Mercurial Hosting > traffic-intelligence
annotate include/Motion.hpp @ 192:38974d27dd2d
connected_components is working with listS for vertex list
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
---|---|
date | Mon, 12 Dec 2011 02:05:26 -0500 |
parents | 0e60a306d324 |
children | 09c7881073f3 |
rev | line source |
---|---|
177
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
1 #ifndef MOTION_HPP |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
2 #define MOTION_HPP |
119
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
3 |
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
4 #include "src/Trajectory.h" |
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
5 |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
6 #include <boost/shared_ptr.hpp> |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
7 #include <boost/graph/adjacency_list.hpp> |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
8 |
133
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
9 template<typename T> class TrajectoryDBAccess; |
177
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
10 template<typename T> class TrajectoryDBAccessList; |
133
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
11 |
176
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
165
diff
changeset
|
12 typedef boost::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr; |
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
165
diff
changeset
|
13 |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
14 /** Class for feature data |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
15 positions, velocities and other statistics to evaluate their quality |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
16 before saving. */ |
129
4742b2b6d851
created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
17 class FeatureTrajectory { |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
18 public: |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
142
diff
changeset
|
19 FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography); |
129
4742b2b6d851
created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
20 |
177
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
21 FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities); |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
22 |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
23 /** loads from database |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
24 can be made generic for different list and blob */ |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
25 FeatureTrajectory(const int& id, TrajectoryDBAccessList<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName); |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
26 |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
27 unsigned int length(void) const { return positions->size();} // cautious if not continuous: max-min+1 |
134
a617d0808bbc
added test on feature length and display control
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
133
diff
changeset
|
28 |
191
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
29 unsigned int getId(void) const { return positions->getId();} |
176
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
165
diff
changeset
|
30 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);} |
133
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
31 |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
32 void setLost(void) { lost = true;} |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
33 bool isLost(void) { return lost;} |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
34 |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
35 unsigned int getFirstInstant(void) {return firstInstant;} |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
36 unsigned int getLastInstant(void) {return lastInstant;} |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
37 |
186
6c48283a78ca
work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
180
diff
changeset
|
38 //TrajectoryPoint2fPtr& getPositions(void) { return positions;} |
6c48283a78ca
work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
180
diff
changeset
|
39 //TrajectoryPoint2fPtr& getVelocities(void) { return velocities;} |
6c48283a78ca
work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
180
diff
changeset
|
40 |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
41 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement |
176
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
165
diff
changeset
|
42 bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const; |
135
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
43 |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
44 /// indicates whether the last two displacements are smooth (limited acceleration and angle) |
176
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
165
diff
changeset
|
45 bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const; |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
46 |
186
6c48283a78ca
work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
180
diff
changeset
|
47 /// computes the distance according to the Beymer et al. algorithm |
192
38974d27dd2d
connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
191
diff
changeset
|
48 bool minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, const float& connectionDistance, const float& segmentationDistance); |
186
6c48283a78ca
work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
180
diff
changeset
|
49 |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
142
diff
changeset
|
50 void addPoint(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography); |
119
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
51 |
138
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
52 void shorten(void); |
c1b260b48d2a
corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
136
diff
changeset
|
53 |
165
50964af05a80
solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
163
diff
changeset
|
54 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName) const; |
133
63dd4355b6d1
saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
132
diff
changeset
|
55 |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
56 #ifdef USE_OPENCV |
147
0089fb29cd26
added projection of points and reprojection for display
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
142
diff
changeset
|
57 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const; |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
58 #endif |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
59 |
177
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
60 friend std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft); |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
61 |
119
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
62 protected: |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
63 bool lost; /// \todo remove |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
64 /// first frame number |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
65 unsigned int firstInstant; |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
66 /// last frame number |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
67 unsigned int lastInstant; |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
68 |
176
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
165
diff
changeset
|
69 TrajectoryPoint2fPtr positions; |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
70 /** one fewer velocity than position |
