness_cost((range_start:range_end)-startInd+1,:,:));
end
else
%% Getting total cost for patch (non-semantic)
Sterm((range_start:range_end)-startInd+1,:)=(alpha * obj.Shakiness_cost((range_start:range_end)-startInd+1,:));
Vterm((range_start:range_end)-startInd+1,:)=(beta * obj.Velocity_cost((range_start:range_end)-startInd+1,:));
Aterm((range_start:range_end)-startInd+1,:)=(gama * obj.Appearance_cost((range_start:range_end)-startInd+1,:));
Mterm((range_start:range_end)-startInd+1,:)=(eta * obj.Semantic_cost((range_start:range_end)-startInd+1,:));
if obj.cfg.get('UseHigherOrder')
Fterm((range_start:range_end)-startInd+1,:)=(delta * obj.Forwardness_cost((range_start:range_end)-startInd+1,:));
Hterm((range_start:range_end)-startInd+1,:,:)=(zeta * obj.Higher_order_shakiness_cost((range_start:range_end)-startInd+1,:,:));
end
end
end
if obj.cfg.get('ForwardnessMergeWithShakinessCoef')>0
Sterm(obj.Shakiness_cost == inf) = Fterm(obj.Shakiness_cost == inf) * obj.cfg.get('ForwardnessMergeWithShakinessCoef');
obj.Total_cost = Sterm+Vterm+Aterm+Mterm;
%obj.Total_cost = Mterm;
if obj.cfg.get('UseHigherOrder')
Hterm(obj.Higher_order_shakiness_cost == inf) = ...
obj.Higher_order_forwardness_cost(obj.Higher_order_shakiness_cost == inf) * obj.cfg.get('ForwardnessMergeWithShakinessCoef') * zeta;
end
else
Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
obj.Total_cost = Sterm+Vterm+Aterm+Mterm;
%obj.Total_cost = Mterm;
end
%% Selecting frames
obj.Frame_indices = obj.SelectFramesByRange(RangesAndSpeedups, Hterm);
%% Writing results
if obj.store_results
obj.StoreResults(alphas, betas, gamas, etas, Sterm, Vterm, Aterm, Mterm);
end
end
function frame_indices = SelectFrames(obj, total_cost, offset, use_high_order, Hterm)
if use_high_order
frame_indices = obj.Frame_selector.selectFramesThirdDegree (total_cost, Hterm);
else
frame_indices = obj.Frame_selector.selectFrames (total_cost);
end
frame_indices = frame_indices + (offset-1);%If offset == startInd == 1, we should not offset the indices
if size(frame_indices,2)>1
frame_indices=frame_indices';
end
end
function frame_indices = SelectFramesByRange(obj, RangesAndSpeedups, Hterm)
startInd = obj.cfg.get('startInd');
endInd = obj.cfg.get('endInd');
frame_indices = [];
Speedups = obj.cfg.get('Speedups');
non_semantic_speedup = Speedups(1,2);
use_high_order = obj.cfg.get('UseHigherOrder');
for r=1:size(RangesAndSpeedups,2)
range_start = RangesAndSpeedups(1,r);
range_end = RangesAndSpeedups(2,r);
semantic_speedup = RangesAndSpeedups(3,r);
is_semantic = RangesAndSpeedups(4,r);
if(is_semantic)
Gridterm = ((ceil(meshgrid(1:size(obj.Total_cost,2),1:range_end-range_start+1)/semantic_speedup)-1) * semantic_speedup) + 1;
else
Gridterm = ceil(meshgrid(1:size(obj.Total_cost,2),1:range_end-range_start+1)/non_semantic_speedup);
end
obj.Total_cost((range_start:range_end)-startInd+1,:) = obj.Total_cost((range_start:range_end)-startInd+1,:).*Gridterm;
frame_indices = [frame_indices; obj.SelectFrames(obj.Total_cost((range_start:range_end)-startInd+1,:), range_start, use_high_order, Hterm)];
end
end
function Solve(obj)
alphas = obj.cfg.get('ShakinessTermWeight');
betas = obj.cfg.get('VelocityTermWeight');
gamas = obj.cfg.get('AppearanceTermWeight');
etas = obj.cfg.get('SemanticTermWeight');
alpha = alphas(2);
beta = betas(2);
gama = gamas(2);
eta = etas(2);
if obj.cfg.get('UseHigherOrder')
deltas = obj.cfg.get('ForwardnessTermWeight');
zetas = obj.cfg.get('HighOrderTermWeight');
delta = deltas(2);
zeta = zetas(2);
else
Hterm = [];
end
switch obj.cfg.get('CostWeightMethod')
case 'Sum'
Sterm=(alpha * obj.Shakiness_cost);
Vterm=(beta * obj.Velocity_cost);
Aterm=(gama * obj.Appearance_cost);
if obj.cfg.get('UseHigherOrder')
Fterm=(delta * obj.Forwardness_cost);
end
Mterm=(eta * obj.Semantic_cost);
if obj.cfg.get('UseHigherOrder')
Hterm = (zeta * obj.Higher_order_shakiness_cost);
end
if obj.cfg.get('ForwardnessMergeWithShakinessCoef')>0
Sterm(obj.Shakiness_cost == inf) = Fterm(obj.Shakiness_cost == inf) * obj.cfg.get('ForwardnessMergeWithShakinessCoef');
obj.Total_cost = Sterm+Vterm+Aterm+Mterm;
if obj.cfg.get('UseHigherOrder')
Hterm(obj.Higher_order_shakiness_cost == inf) = ...
