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annotate c/Feature.cpp @ 135:32d2722d4028

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added constraint on minimum displacement
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 18 Aug 2011 01:03:38 -0400
parents 63dd4355b6d1
children
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1 #include "Feature.hpp"
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2
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3 #include "opencv2/core/core.hpp"
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4 #include "opencv2/highgui/highgui.hpp"
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6 #include "src/TrajectoryDBAccessList.h"
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8 using namespace std;
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9 using namespace cv;
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11 FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p) {
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12 addPoint(frameNum, p);
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13 }
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15 bool FeatureTrajectory::largeDisplacement(const int& nDisplacements, const float& minTotalFeatureDisplacement) const {
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16 bool result = true;
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17 unsigned int nPositions = positions.size();
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18 if (nPositions > nDisplacements) {
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19 float disp = 0;
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20 for (int i=0; i<nDisplacements; i++)
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21 disp += displacementDistances[nPositions-2-i];
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22 result = disp > minTotalFeatureDisplacement;
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23 }
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24 return result;
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25 }
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27 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p) {
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28 positions.add(frameNum, p);
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29 computeMotionData(frameNum);
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30 }
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32 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB) const {
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33 /// \todo save velocities
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34 trajectoryDB.write(positions);
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35 }
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36
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37 #ifdef USE_OPENCV
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38 /// \todo add option for anti-aliased drawing, thickness
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39 void FeatureTrajectory::draw(Mat& img, const Scalar& color) const {
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40 Point2f p1 = positions[0];
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41 for (unsigned int i=1; i<positions.size(); i++) {
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42 Point2f p2 = positions[i];
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43 line(img, p1, p2, color, 1);
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44 p1 = p2;
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45 }
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46 }
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47 #endif
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48
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49 // protected
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50
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51 void FeatureTrajectory::computeMotionData(const int& frameNum) {
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52 unsigned int nPositions = positions.size();
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53 if (nPositions >= 3) {
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54 Point2f displacement = positions[nPositions-1] - positions[nPositions-2];
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55 if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length
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56 velocities.add(frameNum-1, displacement);
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57 velocities.add(frameNum, displacement);
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58 float dist = norm(displacement);
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59 displacementDistances.push_back(dist);
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60 }
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61 }