Part 1: Testing with actual k-means and 3 agentsDuring this testing, each agent is only processing the features that belong to it (determined by distances from features to its k-means label). Because the video is 7 seconds, there are 7 images. Initially:
Here are the numbers of matches broken down to each agent for each image: Testing runtime: Part 2: Parameterize video processing functionalityThree additional ROS parameters are added to the configuration file: data_format, video_extraction_frame_rate and absolute_video_path. Now the user can specify whether to input data from images or a video, what is the extraction frame rate, as well as the location of the target video all in the ROS parameter file. All parameters have been tested. They are working correctly. Part 3: Documentations and more
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Part 1: New functionality & DebuggingThe previous version uses images in a folder to extract features. Now the new version can process any saved video files. It reads one image from the video each second (read rate can be specified), and then passes the images to the Distributed QuickMatch System for processing. The video read functionality is added on top of the image read functionality. It is written in a different function, so the user can switch between the new get_images_from_video function and the old get_images function. Distributed QuickMatch initially was not working after I added the new video read functionality. I spent a few hours debugging and found that in the calc_density function, I passed in the number of features as the last argument when I am supposed to pass in the number of images. After the correction, everything works correctly. Part II: Testing results for video processingSince previous testing data only includes images, I took a new video to use for testing. You can find the original 7 seconds video here. Below are the 7 images outputted by the algorithm: (Note: these are the results of the debugging mode, meaning k-means is not actually computed/one node gets all the features) Figure 1: Image 1 vs Image1 Figure 2: Image 1 vs Image2 Figure 3: Image 1 vs Image 3 Figure 4: Image 1 vs Image 4 Figure 5: Image 1 vs Image 5 Figure 6: Image 1 vs Image 6 Figure 7: Image 1 vs Image 7 Nest Steps:There are still some leftover stuff to be done. Since next week is the last week, I'll finish the following and conclude the the project:
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