obj.Higher_order_forwardness_cost(obj.Higher_order_shakiness_cost == inf) * obj.cfg.get('ForwardnessMergeWithShakinessCoef') *zeta;
end
else
Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
obj.Total_cost = Sterm+Vterm+Aterm+Mterm;
end
case 'SumSquares'
Sterm=(alpha * (obj.Shakiness_cost).^2);
Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
Vterm=(beta * (obj.Velocity_cost).^2);
Aterm=(gama * (obj.Appearance_cost).^2);
Fterm=(delta * (obj.Forwardness_cost).^2);
obj.Total_cost = Sterm+Vterm+Aterm+Fterm;
case 'SumOfLogs'
Sterm=(alpha * log(obj.Shakiness_cost+1));
Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
Vterm=(beta * log(obj.Velocity_cost+1));
Aterm=(gama * log(obj.Appearance_cost+1));
Fterm=(delta * log(obj.Forwardness_cost+1));
obj.Total_cost = Sterm+Vterm+Aterm+Fterm;
case 'Multiplied'
Sterm=(alpha * obj.Shakiness_cost);
% Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
Vterm=(beta * obj.Velocity_cost );RangesAndSpeedups
Aterm=(gama * obj.Appearance_cost );
Fterm=(delta * obj.Forwardness_cost);
if obj.cfg.get('UseHigherOrder')
Hterm = (zeta * obj.Higher_order_shakiness_cost);
end
if obj.cfg.get('ForwardnessMergeWithShakinessCoef')>0
Sterm(obj.Shakiness_cost == inf) = Fterm(obj.Shakiness_cost == inf) * obj.cfg.get('ForwardnessMergeWithShakinessCoef');
obj.Total_cost = Vterm.*(Sterm+Aterm);
if obj.cfg.get('UseHigherOrder')
Hterm(obj.Higher_order_shakiness_cost == inf) = ...
