Classes
struct	Body_2d
	2D body information resulting from projecting the 3D body. More...

class	Box_likelihood
	Class that represents likelihood of a set of projected boxes given. detections. At the moment it only uses box size and optical flow; in the future, it may be use other data information. More...

class	Camera_prior
	Class that represents the camera prior. More...

class	Color_likelihood
	Class that represents color likelihood of a set of projected boxes given detections. More...

struct	Complete_state
	Represents the state of an actor at a frame. More...

struct	Head
	Simple struct representing a head. More...

class	Box_data

class	Detection_box
	Class that represents a detection bounding box from any source. More...

class	Direction_prior
	Class that represents the prior distribution of a trajectory. More...

class	Face_direction_prior
	Class that represents the prior distribution of the face direction. More...

struct	Face_2d
	2D face information resulting from projecting the 3D head/face. More...

class	Face_flow_likelihood
	Class to compute face optical flow likelihood. More...

class	Facemark_likelihood
	Class to compute facemark likelihood. More...

class	Input_directory
	Represents the input directory for the people tracking project. More...

class	Output_directory
	Represents the output directory for the PT tracking project. More...

class	Optimize_likelihood
	Approximate complete-data likelihood via HMC optimziation. More...

class	Optical_flow_likelihood
	Class to compute face optical flow likelihood. More...

class	Position_prior
	Class that represents the prior distribution of a trajectory. More...

class	Posterior_detail_recorder
	Records the details about the posterior. More...

class	Propose_person_size
	Proposal distribution/mechanism for the size of targets. More...

class	Sample_scenes
	Use HMC to draw samples from the scene posterior using HMC. More...

class	Scene
	Class that represents a full scene in the PT universe. More...

class	Scene_recorder
	Record a series of scenes to a directory. More...

class	Write_scene_iterator
	Record a series of scenes to a directory. More...

class	Scene_adapter
	Adapts a Scene into a VectorModel for HMC sampling. More...

class	Scene_gradient
	Wrapper for generic gradient function. More...

class	Scene_hessian
	Wrapper for generic hessian function. More...

class	Gradient_adapter
	Wraps Scene_gradient to work with ergo::hmc_step. More...

class	Pixel_move
	Functor designed to move 3D points by pixels in image plane. More...

class	Scene_posterior
	Posterior distribution of a scene. More...

class	Scene_posterior_ind
	Posterior adapter to work with independent gradient computation. More...

class	Target
	Class that represents a target moving through space. More...

struct	Propagated_2d_info
	Propagated 2D information using optical flow. More...

struct	Comparator_2d
	Comparator for Propagated_2d_info. More...

class	Feature_score

struct	Visibility
	Represents the information regarding visibility of an actor at a given frame and given all other actors. More...

Typedefs
typedef mcmcda::Association < Target >	Ascn

typedef Generic_trajectory_map < Body_2d >	Body_2d_trajectory_map

typedef Generic_trajectory < Body_2d >	Body_2d_trajectory

typedef Generic_trajectory_element < Body_2d >	Body_2d_trajectory_element

typedef Generic_trajectory_map < Bbox >	Box_trajectory_map

typedef Generic_trajectory< Bbox >	Box_trajectory

typedef Generic_trajectory_element < Bbox >	Box_trajectory_element

typedef Generic_trajectory_element < Complete_state >	Trajectory_element

typedef Generic_trajectory < Complete_state >	Trajectory

typedef Generic_trajectory_map < Complete_state >	Trajectory_map

typedef std::vector < std::vector< Deva_facemark > >	Facemark_data

typedef Generic_trajectory_map < Face_2d >	Face_2d_trajectory_map

typedef Generic_trajectory < Face_2d >	Face_2d_trajectory

typedef Generic_trajectory_element < Face_2d >	Face_2d_trajectory_element

typedef std::map< const Detection_box *, Matrix >	Hist_map
	Scores based on histogram. More...

typedef bimap< const Target *, multiset_of< double > >	Depth_map

Functions
Body_2d	project_cstate (const Complete_state &cs, const Perspective_camera &cam, double height, double width, double girth)
	Project a complete state into a body box. More...

Vector	model_direction (const Complete_state &cs1, const Complete_state &cs2, const Perspective_camera &cam, double height, double width, double girth)
	Compute the (2D) model direction for the body. More...

Bbox	cylinder_bounding_box (const std::vector< Vector > &pts, const Vector &bot, const Vector &top)
	Computes the cylinder of a bounding box given 2D points. More...

Body_2d_trajectory	get_body_2d_trajectory (const Trajectory &traj, const Perspective_camera &cam)
	Convert a Trajectory to a Body_2d_trajectory. More...

Body_2d_trajectory_map	get_body_2d_trajectory_map (const Trajectory_map &trajs, const Perspective_camera &cam)
	Convert a Trajectory_map to a body_2d_trajectory_map. More...

Box_trajectory	get_body_box_trajectory (const Trajectory &traj, const Perspective_camera &cam)
	Convert a Trajectory to a Box_trajectory. More...

Box_trajectory_map	get_body_box_trajectory_map (const Trajectory_map &trajs, const Perspective_camera &cam)
	Convert a Trajectory_map to a Box_trajectory_map. More...

Box_trajectory	get_face_box_trajectory (const Trajectory &traj, const Perspective_camera &cam)
	Convert a Trajectory to a Box_trajectory. More...

Box_trajectory_map	get_face_box_trajectory_map (const Trajectory_map &trajs, const Perspective_camera &cam)
	Convert a Trajectory_map to a Box_trajectory_map. More...

std::ostream &	operator<< (std::ostream &ost, const Complete_state &cs)
	outputs the Complete_state. More...

double	body_direction (const Vector &dir)
	Gets the body direction from a direction vector. More...

