Mercurial Hosting > traffic-intelligence
annotate trajectorymanagement/src/Trajectory.h @ 1251:2b1c8fe8f7e4
added function for KITTI 2D format (just a simple csv-like format with xy coordinates)
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Fri, 15 Mar 2024 17:05:54 -0400 |
parents | e1e7acef8eab |
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rev | line source |
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1 #ifndef TRAJECTORY_H_ |
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2 #define TRAJECTORY_H_ |
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3 |
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4 #include "TrajectoryElement.h" |
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5 #include "TrajectoryExceptions.h" |
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6 |
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7 #include "opencv2/core/core.hpp" |
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8 |
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9 #include <ostream> |
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10 #include <vector> |
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11 #include <cassert> |
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12 #include <algorithm> |
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13 |
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14 /** |
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15 * Trajectory class. |
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16 * |
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17 * The Trajectory class is a container to keep information about a trajectory. |
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18 * defined as a sequence of not necessarily consecutive trajectory elements (instand + point coordinates) |
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19 * |
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20 * \todo check (and remove) stuff about ascending frame numbers |
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21 */ |
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22 template<typename Type> |
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23 class Trajectory |
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24 { |
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25 public: |
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26 /// Constructor. |
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27 Trajectory() : id(0), checkAscFrameNumber(false) {} |
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28 |
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29 /** |
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30 * Constructor. |
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31 * |
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32 * @param trajectory trajectory |
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33 */ |
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34 Trajectory(const Trajectory &itrajectory) { |
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35 setId(itrajectory.getId()); |
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36 for (unsigned int i = 0; i < itrajectory.size(); ++i) |
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37 trajectory.push_back(itrajectory.getTrajectoryElement(i)); // justified because we directly copy the first and last instants |
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38 |
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39 setCheckAscFrameNumber(itrajectory.getCheckAscFrameNumber()); |
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40 } |
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41 |
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42 /** |
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43 * Constructor. |
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44 * |
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45 * @param trajectory trajectory |
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46 */ |
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47 Trajectory(const int& id, const std::vector<TrajectoryElement<Type> >& trajectoryElements): |
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48 id(id), checkAscFrameNumber(false) { |
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49 for (typename std::vector<TrajectoryElement<Type> >::const_iterator iter = trajectoryElements.begin(); |
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50 iter != trajectoryElements.end(); iter++) |
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51 add(*iter); |
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52 } |
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53 |
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54 /** |
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55 * Get id of the trajectory. |
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56 * |
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57 * @return id |
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58 */ |
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59 unsigned int getId(void) const { return id;} |
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60 |
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61 /** |
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62 * Set id of the trajectory. |
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63 * |
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64 * @param[in] id id |
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65 */ |
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66 void setId(const unsigned int& iid) { id = iid;} |
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67 |
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68 /** |
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69 * Get element of the trajectory. |
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70 * |
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71 * @param[in] position index of the element of the trajectory |
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72 * @return element of the trajectory#include "OpenCVPointTypeSupport.h" |
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73 */ |
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74 const TrajectoryElement<Type> getTrajectoryElement(unsigned int position) const |
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75 { |
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76 return trajectory[position]; |
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77 } |
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78 |
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79 /** |
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80 * Add an element to the trajectory. |
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81 * |
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82 * @param[in] frameNumber number of the frame of the new element of the trajectory |
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83 * @param[in] point position of the new element of the trajectory |
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84 */ |
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85 void add(unsigned int frameNumber, const Type &point) |
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86 { |
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87 TrajectoryElement<Type> trajectoryElement = TrajectoryElement<Type> (frameNumber, point); |
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88 |
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89 if (getCheckAscFrameNumber()) |
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90 { |
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91 ascFrameNumberAddCheck(frameNumber); |
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92 } |
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93 trajectory.push_back(trajectoryElement); |
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94 } |
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95 |
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96 /** |
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97 * Add an element to the trajectory. |
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98 * |
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99 * @param[in] point position of the new element of the trajectory |
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100 */ |
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101 void add(const Type &point) |
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102 { |
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103 unsigned int frameNumber = 1; |
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104 add(frameNumber, point); |
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105 } |
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106 |
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107 void add(const TrajectoryElement<Type> &trajectoryElement) |
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108 { |
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109 int frameNumber = trajectoryElement.getFrameNumber(); |
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110 if (getCheckAscFrameNumber()) |
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111 { |
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112 ascFrameNumberAddCheck(frameNumber); |
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113 } |
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114 trajectory.push_back(trajectoryElement); |
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115 } |
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116 |
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117 /** |
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118 * Get number of the frame of the element of the trajectory. |
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119 * |
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120 * @param[in] position index of the elesize_t ment of the trajectory |
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121 * @return number of the frame of the element of the trajectory. |