obj.Higher_order_forwardness_cost(obj.Higher_order_shakiness_cost == inf) * obj.cfg.get('ForwardnessMergeWithShakinessCoef') *zeta;
end
else
Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
obj.Total_cost = Vterm.*(Sterm+Aterm+Fterm) ;
end
case 'Binarized'
Sterm=alpha * (obj.Shakiness_cost>obj.cfg.get('ShakinessTermBinaryThreshold'));
Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
Vterm=beta * (obj.Velocity_cost>obj.cfg.get('VelocityTermBinaryThreshold'));
Aterm=gama * (obj.Appearance_cost>obj.cfg.get('AppearanceTermBinaryThreshold'));
Fterm=(delta * obj.Forwardness_cost);
obj.Total_cost = Sterm+Vterm+Aterm+Fterm;
case 'Clamped'
Sterm=obj.Shakiness_cost;
Sterm(obj.Shakiness_cost>obj.cfg.get('ShakinessTermBinaryThreshold'))=obj.cfg.get('ShakinessTermClampedValue');
Sterm(obj.Shakiness_cost == inf)= obj.cfg.get('ShakinessTermInvalidValue');
Sterm=alpha * Sterm;
Vterm=obj.Velocity_cost;
Vterm(obj.Velocity_cost>obj.cfg.get('VelocityTermBinaryThreshold'))=obj.cfg.get('VelocityTermClampedValue');
Vterm=beta * Vterm;
Aterm=obj.Appearance_cost;
Aterm(obj.Appearance_cost>obj.cfg.get('AppearanceTermBinaryThreshold'))=obj.cfg.get('AppearanceTermClampedValue');
Aterm=gama * Aterm;
Fterm=obj.Forwardness_cost;
Fterm(obj.Forwardness_cost>obj.cfg.get('ForwardnessTermBinaryThreshold'))=obj.cfg.get('ForwardnessTermClampedValue');
Fterm=delta * Fterm;
obj.Total_cost = Sterm+Vterm+Aterm+Fterm;
otherwise
error('Unknown ''CostWeightMethod'' value "%s"',obj.cfg.get('CostWeightMethod'));
end
obj.Frame_indices = SelectFrames(obj, obj.Total_cost, obj.cfg.get('startInd'), obj.cfg.get('UseHigherOrder'), Hterm);
if obj.store_results
obj.StoreResults(alpha, beta, gama, eta, Sterm, Vterm, Aterm, Mterm);
end
end
function [avgskip, medskip, jitter, jitter_ceil, instability, instability_ceil,...
total_semantic_in_frames, total_semantic_values_in_frames] = GetResults(obj)
frame_indices = obj.Frame_indices;
costcols = imfilter(frame_indices,[-1 1]');
% Average Skip
avgskip = floor(mean(costcols(1:end-1)));
%Median Skip
medskip = median(costcols(1:end-1));
if strcmp(obj.cfg.get('ShakinessCostFunction'), 'Epipole.vs.FOE')
epipole_locations = getEpipoleLocations(obj);
% epipole_locations are always between -0.5 and 0.5 (see [isIn,epipole] = algIsEpipoleInImage(f,imageSize))
epipole_max_diff = sqrt((0.5)^2 + (0.5)^2);
% Jitter
jitter = mean(sqrt(nansum(epipole_locations.^2,2)));
jitter_ceil = epipole_max_diff;
else
obj.FOE_locations = getFoeLocations(obj);
foe_diffs = obj.FOE_locations(2:end,:) - obj.FOE_locations(1:end-1,:);
foe_max_diff = sqrt((obj.sd.Raw_Video_Data.num_x_cells/2)^2 + (obj.sd.Raw_Video_Data.num_y_cells/2)^2);
% Jitter
jitter = mean(sqrt(sum(foe_diffs.^2,2)));
jitter_ceil = foe_max_diff;
end
if ~strcmp(obj.cfg.get('FrameSelector'),'NaiveSemantic')
% Instability
[instability, instability_ceil] = obj.getImpulseInstability();
else
instability = -1.;
instability_ceil = -1.;
end
total_semantic_in_frames = 0;
total_semantic_values_in_frames = 0;
for i=1:numel(frame_indices)
aux = obj.Filter_Semantics(obj.SemanticData{frame_indices(i)});
frame_value = FrameSemanticValue(aux);
num_semantic_bboxes = size(aux,2);
% Total semantic and Semantic values
total_semantic_in_frames = total_semantic_in_frames + num_semantic_bboxes;
total_semantic_values_in_frames = total_semantic_values_in_frames + frame_value;
end
% Treat stuffs to avoid errors
if isempty(frame_indices)
avgskip = 0;
medskip = 0;
jitter = 0;
instability = 0;
instability_ceil = Inf;
return;
end
end
function StoreResults(obj, alpha, beta, gama, eta, Sterm, Vterm, Aterm, Mterm)
frame_indices = obj.Frame_indices;
RangesAndSpeedups = obj.cfg.get('RangesAndSpeedups');
speedups_for_indices = RangesAndSpeedups(1,1):RangesAndSpeedups(2,end);
for i=1:size(RangesAndSpeedups,2)
speedups_for_indices(RangesAndSpeedups(1,i):RangesAndSpeedups(2,i)) = RangesAndSpeedups(3,i);
end
selected_frames_and_speedups = [frame_indices, speedups_for_indices(frame_indices)'];
%% Selected Frames and Speedups File
mkdir(obj.cfg.get('outputVideoFileName'));
selected_frames_and_speedups_filename = [obj.cfg.get('outputVideoFileName') '/selected_frames_and_speedups.csv'];
% Writing the Selected Frames and Speedups file
fprintf('%sStoring the selected frames in file: %s\n', log_line_prefix, selected_frames_and_speedups_filename);
csvwrite(selected_frames_and_speedups_filename, selected_frames_and_speedups);
%% Getting the Results
costcols = imfilter(obj.Frame_indices,[-1 1]');
[avgskip, medskip, jitter, ~, instability, instability_ceil,...