Vector	ellipse_point (const Complete_state &cs, double height, double width, double girth, double angle)
	Compute point on ellipse given body_dir and angle. More...

std::vector< Vector >	body_ellipse (const Complete_state &cs, double h, double w, double g, size_t n=12)
	Computes points on ellipse given by position and dimensions. More...

void	cylinder_points (const Complete_state &cs, double height, double width, double girth, std::vector< Vector > &fpts, std::vector< Vector > &bpts, Vector &botc, Vector &topc, Vector &bodc)
	Points on body cylinders. More...

std::vector< Vector >	head_points (const Complete_state &cs, double height, double width, double girth)
	Sample points on head surface. More...

std::vector< Vector >	face_features (const Complete_state &cs, double height, double width, double girth)
	Location of face features. More...

Vector	visible_head_point (const Complete_state &cs, const Vector &cam_center, double height, double width, double girth)
	Find a point on face which is visible from the camera. More...

Vector	head_to_world (const Vector &vh, const Head &h, bool scale=false)
	Converts a point on the head to world coordinates. More...

double	get_initial_direction (Trajectory &traj, size_t frame)
	Gets default body direction at frame. More...

void	update_direction (Trajectory &traj, size_t frame, bool ow)
	Set non-initialized direction in frame to default value. More...

void	initialize_directions (Trajectory &traj, size_t st=0, size_t et=0, bool ow=false)
	Set non-initialized directions to default values. More...

Deva_facemark	build_deva_facemark (const Vector &lefe_eye, const Vector &right_eye, const Vector &nose, const Vector &left_mouth, const Vector &right_mouth, double yaw)
	Constructor. More...

Facemark_data	parse_deva_facemarks (const std::vector< std::string > &fps, double img_width, double img_height)

void	write_deva_facemarks (const Facemark_data &fm_data, const std::vector< std::string > &fps, double img_width, double img_height)

bool	operator< (const Detection_box &b1, const Detection_box &b2)
	Compares to boxes using middle of box. Needed because we have associated containers of these. More...

std::ostream &	operator<< (std::ostream &ost, const Detection_box &dbox)
	Write the Detection_box. More...

Detection_box	parse_detection_box (const std::string &line)
	Read in an Detection_box from a sigle line. More...

std::vector< Detection_box >	parse_detection_file (const std::string &filename)
	Read in a vector of Detection_box from a sigle file. More...

bool	similar_boxes (const Bbox &model_box, const Bbox &data_box, double area_thresh_lower=0.6, double area_thresh_upper=1.2)
	Check whether the deva detection box and the model box belong to the same object based on their overlappings. More...

bool	box_on_ground (const Detection_box &dbox, const Perspective_camera &cam)
	Checks whether the bottom of a box back-projects to the ground. More...

Face_2d	project_cstate_face (const Complete_state &cs, const Perspective_camera &cam, double height, double width, double girth)
	Project a complete state into a face box. More...

Vector	face_model_direction (const Complete_state &cs1, const Complete_state &cs2, const Perspective_camera &cam, double height, double width, double girth)
	Compute the (2D) model direction for the face.. More...

double	face_distance (const Face_2d &face_model, const Deva_facemark facemark)
	Returns the distance between a face_2d model and a detection facemark. More...

Face_2d_trajectory	get_face_2d_trajectory (const Trajectory &traj, const Perspective_camera &cam)
	Convert a Trajectory to a Face_2d_trajectory. More...

Face_2d_trajectory_map	get_face_2d_trajectory_map (const Trajectory_map &trajs, const Perspective_camera &cam)
	Convert a Trajectory_map to a Face_2d_trajectory_map. More...

bool	get_corresponding_entity (const Bbox &face_box, const Box_trajectory_map &body_trajs, Entity_id &entity_id, size_t index, double overlapping_threshold=0.4)
	Get the corresponding person based on the face box. More...

void	estimate_gaze_direction_from_data (const Box_trajectory_map &btrajs, Trajectory_map &trajs, const std::vector< std::vector< Face_detection > > &face_data)
	Estimate the gaze direction from face.com. More...

template<class InputIterator >
void	estimate_gaze_direction_from_data (InputIterator first, InputIterator last, const Box_trajectory_map &btrajs, Trajectory_map &trajs, size_t frame)
	Estimate the gaze direction from face.com. More...

template<class OutputIterator >
Posterior_detail_recorder < OutputIterator >	make_pd_recorder (OutputIterator it, const Scene_posterior &post)
	Convenience function to create a Posterior_detail_recorder. More...

bool	all_new_targets (const Scene &scene)
	Helper fcn; returns true if the scene has only new targets. More...

void	swap (Scene &s1, Scene &s2)
	Swap two scenes. More...

size_t	dims (const Scene &scene, bool respect_changed=true, bool infer_head=true)
	Computes the number of variables in this scene. More...

void	update_scene_state (const Scene &scene, const Facemark_data &fmdata, bool infer_head=true, bool refine=true)
	Update the (mostly) 3D state of a scene. To be called after an association change. More...

void	read_scene (Scene &s, const std::string &tracks_dp, const std::string &ass_fp, const std::string &cam_fp, const std::string &params_fp, bool infer_head=true)
	Read a scene. More...

void	read_scene (Scene &scene, const std::string &tracks_dp, bool infer_head=true)
	Read a scene using standard subdirectory structure; e.g., the association is read from "association.txt". More...

void	write_scene (const Scene &s, const std::string &tracks_dp, const std::string &ass_fp, const std::string &cam_fp, const std::string &params_fp)
	Write a scene. More...

void	write_scene (const Scene &scene, const std::string &tracks_dp)
	Write a scene using standard subdirectory structure; e.g., the association is written to "association.txt". More...

void	set_trajectory_at_frame (const Scene &scene, const Target &target, size_t frame, const Vector3 &v, bool vis_off, bool infer_head=true)
	Function that changes a single trajectory at a single frame, and performs all the necessary updates. More...