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122 */ |
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123 unsigned int getFrameNumber(unsigned int position) const |
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124 { |
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125 return trajectory[position].getFrameNumber(); |
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126 } |
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127 |
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128 /** |
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129 * Get position of the element of the trajectory. |
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130 * |
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131 * @param[in] position index of the element of the trajectory |
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132 * @return position of the element of the trajectory |
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133 */ |
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134 const Type &getPoint(unsigned int position) const |
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135 { |
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136 return trajectory[position].getPoint(); |
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137 } |
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138 |
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139 /** Get position of the element of the trajectory. */ |
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140 const Type& getPointAtInstant(const unsigned int& t) const |
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141 { |
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142 typename std::vector<TrajectoryElement<Type> >::const_iterator iter = trajectory.begin(); |
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143 while (iter != trajectory.end() && iter->getFrameNumber() != t) |
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144 iter++; |
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145 if (iter != trajectory.end()) |
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146 return iter->getPoint(); |
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147 else { |
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148 throw TrajectoryOutOfRangeErrorException(t); |
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149 } |
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150 } |
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151 |
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152 bool getCheckAscFrameNumber() const |
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153 { |
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154 return checkAscFrameNumber; |
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155 } |
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156 |
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157 void setCheckAscFrameNumber(bool icheckAscFrameNumber) |
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158 { |
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159 if (icheckAscFrameNumber) |
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160 { |
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161 ascFrameNumberCheck(); |
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162 } |
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163 |
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164 checkAscFrameNumber = icheckAscFrameNumber; |
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165 } |
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166 |
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167 /** |
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168 * Get number of elements in the trajectory. |
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169 * |
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170 * @return number of elements in the trajectory |
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171 */ |
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172 unsigned int size() const |
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173 { |
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174 return trajectory.size(); |
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175 } |
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176 |
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177 bool empty() const |
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178 { |
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179 return trajectory.empty(); |
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180 } |
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181 |
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182 void insert(unsigned int position, unsigned int frameNumber, const Type &point) |
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183 { |
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184 trajectoryRangeLeEqCheck(position); |
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185 |
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186 if (getCheckAscFrameNumber()) |
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187 { |
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188 ascFrameNumberInsertCheck(position, frameNumber); |
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189 } |
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190 |
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191 trajectory.insert(trajectory.begin() + position, TrajectoryElement<Type> (frameNumber, point)); |
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192 } |
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193 |
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194 /** |
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195 * Erase an element from the trajectory. |
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196 *TrajectoryFrameNumberErrorException |
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197 * @param[in] position index of the trajectory to be removed |
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198 */ |
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199 void erase(unsigned int position) |
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200 { |
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201 trajectoryRangeLeCheck(position); |
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202 trajectory.erase(trajectory.begin() + position); |
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203 } |
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204 |
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205 /** |
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206 * Erase the last element from the trajectory. |
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207 */ |
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208 void pop_back() |
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209 { |
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210 trajectoryNotEmptyCheck(); |
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211 trajectory.pop_back(); |
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212 } |
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213 |
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214 /** |
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215 * Clear the trajectory. |
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216 */ |
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217 void clear() |
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218 { |
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219 trajectory.clear(); |
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220 } |
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221 |
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222 /** |
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223 * Get position of the element of the trajectory. |
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224 * |
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225 * @param[in] i index of the element of the trajectory |
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226 * @return position of the element of the trajectory |
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227 */ |
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228 Type operator [](unsigned int i) const |
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229 { |
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230 return trajectory[i].getPoint(); |
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231 } |
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232 |
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233 /** |
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234 * Get position of the element of the trajectory. |
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235 * |
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236 * @param[in] i index of the element of the trajectory |
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237 * @return position of the element of the trajectory |
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238 */ |
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239 const Type& at(unsigned int i) const |
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240 { |
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241 trajectoryRangeLeCheck(i); |
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242 return trajectory[i].getPoint(); |
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243 } |
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244 |
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245 /** |
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246 * Shift each element of the trajectory. |
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247 * |
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248 * @param[in] t vector by which the position of each element of the trajectory should be shifted. |
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249 */ |
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250 void shift(const Type& t) |
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251 { |
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252 for (unsigned int i = 0; i < trajectory.size(); ++i) |
