Mercurial Hosting > traffic-intelligence
annotate include/Motion.hpp @ 140:8de5e8256224
added function to save vectors of features
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Tue, 23 Aug 2011 19:04:41 -0400 |
parents | 47329bd16cc0 |
children | a3532db00c28 |
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1 #ifndef FEATURE_HPP |
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2 #define FEATURE_HPP |
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3 |
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4 #include "src/Trajectory.h" |
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5 |
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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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23 |
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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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32 |
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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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36 |
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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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42 |
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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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45 |
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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 |