total_semantic_in_frames, total_semantic_values_in_frames] = obj.GetResults();
original_num_frames = obj.cfg.get('endInd') - obj.cfg.get('startInd') + 1;
num_frames = numel(obj.Frame_indices);
achieved_speedup = original_num_frames/num_frames;
fprintf('%sResults [Instability: %.3f -- Jitter: %.3f -- Speedup: %.3fx -- SemanticValue: %.3f]\n',log_line_prefix,...
instability, jitter, achieved_speedup,total_semantic_values_in_frames);
fprintf('%sSelected %d of %d frames\n',log_line_prefix,num_frames,original_num_frames);
%% Charts stuffs (Plot and Save)
plotCharts = obj.cfg.get('PlotCharts');
saveCharts = obj.cfg.get('SaveCharts');
if plotCharts
fprintf('%sVisualizing Cost Terms...\n',log_line_prefix);
experiment_folder = obj.cfg.get('outputVideoFileName');
if ~exist(experiment_folder, 'dir')
mkdir(experiment_folder);
end
fprintf('%sPlotting/Saving Charts...\n',log_line_prefix);
startInd = obj.cfg.get('startInd');
endInd = obj.cfg.get('endInd');
tempDist = obj.cfg.get('maxTemporalDist');
obj.PlotScatter(frame_indices, costcols, 'Shakiness Cost', startInd, endInd, tempDist, Sterm, saveCharts);
obj.PlotScatter(frame_indices, costcols, 'Velocity Cost', startInd, endInd, tempDist, Vterm, saveCharts);
obj.PlotScatter(frame_indices, costcols, 'Appearance Cost', startInd, endInd, tempDist, Aterm, saveCharts);
obj.PlotScatter(frame_indices, costcols, 'Semantic Cost', startInd, endInd, tempDist, Mterm, saveCharts);
obj.PlotScatter(frame_indices, costcols, 'Total Cost', startInd, endInd, tempDist, obj.Total_cost, saveCharts);
figure;
subplot(3,2,1); imagesc(startInd:endInd-1,1:tempDist,Sterm'); set(gca,'YDir','normal');
title('Shakiness Cost'); colormap jet; colorbar; xlabel('Frame Num'); ylabel('Jump Dist');
hold on;
scatter(frame_indices(1:end-1),costcols(1:end-1),'r','LineWidth',2);
subplot(3,2,2); imagesc(startInd:endInd-1,1:tempDist,Vterm'); set(gca,'YDir','normal');
title('Velocity Cost'); colormap jet; colorbar; xlabel('Frame Num'); ylabel('Jump Dist');
hold on;
scatter(frame_indices(1:end-1),costcols(1:end-1),'r','LineWidth',2);
subplot(3,2,3); imagesc(startInd:endInd-1,1:tempDist,Aterm'); set(gca,'YDir','normal');
title('Appearance Cost'); colormap jet; colorbar; xlabel('Frame Num'); ylabel('Jump Dist');
hold on;
scatter(frame_indices(1:end-1),costcols(1:end-1),'r','LineWidth',2);
subplot(3,2,4); imagesc(startInd:endInd-1,1:tempDist,Mterm'); set(gca,'YDir','normal');
title('Semantic Cost'); colormap jet; colorbar; xlabel('Frame Num'); ylabel('Jump Dist');
hold on;
scatter(frame_indices(1:end-1),costcols(1:end-1),'r','LineWidth',2);
subplot(3,2,5); imagesc(startInd:endInd-1,1:tempDist,obj.Total_cost'); set(gca,'YDir','normal');
title('Total Cost'); colormap jet; colorbar; xlabel('Frame Num'); ylabel('Jump Dist');
hold on;
scatter(frame_indices(1:end-1),costcols(1:end-1),'r','LineWidth',2);
title1='Frame Selection Over Cost Terms';
title2=sprintf('Avg skip=%.1f frames --- Median skip=%d frames --- Epsilon=%.3f', avgskip, medskip, obj.cfg.get('SemanticEpsilon'));
title3=sprintf('Total Semantic in Selected Frames: %d semantic -- Total Semantic Value in Selected Frames: %.3f semantic',...