void	set_trajectories_at_frames (const Scene &scene, const Target &target1, const Target &target2, size_t frame1, size_t frame2, const Vector3 &v1, const Vector3 &v2, bool vis_off, bool infer_head=true)
	Function that changes a pair of trajectories at a pair of frames, and performs all the necessary updates. More...

void	move_trajectory_at_frame (const Scene &scene, const Target &target, size_t frame, const Vector3 &dv, bool vis_off, bool infer_head=true)
	Function that moves a single trajectory at a single frame, and performs all the necessary updates. More...

void	move_trajectories_at_frames (const Scene &scene, const Target &target1, const Target &target2, size_t frame1, size_t frame2, const Vector3 &dv1, const Vector3 &dv2, bool vis_off, bool infer_head=true)
	Function that moves a pair of trajectories at a pair of frames, and performs all the necessary updates. More...

void	set_trajectory_dir_at_frame (const Scene &scene, const Target &target, size_t frame, double dir, bool vis_off)
	Function that changes a single direction at a single frame, and performs all the necessary updates. More...

void	set_trajectory_dirs_at_frames (const Scene &scene, const Target &target1, const Target &target2, size_t frame1, size_t frame2, double dir1, double dir2, bool vis_off)
	Function that changes a pair of directions at a pair of frames, and performs all the necessary updates. More...

void	move_trajectory_dir_at_frame (const Scene &scene, const Target &target, size_t frame, double dd, bool vis_off)
	Function that moves a single direction at a single frame, and performs all the necessary updates. More...

void	move_trajectory_dirs_at_frames (const Scene &scene, const Target &target1, const Target &target2, size_t frame1, size_t frame2, double dd1, double dd2, bool vis_off)
	Function that moves a pair of directions at a pair of frames, and performs all the necessary updates. More...

void	set_trajectory_face_dir_at_frame (const Scene &scene, const Target &target, size_t frame, const Vector2 &dir, bool vis_off)
	Function that changes a single face direction at a single frame, and performs all the necessary updates. More...

void	set_trajectory_face_dirs_at_frames (const Scene &scene, const Target &target1, const Target &target2, size_t frame1, size_t frame2, const Vector2 &dir1, const Vector2 &dir2, bool vis_off)
	Function that changes a pair of face directions at a pair of frames, and performs all the necessary updates. More...

void	move_trajectory_face_dir_at_frame (const Scene &scene, const Target &target, size_t frame, const Vector2 &dd, bool vis_off)
	Function that moves a single face direction at a single frame, and performs all the necessary updates. More...

void	move_trajectory_face_dirs_at_frames (const Scene &scene, const Target &target1, const Target &target2, size_t frame1, size_t frame2, const Vector2 &dd1, const Vector2 &dd2, bool vis_off)
	Function that moves a pair of directions at a pair of frames, and performs all the necessary updates. More...

void	update_body_model_directions (const Target &target, size_t frame, const Perspective_camera &cam)
	Helper function for the set_trajectory_* functions. More...

void	update_face_model_directions (const Target &target, size_t frame, const Perspective_camera &cam)
	Helper function for the set_trajectory_* functions. More...

void	update_model_directions (const Target &target, size_t frame, const Perspective_camera &cam)
	Helper function for the set_trajectory_* functions. More...

double	get_variable_at_frame (const Scene &scene, const Target &target, size_t frame, size_t d, size_t infer_head)
	Gets the scene at the given variable. Here, d = 1 ... 5 represents the different parts of the trajectory at time 'frame'. 1 and 2 are the position x and z, 3 is the body direction, and 4 and 5 are the face direction. More...

void	set_variable_at_frame (const Scene &scene, const Target &target, size_t frame, size_t d, double x, bool vo, bool infer_head)
	Sets the scene at the given variable. Here, d = 1 ... 5 represents the different parts of the trajectory at time 'frame'. 1 and 2 are the position x and z, 3 is the body direction, and 4 and 5 are the face direction. More...

void	move_variable_at_frame (const Scene &scene, const Target &target, size_t frame, size_t d, double dx, bool vo, bool infer_head)
	Moves the scene at the given variable. Here, d = 1 ... 5 represents the different parts of the trajectory at time 'frame'. 1 and 2 are the position x and z, 3 is the body direction, and 4 and 5 are the face direction. More...

template<class G >
Gradient_adapter< G >	make_gradient_adapter (const G &grad)
	Utility function that makes a gradient adapter. More...

std::vector< double >	trajectory_gradient_step_sizes (const Scene &scene, bool infer_head=true)
	Compute the step sizes that equivalent to movement of 1 pixel in image coordinate. More...

void	make_max (const Scene &scene, const Scene_posterior &pt, const std::vector< double > &ss, bool infer_head)
	Ensures posterior is at max (wrt a given step size). More...

bool	pixel_visible (int x, int y, const Visibility &vis)
	Helper function that determines if a pixel is visible. More...

bool	empty_target (const Target &target)
	Helper function; needed because, occasionally, C++ is stupid. More...

void	fix_target (Target &target, double imw, double imh)
	Helper function that fixes a track when it leaves the view. More...

template<class TargetIterator >
void	sample (const Position_prior &pos_prior, const Direction_prior &dir_prior, const Face_direction_prior &fdir_prior, const Normal_distribution &height_prior, const Normal_distribution &width_prior, const Normal_distribution &girth_prior, TargetIterator first, TargetIterator last)
	Sample a scene from the prior (and a given sequence of tracks). More...

Perspective_camera	sample (const Camera_prior &cam_prior)
	Sample from camera prior. More...