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253 { |
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254 trajectory[i].shift(t); |
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255 } |
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256 } |
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257 |
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258 /** Computes the first and last instants */ |
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259 void computeInstants(unsigned int& firstInstant, unsigned int& lastInstant) { |
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260 if (trajectory.empty()) { |
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261 firstInstant = 0; |
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262 lastInstant = 0; |
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263 } else { |
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264 typename std::vector<TrajectoryElement<Type> >::iterator iter = trajectory.begin(); |
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265 firstInstant = iter->getFrameNumber(); |
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266 lastInstant = iter->getFrameNumber(); |
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267 iter++; |
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268 while (iter != trajectory.end()) { |
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269 unsigned int frameNumber = iter->getFrameNumber(); |
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270 if (frameNumber < firstInstant) |
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271 firstInstant = frameNumber; |
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272 else if (frameNumber > lastInstant) |
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273 lastInstant = frameNumber; |
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274 iter++; |
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275 } |
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276 } |
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277 } |
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278 |
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279 /** Smoothes the trajectory positions (parameter is the half-window used for moving average) */ |
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280 void movingAverage(const unsigned int& nFramesSmoothing) { |
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281 if (!trajectory.empty() && nFramesSmoothing >= 1) { |
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282 // todo check the frames are in increasing order |
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283 std::vector<TrajectoryElement<Type> > smoothedTrajectory; |
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284 unsigned int nPositions = trajectory.size(); |
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285 for(unsigned int i=0; i<nPositions; ++i) { |
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286 Type p(0,0); |
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287 unsigned int delta = std::min(nFramesSmoothing, std::min(i, nPositions-1-i)); |
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288 for (unsigned int j=i-delta; j<=i+delta; ++j) |
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289 p = p+getPoint(j); |
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290 smoothedTrajectory.push_back(TrajectoryElement<Type>(trajectory[i].getFrameNumber(), p*(1./(1.+2.*static_cast<float>(delta))))); |
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291 } |
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292 trajectory = smoothedTrajectory; |
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293 } |
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294 } |
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295 |
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296 protected: |
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297 /** |
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298 * Check the length of the trajectories. |
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299 * |
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300 * @param[in] a the size of the trajectory |
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301 * @param[in] b the size of the trajectory |
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302 */ |
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303 void trajectoryNotEmptyCheck() const |
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304 { |
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305 if (trajectory.size() == 0) |
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306 { |
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307 throw TrajectoryLengthErrorException(); |
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308 } |
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309 } |
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310 |
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311 /** |
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312 * Check the range of the trajectory. |
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313 * |
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314 * @param[in] n index of the element of the trajectory |
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315 */ |
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316 void trajectoryRangeLeEqCheck(unsigned int n) const |
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317 { |
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318 if (n > trajectory.size()) |
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319 { |
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320 throw TrajectoryOutOfRangeErrorException(); |
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321 } |
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322 } |
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323 |
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324 /** |
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325 * Check the range of the trajectory. |
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326 * |
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327 * @param[in] n index of the element of the trajectory |
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328 */ |
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329 void trajectoryRangeLeCheck(unsigned int n) const |
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330 { |
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331 if (n >= trajectory.size()) |
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332 { |
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333 throw TrajectoryOutOfRangeErrorException(); |
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334 } |
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335 } |
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336 |
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337 void ascFrameNumberCheck(unsigned int prevFrameNumber, unsigned int currFrameNumber) const |
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338 { |
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339 if (prevFrameNumber >= currFrameNumber) |
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340 { |
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341 throw TrajectoryFrameNumberErrorException(); |
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342 } |
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343 } |
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344 |
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345 void ascFrameNumberCheck() const |
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346 { |
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347 for (unsigned int i = 1; i < trajectory.size(); ++i) |
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348 { |
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349 ascFrameNumberCheck(trajectory[i - 1].getFrameNumber(), trajectory[i].getFrameNumber()); |
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350 } |
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351 } |
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352 |
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353 void ascFrameNumberAddCheck(unsigned int frameNumber) const |
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354 { |
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355 if (!trajectory.empty()) |
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356 { |
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357 ascFrameNumberCheck(trajectory.back().getFrameNumber(), frameNumber); |
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358 } |
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359 } |
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360 |
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361 void ascFrameNumberInsertCheck(unsigned int position, unsigned int frameNumber) const |
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362 { |
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363 if (position > 0) |
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364 { |
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365 ascFrameNumberCheck(trajectory[position - 1].getFrameNumber(), frameNumber); |
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366 } |
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367 |
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368 if (position < trajectory.size()) |
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369 { |
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370 ascFrameNumberCheck(frameNumber, trajectory[position].getFrameNumber()); |
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371 } |
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372 } |
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373 |
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374 private: |
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375 |
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376 /// Id of the trajectory. |
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377 unsigned int id; |