total_semantic_in_frames, total_semantic_values_in_frames);
if obj.use_range
title4=sprintf('Selector: %s - TermWeights: Shakiness(%d/%d), Velocity(%d/%d), Appearance(%d/%d), Semantic(%d/%d)\n',...
obj.cfg.get('FrameSelector'), alpha(1), alpha(2), beta(1), beta(2), gama(1), gama(2), eta(1), eta(2));
else
title4=sprintf('Selector: %s - TermWeights: Shakiness(%d), Velocity(%d), Appearance(%d), Semantic(%d)\n',...
obj.cfg.get('FrameSelector'), alpha, beta, gama, eta);
end
maintitle = {title1, title2, title3, title4};
if saveCharts
obj.SaveChart('Subplots.png');
end
set(gcf, 'Visible', 'off');
%Temporal distance must not interfere on plot of NaiveSemantic!
if ~strcmp(obj.cfg.get('FrameSelector'),'NaiveSemantic')
selectedFrameCostInds = sub2ind(size(obj.Total_cost), frame_indices(1:end-1)-startInd+1, costcols(1:end-1));
obj.PlotChart(frame_indices(1:end-1), Sterm(selectedFrameCostInds), '-b', maintitle, 'Shakiness', saveCharts);
obj.PlotChart(frame_indices(1:end-1), Vterm(selectedFrameCostInds), '-r', maintitle, 'Velocity', saveCharts);
obj.PlotChart(frame_indices(1:end-1), Aterm(selectedFrameCostInds), '-c', maintitle, 'Appearance', saveCharts);
obj.PlotChart(frame_indices(1:end-1), Mterm(selectedFrameCostInds), '-k', maintitle, 'Semantic', saveCharts);
obj.PlotChart(frame_indices(1:end-1), obj.Total_cost(selectedFrameCostInds), '-g', maintitle, 'Total', saveCharts);
%Plot Complete Chart
figure;
h = plot(frame_indices(1:end-1), Sterm(selectedFrameCostInds),...
frame_indices(1:end-1), Vterm(selectedFrameCostInds),...
frame_indices(1:end-1), Aterm(selectedFrameCostInds),...
frame_indices(1:end-1), Mterm(selectedFrameCostInds),...
frame_indices(1:end-1), obj.Total_cost(selectedFrameCostInds), '--');
set(h(1), 'linewidth', 2);
set(h(2), 'linewidth', 2);
set(h(3), 'linewidth', 2);
set(h(4), 'linewidth', 2);
set(h(5), 'linewidth', 2);
xlabel('Frame # In Orig Video');
ylabel('Cost');
title(maintitle,'Interpreter','None');
legend('Shakiness', 'Velocity', 'Appearance', 'Semantic', 'Total');
if saveCharts
obj.SaveChart('Plot.png');
end
set(gcf, 'Visible', 'off');
end
ShowSelectedFramesFOE(obj, saveCharts);
end
obj.ResultsMetaData.avarage_skip = avgskip;
obj.ResultsMetaData.median_skip = medskip;
obj.ResultsMetaData.frames = frame_indices;
obj.ResultsMetaData.total_semantic_in_frames = total_semantic_in_frames;
obj.ResultsMetaData.semantic_value = total_semantic_values_in_frames;
obj.ResultsMetaData.jitter = jitter;
obj.ResultsMetaData.achieved_speedup = achieved_speedup;
if ~strcmp(obj.cfg.get('FrameSelector'),'NaiveSemantic')
obj.ResultsMetaData.instability = instability;
obj.ResultsMetaData.instability_ceil = instability_ceil;
else
obj.ResultsMetaData.instability = -1.;
obj.ResultsMetaData.instability_ceil = -1.;
end
end
function SaveChart(obj, filename)
matlab_version = strsplit(version);
if strcmp(matlab_version(2), '(R2015a)')
f1 = gcf;
f1.PaperPositionMode = 'auto';
set(f1, 'Position', get(0,'Screensize')); % Maximize figure.
