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annotate c/Motion.cpp @ 139:47329bd16cc0

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cleaned code, added condition on smooth displacement
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 23 Aug 2011 13:14:47 -0400
parents c1b260b48d2a
children a3532db00c28
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1 #include "Motion.hpp"
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2 #include "cvutils.hpp"
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3
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4 #include "opencv2/core/core.hpp"
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5 #include "opencv2/highgui/highgui.hpp"
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6
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7 #include "src/TrajectoryDBAccessList.h"
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8
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9 using namespace std;
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10 using namespace cv;
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12 FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p) {
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13 addPoint(frameNum, p);
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14 }
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16 bool FeatureTrajectory::smallDisplacement(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const {
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17 bool result = false;
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18 unsigned int nPositions = positions.size();
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19 if (nPositions > nDisplacements) {
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20 float disp = 0;
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21 for (unsigned int i=0; i<nDisplacements; i++)
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22 disp += displacementDistances[nPositions-2-i];
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23 result = disp < minTotalFeatureDisplacement;
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24 }
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25 return result;
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26 }
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28 bool FeatureTrajectory::motionSmooth(const int& accelerationBound, const int& deviationBound) const {
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29 bool result = true;
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30 unsigned int nPositions = positions.size();
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31 if (nPositions >= 3) {
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32 float ratio;
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33 if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3])
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34 ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3];
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35 else
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36 ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2];
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38 float cosine = scalarProduct(velocities[nPositions-3],velocities[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]);
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40 result &= (ratio < accelerationBound) & (cosine > deviationBound);
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41 }
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42 return result;
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43 }
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45 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p) {
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46 positions.add(frameNum, p);
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47 computeMotionData(frameNum);
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48 assert(positions.size() == displacementDistances.size()+1);
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49 assert(positions.size() == velocities.size()+1);
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50 }
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52 void FeatureTrajectory::shorten(void) {
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53 positions.pop_back();
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54 velocities.pop_back();
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55 displacementDistances.pop_back();
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56 }
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58 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB) const {
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59 /// \todo save velocities
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60 trajectoryDB.write(positions);
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61 }
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63 #ifdef USE_OPENCV
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64 /// \todo add option for anti-aliased drawing, thickness
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65 void FeatureTrajectory::draw(Mat& img, const Scalar& color) const {
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66 Point2f p1 = positions[0];
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67 for (unsigned int i=1; i<positions.size(); i++) {
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68 Point2f p2 = positions[i];
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69 line(img, p1, p2, color, 1);
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70 p1 = p2;
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71 }
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72 }
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73 #endif
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75 // protected
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76
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77 void FeatureTrajectory::computeMotionData(const int& frameNum) {
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78 unsigned int nPositions = positions.size();
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79 if (nPositions >= 2) {
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80 Point2f displacement = positions[nPositions-1] - positions[nPositions-2];
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81 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length
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82 //velocities.add(frameNum-1, displacement);
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83 velocities.add(frameNum, displacement);
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84 float dist = norm(displacement);
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85 displacementDistances.push_back(dist);
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86 }
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87 }