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annotate include/Motion.hpp @ 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 #ifndef FEATURE_HPP
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2 #define FEATURE_HPP
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4 #include "src/Trajectory.h"
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6 #include <boost/shared_ptr.hpp>
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8 template<typename T> class TrajectoryDBAccess;
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9
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10 /** Class for feature data
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11 positions, velocities and other statistics to evaluate their quality
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12 before saving. */
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13 class FeatureTrajectory {
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14 public:
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15 FeatureTrajectory(const int& frameNum, const cv::Point2f& p);
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17 unsigned int length(void) const { return positions.size();}
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19 void setId(const unsigned int& id) { positions.setId(id);velocities.setId(id);}
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21 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
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22 bool smallDisplacement(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
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24 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
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25 bool motionSmooth(const int& accelerationBound, const int& deviationBound) const;
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27 void addPoint(const int& frameNum, const cv::Point2f& p);
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29 void shorten(void);
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31 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB) const;
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33 #ifdef USE_OPENCV
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34 void draw(cv::Mat& img, const cv::Scalar& color) const;
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35 #endif
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37 protected:
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38 Trajectory<cv::Point2f> positions;
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39 /** one fewer velocity than position
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40 v_n = p_n+1 - p_n*/
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41 Trajectory<cv::Point2f> velocities;
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43 /// norms of velocities for feature constraints, one fewer positions than positions
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44 std::vector<float> displacementDistances;
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46 void computeMotionData(const int& frameNum);
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48 };
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50 typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
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52 // class MovingObject {}
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53 // roadUserType, group of features
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55 #endif