Detection_box	sample (const Box_likelihood &box_lh, const Bbox &mbox, const std::string &type)
	Sample a single data box from a model box. More...

template<class TargetIterator >
void	sample (const Box_likelihood &box_lh, Box_data &box_data, TargetIterator first, TargetIterator last, const std::vector< size_t > fa_count)
	Sample detection data from likelihood. More...

template<class FmvIterator >
void	sample (const Facemark_likelihood &fm_lh, const Scene &scene, FmvIterator fm_out)
	Sample facemark data from likelihood. More...

template<class FlowIterator >
void	sample (const Optical_flow_likelihood &of_lh, const Scene &scene, FlowIterator xflow_out, FlowIterator yflow_out)
	Sample optical flow data from likelihood. More...

template<class FmvIterator , class FlowOutIterator >
void	sample (const mcmcda::Prior< Target > &w_prior, const Camera_prior &cam_prior, const Scene_posterior &posterior, size_t T, Scene &scene, Box_data &box_data, FmvIterator fm_out, FlowOutIterator xflow_out, FlowOutIterator yflow_out, size_t max_tracks=0)
	Sample from full generative model. More...

void	write_posterior_details (const Scene_posterior &post, const Scene &scene, double mlh, std::ostream &ost)
	Write the details of the posterior in a table format. More...

Vector	get_cs_position (const Complete_state &cs)
	Helper function – gets the position from CS as a kjb::Vector. More...

Vector	get_cs_face_dir (const Complete_state &cs)
	Helper function – gets the face_dir from CS as a kjb::Vector. More...

void	sync_state (const Target &tg)
	Sync targets trajectory with endpoints. More...

void	standardize (Vector &v, double cam_width, double cam_height)
	Changes Vector to standard (camera) coordinate system. More...

void	standardize (Bbox &box, double cam_width, double cam_height)
	Changes box coordinates to standard (camera) coordinate system. More...

void	standardize (Deva_facemark &face, double cam_width, double cam_height)
	Changes box coordinates to standard (camera) coordinate system. More...

void	unstandardize (Vector &v, double cam_width, double cam_height)
	Changes vector to unstandard (image) coordinate system. More...

void	unstandardize (Bbox &box, double cam_width, double cam_height)
	Changes box coordinates to unstandard (image) coordinate system. More...

void	unstandardize (Deva_facemark &face, double cam_width, double cam_height)
	Changes Deva_facemark coordinates to unstandard (image) coordinate system. More...

Ascn	make_gt_association (const Box_data &data, const Box_trajectory_map &gt_btrajs, double width, double height, boost::optional< const Perspective_camera & > cam_p=boost::none, boost::optional< const Facemark_data & > fm_data_p=boost::none)
	Create data from GT box trajectories and compute association based upon it. More...

Box_data	make_gt_data (const Box_trajectory_map &gt_btrajs, double width, double height)
	Create data from GT box trajectories and compute association based upon it. More...

std::map< int, std::vector < Propagated_2d_info > >	propagate_boxes_by_flow (const Target &target, const std::vector< Integral_flow > &x_flows, const std::vector< Integral_flow > &y_flows, const std::vector< Integral_flow > &back_x_flows, const std::vector< Integral_flow > &back_y_flows, size_t duration)
	Propagate the detection boxes based on optical flow to neighboring frames. More...

double	chi_squared_dist_to_prob (double chi_square_dist)
	Given the chi-square distance between the histograms of two detection boxes. More...

Vector	average_box_flow (const Integral_flow &fx, const Integral_flow &fy, const Bbox &box, const Visibility &vis)
	Compute the average flow in a box, ignoring occluded parts. More...

void	prune_by_height (std::vector< Deva_detection > &deva_boxes, double image_width, double image_height, const Perspective_camera &camera, double average_height)
	Prune the deva boxes based on the average entity height. More...

Vector	project_point (const Perspective_camera &cam, const Vector &x)
	Projects a 3D point into a 2D point using camera. More...

void	update_facemarks (const Ascn &ascn, const Facemark_data &fms)
	Update facemark detections for face trajectories. More...

void	clear_facemarks (const Ascn &ascn)
	Update facemark detections for face trajectories. More...

Visibility	get_box_visibility (const Bbox &box, double depth, size_t frame, const Depth_map &depth_map, double img_width, double img_height, bool infer_head)
	Computes visible of a box given other boxes. More...

void	update_visibilities (const Scene &scene, bool infer_head=true)
	Update all the visibilities in a scene. More...

void	update_visibilities (const Scene &scene, size_t frame, bool infer_head=true)
	Update visibility for a single frame (and leave others intact). More...

Typedef Documentation

typedef mcmcda::Association<Target> kjb::pt::Ascn

typedef Generic_trajectory<Body_2d> kjb::pt::Body_2d_trajectory

typedef Generic_trajectory_element<Body_2d> kjb::pt::Body_2d_trajectory_element

typedef Generic_trajectory_map<Body_2d> kjb::pt::Body_2d_trajectory_map

typedef Generic_trajectory<Bbox> kjb::pt::Box_trajectory

typedef Generic_trajectory_element<Bbox> kjb::pt::Box_trajectory_element

typedef Generic_trajectory_map<Bbox> kjb::pt::Box_trajectory_map

typedef bimap<const Target*, multiset_of<double> > kjb::pt::Depth_map

typedef Generic_trajectory<Face_2d> kjb::pt::Face_2d_trajectory

typedef Generic_trajectory_element<Face_2d> kjb::pt::Face_2d_trajectory_element

typedef Generic_trajectory_map<Face_2d> kjb::pt::Face_2d_trajectory_map

typedef std::vector<std::vector<Deva_facemark> > kjb::pt::Facemark_data

typedef std::map<const Detection_box*, Matrix> kjb::pt::Hist_map

Scores based on histogram.

typedef Generic_trajectory<Complete_state> kjb::pt::Trajectory

typedef Generic_trajectory_element<Complete_state> kjb::pt::Trajectory_element

typedef Generic_trajectory_map<Complete_state> kjb::pt::Trajectory_map

Function Documentation

bool kjb::pt::all_new_targets ( const Scene & scene )

Helper fcn; returns true if the scene has only new targets.