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
71 v_n = p_n+1 - p_n*/ |
176
9323427aa0a3
changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
165
diff
changeset
|
72 TrajectoryPoint2fPtr velocities; |
129
4742b2b6d851
created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
73 |
139
47329bd16cc0
cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
138
diff
changeset
|
74 /// norms of velocities for feature constraints, one fewer positions than positions |
129
4742b2b6d851
created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
75 std::vector<float> displacementDistances; |
4742b2b6d851
created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
76 |
4742b2b6d851
created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
119
diff
changeset
|
77 void computeMotionData(const int& frameNum); |
119
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
78 }; |
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
79 |
132
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
80 typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr; |
45c64e68053c
added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
129
diff
changeset
|
81 |
177
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
82 // inlined |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
83 inline std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft) { |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
84 out << *(ft.positions); |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
85 out << "\n"; |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
86 out << *(ft.velocities); |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
87 return out; |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
88 } |
ae2286b1a3fd
added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
176
diff
changeset
|
89 |
135
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
90 // class MovingObject {} |
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
91 // roadUserType, group of features |
32d2722d4028
added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
134
diff
changeset
|
92 |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
93 /** Class to group features: Beymer et al. 99/Saunier and Sayed 06 |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
94 \todo create various graph types with different parameters, that accept different feature distances or ways to connect and segment features */ |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
95 class FeatureGraph { |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
96 protected: |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
97 struct FeatureConnection { |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
98 float minDistance; |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
99 float maxDistance; |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
100 }; |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
101 |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
102 struct VertexInformation { |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
103 FeatureTrajectoryPtr feature; |
192
38974d27dd2d
connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
191
diff
changeset
|
104 int index; |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
105 }; |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
106 |
192
38974d27dd2d
connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
191
diff
changeset
|
107 typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph; |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
108 |
191
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
109 public: |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
110 typedef UndirectedGraph::vertex_descriptor vertex_descriptor; |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
111 |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
112 FeatureGraph(float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime, float _minNFeaturesPerGroup) : connectionDistance (_connectionDistance), segmentationDistance(_segmentationDistance), minFeatureTime(_minFeatureTime), minNFeaturesPerGroup(_minNFeaturesPerGroup) {} |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
113 |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
114 void addFeature(const FeatureTrajectoryPtr& ft); |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
115 |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
116 // add vertex, includes adding links to current vertices |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
117 // find connected components, check if old enough, if so, remove |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
118 |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
119 /// Computes the connected components: features have to be older than lastInstant |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
120 std::vector<std::vector<vertex_descriptor> > connectedComponents(const int& lastInstant); |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
121 |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
122 /** Performs some checks on groups of features and return their lists of ids if correct |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
123 Removes the vertices from the graph |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
124 */ |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
125 std::vector<std::vector<unsigned int> > getFeatureGroups(const std::vector<std::vector<vertex_descriptor> >& objectHypotheses); |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
126 |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
127 std::string informationString(void); |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
128 |
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
129 protected: |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
130 float connectionDistance; |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
131 float segmentationDistance; |
180
3a4eef37384f
method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
179
diff
changeset
|
132 unsigned int minFeatureTime; |
191
0e60a306d324
added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
190
diff
changeset
|
133 float minNFeaturesPerGroup; |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
134 // float minDistance; |
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
135 // float maxDistance; |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
136 |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
137 UndirectedGraph graph; |
192
38974d27dd2d
connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
191
diff
changeset
|
138 |
38974d27dd2d
connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
191
diff
changeset
|
139 void computeVertexIndex(void); |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
140 |
179
4f10e97cb677
added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
178
diff
changeset
|
141 //std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices; |
163
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
142 }; |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
143 |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
144 // inlined implementations |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
145 // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance) |
cde87a07eb58
added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
147
diff
changeset
|
146 |
119
45a426552aaa
compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff
changeset
|
147 #endif |