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annotate include/Motion.hpp @ 231:249d65ff6c35

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merged modifications for windows
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 02 Jul 2012 23:49:39 -0400
parents bc4ea09b1743 bc93e87a2108
children cc8e54997d4c
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1 #ifndef MOTION_HPP
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2 #define MOTION_HPP
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3
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4 #include "src/Trajectory.h"
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5 #include <boost/shared_ptr.hpp>
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6 #include <boost/graph/adjacency_list.hpp>
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7
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8 template<typename T> class TrajectoryDBAccess;
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9 template<typename T> class TrajectoryDBAccessList;
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10
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11 typedef boost::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr;
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12
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13 /** Class for feature data
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14 positions, velocities and other statistics to evaluate their quality
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15 before saving. */
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16 class FeatureTrajectory {
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17 public:
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18 FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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20 FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities);
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21
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22 /** loads from database
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23 can be made generic for different list and blob */
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24 FeatureTrajectory(const int& id, TrajectoryDBAccessList<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName);
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26 unsigned int length(void) const { return positions->size();} // cautious if not continuous: max-min+1
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28 unsigned int getId(void) const { return positions->getId();}
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29 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
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31 unsigned int getFirstInstant(void) {return firstInstant;}
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32 unsigned int getLastInstant(void) {return lastInstant;}
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33
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34 //TrajectoryPoint2fPtr& getPositions(void) { return positions;}
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35 //TrajectoryPoint2fPtr& getVelocities(void) { return velocities;}
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37 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
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38 bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
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39
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40 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
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41 bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const;
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42
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43 /// computes the distance according to the Beymer et al. algorithm
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44 bool minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, const float& connectionDistance, const float& segmentationDistance);
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46 void addPoint(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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48 void shorten(void);
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49
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50 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName) const;
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51
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52 #ifdef USE_OPENCV
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53 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const;
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54 #endif
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55
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56 friend std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft);
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57
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58 protected:
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59 /// first frame number
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60 unsigned int firstInstant;
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61 /// last frame number
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62 unsigned int lastInstant;
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64 TrajectoryPoint2fPtr positions;
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65 /** one fewer velocity than position
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66 v_n = p_n+1 - p_n*/
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67 TrajectoryPoint2fPtr velocities;
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69 /// norms of velocities for feature constraints, one fewer positions than positions
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70 std::vector<float> displacementDistances;
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71
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72 void computeMotionData(const int& frameNum);
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73 };
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74
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75 typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
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76
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77 // inlined
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78 inline std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft) {
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79 out << *(ft.positions);
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80 out << "\n";
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81 out << *(ft.velocities);
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82 return out;
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83 }
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84
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85 // class MovingObject {}
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86 // roadUserType, group of features
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87
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88 /** Class to group features: Beymer et al. 99/Saunier and Sayed 06
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89 \todo create various graph types with different parameters, that accept different feature distances or ways to connect and segment features */
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90 class FeatureGraph {
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91 protected:
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92 struct FeatureConnection {
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93 float minDistance;
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94 float maxDistance;
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95 };
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96
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97 struct VertexInformation {
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98 FeatureTrajectoryPtr feature;
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99 int index;
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100 };
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101
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102 typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph;
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103
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104 public:
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105 typedef UndirectedGraph::vertex_descriptor vertex_descriptor;
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106
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107 FeatureGraph(float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime, float _minNFeaturesPerGroup) : connectionDistance (_connectionDistance), segmentationDistance(_segmentationDistance), minFeatureTime(_minFeatureTime), minNFeaturesPerGroup(_minNFeaturesPerGroup) {}
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108
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109 void addFeature(const FeatureTrajectoryPtr& ft);
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110
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111 // add vertex, includes adding links to current vertices
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112 // find connected components, check if old enough, if so, remove
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114 /// Computes the connected components: features have to be older than lastInstant
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115 void connectedComponents(const unsigned int& lastInstant);
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116
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117 /** Performs some checks on groups of features and return their lists of ids if correct
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118 Removes the vertices from the graph */
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119 std::vector<std::vector<unsigned int> > getFeatureGroups(void);
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120
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121 std::string informationString(void) const;
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122
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123 int getNVertices(void) const;
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124 int getNEdges(void) const;
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125
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126 protected:
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127 float connectionDistance;
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128 float segmentationDistance;
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129 unsigned int minFeatureTime;
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130 float minNFeaturesPerGroup;
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131 // float minDistance;
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132 // float maxDistance;
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133
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134 UndirectedGraph graph;
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135
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136 std::vector<std::vector<vertex_descriptor> > objectHypotheses;
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137
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138 void computeVertexIndex(void);
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139
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140 //std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices;
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141 };
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142
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143 // inlined implementations
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144 // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance)
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145
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146 #endif