Vector kjb::pt::average_box_flow	(	const Integral_flow &	fx,
		const Integral_flow &	fy,
		const Bbox &	box,
		const Visibility &	vis
	)

Compute the average flow in a box, ignoring occluded parts.

Returns: A kjb::Vector representing the average flow.

double kjb::pt::body_direction ( const Vector & dir )

inline

Gets the body direction from a direction vector.

std::vector< Vector > kjb::pt::body_ellipse	(	const Complete_state &	cs,
		double	h,
		double	w,
		double	g,
		size_t	n = `12`
	)

Computes points on ellipse given by position and dimensions.

bool kjb::pt::box_on_ground	(	const Detection_box &	dbox,
		const Perspective_camera &	cam
	)

inline

Checks whether the bottom of a box back-projects to the ground.

Deva_facemark kjb::pt::build_deva_facemark	(	const Vector &	lefe_eye,
		const Vector &	right_eye,
		const Vector &	nose,
		const Vector &	left_mouth,
		const Vector &	right_mouth,
		double	yaw
	)

Constructor.

Reads boxes for single time from single file.Return a Deva_facemark from face mark

double kjb::pt::chi_squared_dist_to_prob ( double chi_square_dist )

inline

Given the chi-square distance between the histograms of two detection boxes.

Returns: the probability of the two detection boxes belong to the same person

void kjb::pt::clear_facemarks ( const Ascn & ascn )

Update facemark detections for face trajectories.

Returns: The number of noisy detections Clear facemark detections for face trajectories.

Bbox kjb::pt::cylinder_bounding_box	(	const std::vector< Vector > &	pts,
		const Vector &	bot,
		const Vector &	top
	)

Computes the cylinder of a bounding box given 2D points.

void kjb::pt::cylinder_points	(	const Complete_state &	cs,
		double	height,
		double	width,
		double	girth,
		std::vector< Vector > &	fpts,
		std::vector< Vector > &	bpts,
		Vector &	botc,
		Vector &	topc,
		Vector &	bodc
	)

Points on body cylinders.

size_t kjb::pt::dims	(	const Scene &	scene,
		bool	respect_changed = `true`,
		bool	infer_head = `true`
	)

Computes the number of variables in this scene.

Vector kjb::pt::ellipse_point	(	const Complete_state &	cs,
		double	height,
		double	width,
		double	girth,
		double	angle
	)

inline

Compute point on ellipse given body_dir and angle.

bool kjb::pt::empty_target ( const Target & target )

inline

Helper function; needed because, occasionally, C++ is stupid.

void kjb::pt::estimate_gaze_direction_from_data	(	const Box_trajectory_map &	btrajs,
		Trajectory_map &	trajs,
		const std::vector< std::vector< Face_detection > > &	face_data
	)

Estimate the gaze direction from face.com.

/\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\ /\

template<class InputIterator >

void kjb::pt::estimate_gaze_direction_from_data	(	InputIterator	first,
		InputIterator	last,
		const Box_trajectory_map &	btrajs,
		Trajectory_map &	trajs,
		size_t	frame
	)

Estimate the gaze direction from face.com.

double kjb::pt::face_distance	(	const Face_2d &	face_model,
		const Deva_facemark	facemark
	)

Returns the distance between a face_2d model and a detection facemark.

std::vector< Vector > kjb::pt::face_features	(	const Complete_state &	cs,
		double	height,
		double	width,
		double	girth
	)

Location of face features.

Vector kjb::pt::face_model_direction	(	const Complete_state &	cs1,
		const Complete_state &	cs2,
		const Perspective_camera &	cam,
		double	height,
		double	width,
		double	girth
	)

Compute the (2D) model direction for the face..

void kjb::pt::fix_target	(	Target &	target,
		double	imw,
		double	imh
	)

inline

Helper function that fixes a track when it leaves the view.

Body_2d_trajectory kjb::pt::get_body_2d_trajectory	(	const Trajectory &	traj,
		const Perspective_camera &	cam
	)

Convert a Trajectory to a Body_2d_trajectory.

Body_2d_trajectory_map kjb::pt::get_body_2d_trajectory_map	(	const Trajectory_map &	trajs,
		const Perspective_camera &	cam
	)

Convert a Trajectory_map to a body_2d_trajectory_map.

Box_trajectory kjb::pt::get_body_box_trajectory	(	const Trajectory &	traj,
		const Perspective_camera &	cam
	)

Convert a Trajectory to a Box_trajectory.

Box_trajectory_map kjb::pt::get_body_box_trajectory_map	(	const Trajectory_map &	trajs,
		const Perspective_camera &	cam
	)

Convert a Trajectory_map to a Box_trajectory_map.

Visibility kjb::pt::get_box_visibility	(	const Bbox &	box,
		double	depth,
		size_t	frame,
		const Depth_map &	depth_map,
		double	img_width,
		double	img_height,
		bool	infer_head
	)

Computes visible of a box given other boxes.

bool kjb::pt::get_corresponding_entity	(	const Bbox &	face_box,
		const Box_trajectory_map &	body_trajs,
		Entity_id &	entity_id,
		size_t	index,
		double	overlapping_threshold = `0.4`
	)

Get the corresponding person based on the face box.

Vector kjb::pt::get_cs_face_dir ( const Complete_state & cs )

inline

Helper function – gets the face_dir from CS as a kjb::Vector.

Vector kjb::pt::get_cs_position ( const Complete_state & cs )

inline

Helper function – gets the position from CS as a kjb::Vector.

Face_2d_trajectory kjb::pt::get_face_2d_trajectory	(	const Trajectory &	traj,
		const Perspective_camera &	cam
	)

Convert a Trajectory to a Face_2d_trajectory.

