Mercurial Hosting > traffic-intelligence

annotate include/Motion.hpp @ 1228:5654c9173548

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
merged (bicycle)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 12 Jul 2023 13:21:08 -0400
parents 8ac7f61c6e4f
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
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"
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
5 #include <boost/graph/adjacency_list.hpp>
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
6
399
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
7
133
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
8 template<typename T> class TrajectoryDBAccess;
63dd4355b6d1 saving of feature positions in sqlite database
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 132
diff changeset
9
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
10 typedef std::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr;
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 165
diff changeset
11
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
12 /** Class for feature data
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
13 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
14 before saving. */
399
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
15 class FeatureTrajectory
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
16 {
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
17 public:
200
0a27fa343257 added one test and cleaned the first and last instant mess
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 196
diff changeset
18 FeatureTrajectory(const unsigned 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
19
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
20 FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities);
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
21
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
22 /** loads from database
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
23 can be made generic for different list and blob */
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
24 FeatureTrajectory(const int& id, TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName);
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
25
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
26 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
27
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
28 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
29 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
30
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
31 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
32 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
33
186
6c48283a78ca work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 180
diff changeset
34 //TrajectoryPoint2fPtr& getPositions(void) { return positions;}
6c48283a78ca work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 180
diff changeset
35 //TrajectoryPoint2fPtr& getVelocities(void) { return velocities;}
6c48283a78ca work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 180
diff changeset
36
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 136
diff changeset
37 /// 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
38 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
39
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
40 /// 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
41 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
42
186
6c48283a78ca work on feature similarity, issue with getting point
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 180
diff changeset
43 /// 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
44 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
45
200
0a27fa343257 added one test and cleaned the first and last instant mess
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 196
diff changeset
46 void addPoint(const unsigned 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
47
138
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 136
diff changeset
48 void shorten(void);
c1b260b48d2a corrected initialization bugs and feature shortening before saving
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 136
diff changeset
49
481
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 399
diff changeset
50 void movingAverage(const unsigned int& nFramesSmoothing);
b6ad86ee7033 implemented smoothing (requires latest trajectory management library version)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 399
diff changeset
51
165
50964af05a80 solved issue with header inclusion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 163
diff changeset
52 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
53
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
54 #ifdef USE_OPENCV
933
8ac7f61c6e4f major rework of homography calibration, no in ideal points if correcting for distortion
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 654
diff changeset
55 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Mat& intrinsicCameraMatrix, const cv::Scalar& color) const;
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
56 #endif
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
57
362
cc8e54997d4c corrected error in tests and changed sstream to ostream for FeatureTrajectory operator<<
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 231
diff changeset
58 friend std::ostream& operator<<(std::ostream& out, const FeatureTrajectory& ft);
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
59
119
45a426552aaa compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
60 protected:
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
61 /// first frame number
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
62 unsigned int firstInstant;
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
63 /// last frame number
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
64 unsigned int lastInstant;
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
65
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 165
diff changeset
66 TrajectoryPoint2fPtr positions;
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
67 /** one fewer velocity than position
362
cc8e54997d4c corrected error in tests and changed sstream to ostream for FeatureTrajectory operator<<
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 231
diff changeset
68 v_n = p_n - p_n-1*/
176
9323427aa0a3 changed positions and velocities to shared pointers and renamed methods
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 165
diff changeset
69 TrajectoryPoint2fPtr velocities;
129
4742b2b6d851 created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
70
139
47329bd16cc0 cleaned code, added condition on smooth displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 138
diff changeset
71 /// 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
72 std::vector<float> displacementDistances;
4742b2b6d851 created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
73
4742b2b6d851 created basic feature saving code
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 119
diff changeset
74 void computeMotionData(const int& frameNum);
119
45a426552aaa compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
75 };
45a426552aaa compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
76
654
045d05cef9d0 updating to c++11 capabilities
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 481
diff changeset
77 typedef std::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
132
45c64e68053c added drawing function for features
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 129
diff changeset
78
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
79 // inlined
399
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
80 inline std::ostream& operator<<(std::ostream& out, const FeatureTrajectory& ft)
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
81 {
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
82 out << *(ft.positions);
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
83 out << "\n";
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
84 out << *(ft.velocities);
399
c389fae9689a Added a class to read list of image instead of video. This is controlled by the use of the database-filename and folder-data parameters in the config file.
Jean-Philippe Jodoin <jpjodoin@gmail.com>
parents: 391
diff changeset
85
177
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
86 return out;
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
87 }
ae2286b1a3fd added loading FeatureTrajectory from database, printing
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 176
diff changeset
88
135
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
89 // class MovingObject {}
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
90 // roadUserType, group of features
32d2722d4028 added constraint on minimum displacement
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 134
diff changeset
91
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
92 /** 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
93 \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
94 class FeatureGraph {
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
95 protected:
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
96 struct FeatureConnection {
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
97 float minDistance;
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
98 float maxDistance;
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
99 };
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 struct VertexInformation {
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
102 FeatureTrajectoryPtr feature;
192
38974d27dd2d connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
103 int index;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
104 };
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
105
192
38974d27dd2d connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
106 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
107
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
108 public:
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
109 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
110
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
111 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
112
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
113 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
114
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
115 // 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
116 // 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
117
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
118 /// Computes the connected components: features have to be older than lastInstant
221
bc93e87a2108 cleaned and corrected connected components and feature groups
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 201
diff changeset
119 void connectedComponents(const unsigned int& lastInstant);
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
120
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
121 /** Performs some checks on groups of features and return their lists of ids if correct
201
f7ddfc4aeb1e added tests for graphs
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 200
diff changeset
122 Removes the vertices from the graph */
391
03dbecd3a887 modified feature grouping to return vectors of pointers to feature trajectories
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 362
diff changeset
123 void getFeatureGroups(std::vector<std::vector<FeatureTrajectoryPtr> >& featureGroups);
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
124
196
aeab0b88c9b6 began testing of FeatureGraph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
125 std::string informationString(void) const;
aeab0b88c9b6 began testing of FeatureGraph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
126
aeab0b88c9b6 began testing of FeatureGraph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
127 int getNVertices(void) const;
aeab0b88c9b6 began testing of FeatureGraph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 194
diff changeset
128 int getNEdges(void) const;
191
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
129
0e60a306d324 added basic code to identify features and save them (crash)
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 190
diff changeset
130 protected:
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
131 float connectionDistance;
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
132 float segmentationDistance;
180
3a4eef37384f method to add features and vertices to graph
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 179
diff changeset
133 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
134 float minNFeaturesPerGroup;
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
135 // float minDistance;
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
136 // float maxDistance;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
137
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
138 UndirectedGraph graph;
192
38974d27dd2d connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
139
194
09c7881073f3 connected commponents works, but issue with removing the vertices
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 192
diff changeset
140 std::vector<std::vector<vertex_descriptor> > objectHypotheses;
09c7881073f3 connected commponents works, but issue with removing the vertices
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 192
diff changeset
141
192
38974d27dd2d connected_components is working with listS for vertex list
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 191
diff changeset
142 void computeVertexIndex(void);
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
143
179
4f10e97cb677 added getting first and last instant for each feature
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 178
diff changeset
144 //std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices;
163
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
145 };
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
146
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
147 // inlined implementations
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
148 // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance)
cde87a07eb58 added graph structures
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents: 147
diff changeset
149
119
45a426552aaa compilation of very simple feature class with trajectory
Nicolas Saunier <nicolas.saunier@polymtl.ca>
parents:
diff changeset
150 #endif