saveas(f1, [obj.cfg.get('outputVideoFileName'), '/', filename], 'png');
%print(f1, '-dpng','-r500', [obj.cfg.get('outputVideoFileName'), 'subplots.png']);
else
set(gcf, 'Position', get(0,'Screensize')); % Maximize figure.
saveas(gcf, [obj.cfg.get('outputVideoFileName'), '/', filename], 'png');
end
end
function PlotScatter(obj, frame_indices, costcols, figure_title, startInd, endInd, tempDist, Term, save)
figure;
imagesc(startInd:endInd-1,1:tempDist,Term'); set(gca,'YDir','normal');
title(figure_title); colorbar; xlabel('Frame Num'); ylabel('Jump Dist');
hold on;
scatter(frame_indices(1:end-1),costcols(1:end-1),'r','LineWidth',2);
if save
obj.SaveChart(strcat(figure_title, ' Scatter.png'));
end
set(gcf, 'Visible', 'off');
end
function PlotChart(obj, x, y, lineType, maintitle, chartLegend, save)
figure;
h = plot(x, y, lineType);
set(h(1), 'linewidth', 2);
xlabel('Frame # In Orig Video');
ylabel('Cost');
title(maintitle,'Interpreter','None');
legend(chartLegend);
if save
obj.SaveChart(strcat(chartLegend, 'Plot.png'));
end
set(gcf, 'Visible', 'off');
end
function foe_locations = getFoeLocations(obj)
FOECostEstimator = FOEDistanceCost(obj.sd,obj.cfg);
foe_locations = nan(numel(obj.Frame_indices(1:end-1)),2);
for i=1:numel(obj.Frame_indices(1:end-1))
foe_locations(i,:) = FOECostEstimator.getFoe(obj.Frame_indices(i),obj.Frame_indices(i+1));
end
end
function epipoleLocations = getEpipoleLocations(obj)
EpipoleCostEstimator = EpipoleFOEDistanceCost(obj.sd,obj.cfg);
baseFileName = obj.cfg.get('baseDumpFrameFileName');
firstImgNum = obj.cfg.get('startInd');
sz = size(rgb2gray(imread(sprintf(baseFileName, firstImgNum))));
epipoleLocations = nan(numel(obj.Frame_indices(1:end-1)),2);
for i=1:numel(obj.Frame_indices(1:end-1))
epipoleLocations(i,:) = EpipoleCostEstimator.getEpipole(obj.Frame_indices(i),obj.Frame_indices(i+1),sz);
end
end
function ShowSelectedFramesFOE(obj, save)
%foe_locations = obj.FOE_locations;
foe_variance = nanvar(obj.FOE_locations);
foe_diffs(:,1) = obj.FOE_locations(1:end-1,1) - obj.FOE_locations(2:end,1);
foe_diffs(:,2) = obj.FOE_locations(1:end-1,2) - obj.FOE_locations(2:end,2);
jitter = mean(sqrt(sum(foe_diffs.^2,2)));
%o=zeros(size(epipoleLocations,1),2);
o=zeros(size(foe_diffs,1),2);
figure;
%first_n_numbers= 1:size(obj.Frame_indices(1:end-1)', 2);
plot3(obj.Frame_indices(2:end-1)',o(:,1),o(:,2),'b','LineWidth',2);
xlabel('Frame#');
ylabel('X coord');
zlabel('Y coord');
image_title = sprintf('Jitter = %.4f --- FOE Variance = (%.4f, %4f)', jitter, foe_variance);
title(image_title,'Interpreter','None');
legend('Perfect FOE Difference Between Consecutive Frames');
%hold on; scatter3(obj.Frame_indices(1:end-1)',epipoleLocations(:,1),epipoleLocations(:,2),'g','LineWidth',2);
hold on; scatter3(obj.Frame_indices(2:end-1)',foe_diffs(:,1),foe_diffs(:,2),'r');
set(gcf, 'Position', get(0,'Screensize')); % Maximize figure.
if save
%saveas(f2, [obj.cfg.get('outputVideoFileName'), '/FoeLocations.png'], 'png');
saveas(gcf, [obj.cfg.get('outputVideoFileName'), '/FoeLocations.png'], 'png');
end
set(gcf, 'Visible', 'off');
end
function [instability, instability_ceil] = getImpulseInstability(obj)