Face_2d_trajectory_map kjb::pt::get_face_2d_trajectory_map	(	const Trajectory_map &	trajs,
		const Perspective_camera &	cam
	)

Convert a Trajectory_map to a Face_2d_trajectory_map.

Box_trajectory kjb::pt::get_face_box_trajectory	(	const Trajectory &	traj,
		const Perspective_camera &	cam
	)

Convert a Trajectory to a Box_trajectory.

Box_trajectory_map kjb::pt::get_face_box_trajectory_map	(	const Trajectory_map &	trajs,
		const Perspective_camera &	cam
	)

Convert a Trajectory_map to a Box_trajectory_map.

double kjb::pt::get_initial_direction	(	Trajectory &	traj,
		size_t	frame
	)

Gets default body direction at frame.

double kjb::pt::get_variable_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		size_t	d,
		size_t	infer_head
	)

inline

Gets the scene at the given variable. Here, d = 1 ... 5 represents the different parts of the trajectory at time 'frame'. 1 and 2 are the position x and z, 3 is the body direction, and 4 and 5 are the face direction.

std::vector< Vector > kjb::pt::head_points	(	const Complete_state &	cs,
		double	height,
		double	width,
		double	girth
	)

Sample points on head surface.

Vector kjb::pt::head_to_world	(	const Vector &	vh,
		const Head &	h,
		bool	scale = `false`
	)

inline

Converts a point on the head to world coordinates.

void kjb::pt::initialize_directions	(	Trajectory &	traj,
		size_t	st = `0`,
		size_t	et = `0`,
		bool	ow = `false`
	)

Set non-initialized directions to default values.

template<class G >

Gradient_adapter<G> kjb::pt::make_gradient_adapter ( const G & grad )

inline

Utility function that makes a gradient adapter.

Ascn kjb::pt::make_gt_association	(	const Box_data &	data,
		const Box_trajectory_map &	gt_btrajs,
		double	width,
		double	height,
		boost::optional< const Perspective_camera & >	cam_p = `boost::none`,
		boost::optional< const Facemark_data & >	fm_data_p = `boost::none`
	)

Create data from GT box trajectories and compute association based upon it.

Box_data kjb::pt::make_gt_data	(	const Box_trajectory_map &	gt_btrajs,
		double	width,
		double	height
	)

Create data from GT box trajectories and compute association based upon it.

void kjb::pt::make_max	(	const Scene &	scene,
		const Scene_posterior &	pt,
		const std::vector< double > &	ss,
		bool	infer_head
	)

Ensures posterior is at max (wrt a given step size).

template<class OutputIterator >

Posterior_detail_recorder<OutputIterator> kjb::pt::make_pd_recorder	(	OutputIterator	it,
		const Scene_posterior &	post
	)

inline

Convenience function to create a Posterior_detail_recorder.

Vector kjb::pt::model_direction	(	const Complete_state &	cs1,
		const Complete_state &	cs2,
		const Perspective_camera &	cam,
		double	height,
		double	width,
		double	girth
	)

Compute the (2D) model direction for the body.

void kjb::pt::move_trajectories_at_frames	(	const Scene &	scene,
		const Target &	target1,
		const Target &	target2,
		size_t	frame1,
		size_t	frame2,
		const Vector3 &	dv1,
		const Vector3 &	dv2,
		bool	vis_off,
		bool	infer_head = `true`
	)

inline

Function that moves a pair of trajectories at a pair of frames, and performs all the necessary updates.

void kjb::pt::move_trajectory_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		const Vector3 &	dv,
		bool	vis_off,
		bool	infer_head = `true`
	)

inline

Function that moves a single trajectory at a single frame, and performs all the necessary updates.

void kjb::pt::move_trajectory_dir_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		double	dd,
		bool	vis_off
	)

inline

Function that moves a single direction at a single frame, and performs all the necessary updates.

void kjb::pt::move_trajectory_dirs_at_frames	(	const Scene &	scene,
		const Target &	target1,
		const Target &	target2,
		size_t	frame1,
		size_t	frame2,
		double	dd1,
		double	dd2,
		bool	vis_off
	)

inline

Function that moves a pair of directions at a pair of frames, and performs all the necessary updates.

void kjb::pt::move_trajectory_face_dir_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		const Vector2 &	dd,
		bool	vis_off
	)

inline

Function that moves a single face direction at a single frame, and performs all the necessary updates.

void kjb::pt::move_trajectory_face_dirs_at_frames	(	const Scene &	scene,
		const Target &	target1,
		const Target &	target2,
		size_t	frame1,
		size_t	frame2,
		const Vector2 &	dd1,
		const Vector2 &	dd2,
		bool	vis_off
	)

inline

Function that moves a pair of directions at a pair of frames, and performs all the necessary updates.

void kjb::pt::move_variable_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		size_t	d,
		double	dx,
		bool	vo,
		bool	infer_head
	)

inline

Moves the scene at the given variable. Here, d = 1 ... 5 represents the different parts of the trajectory at time 'frame'. 1 and 2 are the position x and z, 3 is the body direction, and 4 and 5 are the face direction.

bool kjb::pt::operator<	(	const Detection_box &	b1,
		const Detection_box &	b2
	)

inline

Compares to boxes using middle of box. Needed because we have associated containers of these.

std::ostream& kjb::pt::operator<<	(	std::ostream &	ost,
		const Complete_state &	cs
	)

inline

outputs the Complete_state.

std::ostream& kjb::pt::operator<<	(	std::ostream &	ost,
		const Detection_box &	dbox
	)

inline

Write the Detection_box.

Detection_box kjb::pt::parse_detection_box ( const std::string & line )

inline

Read in an Detection_box from a sigle line.

std::vector< Detection_box > kjb::pt::parse_detection_file ( const std::string & filename )

Read in a vector of Detection_box from a sigle file.