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378 |
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379 /** |
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380 * Trajectory. |
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381 */ |
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382 std::vector<TrajectoryElement<Type> > trajectory; |
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383 |
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384 bool checkAscFrameNumber; |
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385 }; |
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386 |
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387 typedef Trajectory<cv::Point_<int> > TrajectoryPoint2i; |
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388 typedef TrajectoryPoint2i TrajectoryPoint; |
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389 typedef Trajectory<cv::Point_<float> > TrajectoryPoint2f; |
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390 typedef Trajectory<cv::Point_<double> > TrajectoryPoint2d; |
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391 typedef Trajectory<cv::Point3_<int> > TrajectoryPoint3i; |
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392 typedef Trajectory<cv::Point3_<float> > TrajectoryPoint3f; |
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393 typedef Trajectory<cv::Point3_<double> > TrajectoryPoint3d; |
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394 |
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395 /** |
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396 * Compare two trajectories. |
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397 * |
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398 * @param[in] t trajectory trajectory |
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399 * @return information whether trajectories are equal or notPoint_<_Tp> |
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400 */ |
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401 template<typename T> |
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402 static inline bool operator ==(const Trajectory<T>& a, const Trajectory<T>& b) |
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403 { |
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404 if (a.getId() != b.getId() || a.getCheckAscFrameNumber() != b.getCheckAscFrameNumber() || a.size() != b.size()) |
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405 { |
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406 return false; |
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407 } |
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408 |
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409 for (unsigned int i = 0; i < a.size(); ++i) |
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410 { |
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411 if (a.getTrajectoryElement(i) != b.getTrajectoryElement(i)) |
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412 { |
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413 return false; |
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|
414 } |
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|
415 } |
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416 |
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417 return true; |
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418 } |
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419 |
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420 template<typename T> |
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421 static inline Trajectory<T>& operator +=(Trajectory<T>& a, const T& b) |
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422 { |
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423 a.add(b); |
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424 return a; |
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425 } |
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426 |
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427 template<typename T> |
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428 static inline Trajectory<T>& operator +=(Trajectory<T>& a, const TrajectoryElement<T>& b) |
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429 { |
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430 a.add(b); |
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431 return a; |
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432 } |
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433 |
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434 template<typename Ti, typename Tr> |
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435 std::basic_istream<Ti>& operator>>(std::basic_istream<Ti>& in, Trajectory<Tr>& trajectory) |
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436 { |
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|
437 unsigned int id; |
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|
438 if (in >> id) |
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|
439 { |
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440 trajectory.setId(id); |
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441 TrajectoryElement<Tr> trajectoryElement; |
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442 while (in >> trajectoryElement) |
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443 { |
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444 trajectory.add(trajectoryElement); |
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445 } |
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|
446 } |
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447 return in; |
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|
448 } |
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449 |
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450 template<typename Tr> |
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451 std::ostream& operator<<(std::ostream& out, const Trajectory<Tr>& trajectory) |
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452 { |
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453 out << trajectory.getId(); |
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454 for (unsigned int i = 0; i < trajectory.size(); ++i) |
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|
455 { |
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456 out << " "; |
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457 out << trajectory.getTrajectoryElement(i); |
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|
458 } |
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|
459 return out; |
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|
460 } |
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|
461 |
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|
462 /** |
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463 * Compute the minimum and the maximum position of the trajectory. |
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464 * |
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465 * @param[out] _min minimum position of the trajectory |
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466 * @param[out] _max maximum position of the trajectory |
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|
467 */ |
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|
468 template<typename T> |
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|
469 static inline T min(const Trajectory<T>& trajectory) |
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|
470 { |
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|
471 if (trajectory.empty()) |
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|
472 { |
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|
473 throw TrajectoryLengthErrorException(); |
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|
474 } |
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|
475 |
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|
476 T point = trajectory.getPoint(0); |
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|
477 |
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|
478 for (unsigned int i = 1; i < trajectory.size(); ++i) |
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|
479 { |
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|
480 point = min(point, trajectory.getPoint(i)); |
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|
481 } |
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|
482 |
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|
483 return point; |
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|
484 } |
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parents:
diff
changeset
|
485 |
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|
486 template<typename T> |
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|
487 static inline T max(const Trajectory<T>& trajectory) |
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|
488 { |
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|
489 if (trajectory.empty()) |
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changeset
|
490 { |
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|
491 throw TrajectoryLengthErrorException(); |
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diff
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|
492 } |
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diff
changeset
|
493 |
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494 T point = trajectory.getPoint(0); |
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495 |
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496 for (unsigned int i = 1; i < trajectory.size(); ++i) |
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497 { |
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498 point = max(point, trajectory.getPoint(i)); |
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499 } |
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500 |
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501 return point; |
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502 } |
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503 |
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504 #endif /* TRAJECTORY_H_ */ |