Facemark_data kjb::pt::parse_deva_facemarks	(	const std::vector< std::string > &	fps,
		double	img_width,
		double	img_height
	)

bool kjb::pt::pixel_visible	(	int	x,
		int	y,
		const Visibility &	vis
	)

inline

Helper function that determines if a pixel is visible.

Body_2d kjb::pt::project_cstate	(	const Complete_state &	cs,
		const Perspective_camera &	cam,
		double	height,
		double	width,
		double	girth
	)

Project a complete state into a body box.

Face_2d kjb::pt::project_cstate_face	(	const Complete_state &	cs,
		const Perspective_camera &	cam,
		double	height,
		double	width,
		double	girth
	)

Project a complete state into a face box.

Vector kjb::pt::project_point	(	const Perspective_camera &	cam,
		const Vector &	x
	)

inline

Projects a 3D point into a 2D point using camera.

std::map< int, std::vector< Propagated_2d_info > > kjb::pt::propagate_boxes_by_flow	(	const Target &	target,
		const std::vector< Integral_flow > &	x_flows,
		const std::vector< Integral_flow > &	y_flows,
		const std::vector< Integral_flow > &	back_x_flows,
		const std::vector< Integral_flow > &	back_y_flows,
		size_t	duration
	)

Propagate the detection boxes based on optical flow to neighboring frames.

void kjb::pt::prune_by_height	(	std::vector< Deva_detection > &	deva_boxes,
		double	image_width,
		double	image_height,
		const Perspective_camera &	camera,
		double	average_height
	)

Prune the deva boxes based on the average entity height.

void kjb::pt::read_scene	(	Scene &	s,
		const std::string &	tracks_dp,
		const std::string &	ass_fp,
		const std::string &	cam_fp,
		const std::string &	params_fp,
		bool	infer_head = `true`
	)

Read a scene.

Parameters

s	Target scene variable.
tracks_dp	Directory where trajectory files will be read.
ass_fp	Path where association file will be written; it is usually in the directory tracks_dp.
cam_fp	Path where camera file will be read; it is usually in the directory tracks_dp.
params_fp	Path where parameters file will be read; it is

void kjb::pt::read_scene	(	Scene &	scene,
		const std::string &	tracks_dp,
		bool	infer_head = `true`
	)

inline

Read a scene using standard subdirectory structure; e.g., the association is read from "association.txt".

Parameters

scene	Target scene variable.
tracks_dp	Directory where trajectory files will be read.

template<class TargetIterator >

void kjb::pt::sample	(	const Position_prior &	pos_prior,
		const Direction_prior &	dir_prior,
		const Face_direction_prior &	fdir_prior,
		const Normal_distribution &	height_prior,
		const Normal_distribution &	width_prior,
		const Normal_distribution &	girth_prior,
		TargetIterator	first,
		TargetIterator	last
	)

Sample a scene from the prior (and a given sequence of tracks).

This function samples the 3D configuration of a set of tracks by filling in their trajectories. That is, it samples from p(z | w).

Perspective_camera kjb::pt::sample ( const Camera_prior & cam_prior )

inline

Sample from camera prior.

Detection_box kjb::pt::sample	(	const Box_likelihood &	box_lh,
		const Bbox &	mbox,
		const std::string &	type
	)

inline

Sample a single data box from a model box.

This function samples a detection box from the box likelihood and a given model box. That is, it samples from p(b | h).

template<class TargetIterator >

void kjb::pt::sample	(	const Box_likelihood &	box_lh,
		Box_data &	box_data,
		TargetIterator	first,
		TargetIterator	last,
		const std::vector< size_t >	fa_count
	)

Sample detection data from likelihood.

This function samples box data from the box likelihood (and a given set of tracks and 3D scene). That is, it samples from p(B | z, w).

template<class FmvIterator >

void kjb::pt::sample	(	const Facemark_likelihood &	fm_lh,
		const Scene &	scene,
		FmvIterator	fm_out
	)

Sample facemark data from likelihood.

template<class FlowIterator >

void kjb::pt::sample	(	const Optical_flow_likelihood &	of_lh,
		const Scene &	scene,
		FlowIterator	xflow_out,
		FlowIterator	yflow_out
	)

Sample optical flow data from likelihood.

This function samples OF data from the OF likelihood and a given scene That is, it samples from p(I | z, w).

template<class FmvIterator , class FlowOutIterator >

void kjb::pt::sample	(	const mcmcda::Prior< Target > &	w_prior,
		const Camera_prior &	cam_prior,
		const Scene_posterior &	posterior,
		size_t	T,
		Scene &	scene,
		Box_data &	box_data,
		FmvIterator	fm_out,
		FlowOutIterator	xflow_out,
		FlowOutIterator	yflow_out,
		size_t	max_tracks = `0`
	)

Sample from full generative model.

This function samples from the joint p(B, I, x, w) using ancestral sampling.

void kjb::pt::set_trajectories_at_frames	(	const Scene &	scene,
		const Target &	target1,
		const Target &	target2,
		size_t	frame1,
		size_t	frame2,
		const Vector3 &	v1,
		const Vector3 &	v2,
		bool	vis_off,
		bool	infer_head = `true`
	)

Function that changes a pair of trajectories at a pair of frames, and performs all the necessary updates.

void kjb::pt::set_trajectory_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		const Vector3 &	v,
		bool	vis_off,
		bool	infer_head = `true`
	)

Function that changes a single trajectory at a single frame, and performs all the necessary updates.

void kjb::pt::set_trajectory_dir_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		double	dir,
		bool	vis_off
	)

Function that changes a single direction at a single frame, and performs all the necessary updates.

void kjb::pt::set_trajectory_dirs_at_frames	(	const Scene &	scene,
		const Target &	target1,
		const Target &	target2,
		size_t	frame1,
		size_t	frame2,
		double	dir1,
		double	dir2,
		bool	vis_off
	)

Function that changes a pair of directions at a pair of frames, and performs all the necessary updates.

void kjb::pt::set_trajectory_face_dir_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		const Vector2 &	dir,
		bool	vis_off
	)

Function that changes a single face direction at a single frame, and performs all the necessary updates.

void kjb::pt::set_trajectory_face_dirs_at_frames	(	const Scene &	scene,
		const Target &	target1,
		const Target &	target2,
		size_t	frame1,
		size_t	frame2,
		const Vector2 &	dir1,
		const Vector2 &	dir2,
		bool	vis_off
	)

Function that changes a pair of face directions at a pair of frames, and performs all the necessary updates.

void kjb::pt::set_variable_at_frame	(	const Scene &	scene,
		const Target &	target,
		size_t	frame,
		size_t	d,
		double	x,
		bool	vo,
		bool	infer_head
	)

inline

Sets the scene at the given variable. Here, d = 1 ... 5 represents the different parts of the trajectory at time 'frame'. 1 and 2 are the position x and z, 3 is the body direction, and 4 and 5 are the face direction.

bool kjb::pt::similar_boxes	(	const Bbox &	model_box,
		const Bbox &	data_box,
		double	area_thresh_lower = `0.6`,
		double	area_thresh_upper = `1.2`
	)

Check whether the deva detection box and the model box belong to the same object based on their overlappings.

void kjb::pt::standardize	(	Vector &	v,
		double	cam_width,
		double	cam_height
	)

inline

Changes Vector to standard (camera) coordinate system.

void kjb::pt::standardize	(	Bbox &	box,
		double	cam_width,
		double	cam_height
	)

inline

Changes box coordinates to standard (camera) coordinate system.

void kjb::pt::standardize	(	Deva_facemark &	face,
		double	cam_width,
		double	cam_height
	)

Changes box coordinates to standard (camera) coordinate system.

Changes box coordinates to unstandard (image) coordinate system.

void kjb::pt::swap	(	Scene &	s1,
		Scene &	s2
	)

inline

Swap two scenes.

void kjb::pt::sync_state ( const Target & tg )

Sync targets trajectory with endpoints.

std::vector< double > kjb::pt::trajectory_gradient_step_sizes	(	const Scene &	scene,
		bool	infer_head = `true`
	)

Compute the step sizes that equivalent to movement of 1 pixel in image coordinate.

void kjb::pt::unstandardize	(	Vector &	v,
		double	cam_width,
		double	cam_height
	)

inline

Changes vector to unstandard (image) coordinate system.

void kjb::pt::unstandardize	(	Bbox &	box,
		double	cam_width,
		double	cam_height
	)

inline

Changes box coordinates to unstandard (image) coordinate system.

void kjb::pt::unstandardize	(	Deva_facemark &	face,
		double	cam_width,
		double	cam_height
	)

Changes Deva_facemark coordinates to unstandard (image) coordinate system.

void kjb::pt::update_body_model_directions	(	const Target &	target,
		size_t	frame,
		const Perspective_camera &	cam
	)

Helper function for the set_trajectory_* functions.

void kjb::pt::update_direction	(	Trajectory &	traj,
		size_t	frame,
		bool	ow
	)

Set non-initialized direction in frame to default value.

void kjb::pt::update_face_model_directions	(	const Target &	target,
		size_t	frame,
		const Perspective_camera &	cam
	)

Helper function for the set_trajectory_* functions.

void kjb::pt::update_facemarks	(	const Ascn &	ascn,
		const Facemark_data &	fms
	)

Update facemark detections for face trajectories.

Returns: The number of noisy detections

void kjb::pt::update_model_directions	(	const Target &	target,
		size_t	frame,
		const Perspective_camera &	cam
	)

inline

Helper function for the set_trajectory_* functions.

void kjb::pt::update_scene_state	(	const Scene &	scene,
		const Facemark_data &	fmdata,
		bool	infer_head = `true`,
		bool	refine = `true`
	)

Update the (mostly) 3D state of a scene. To be called after an association change.

void kjb::pt::update_visibilities	(	const Scene &	scene,
		bool	infer_head = `true`
	)

Update all the visibilities in a scene.

void kjb::pt::update_visibilities	(	const Scene &	scene,
		size_t	frame,
		bool	infer_head = `true`
	)

Update visibility for a single frame (and leave others intact).

Vector kjb::pt::visible_head_point	(	const Complete_state &	cs,
		const Vector &	cam_center,
		double	height,
		double	width,
		double	girth
	)

Find a point on face which is visible from the camera.

void kjb::pt::write_deva_facemarks	(	const Facemark_data &	fm_data,
		const std::vector< std::string > &	fps,
		double	img_width,
		double	img_height
	)

void kjb::pt::write_posterior_details	(	const Scene_posterior &	post,
		const Scene &	scene,
		double	mlh,
		std::ostream &	ost
	)

Write the details of the posterior in a table format.

void kjb::pt::write_scene	(	const Scene &	s,
		const std::string &	tracks_dp,
		const std::string &	ass_fp,
		const std::string &	cam_fp,
		const std::string &	params_fp
	)

Write a scene.

Parameters

s	Scene to be written.
tracks_dp	Directory where trajectory files will be written.
ass_fp	Path where association file will be written; it is usually in the directory tracks_dp.
cam_fp	Path where camera file will be written; it is usually in the directory tracks_dp.
params_fp	Path where parameters file will be written; it is usually in the directory tracks_dp.

void kjb::pt::write_scene	(	const Scene &	scene,
		const std::string &	tracks_dp
	)

inline

Write a scene using standard subdirectory structure; e.g., the association is written to "association.txt".

Parameters

scene	Scene to be written.
tracks_dp	Directory where trajectory files will be written.

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation