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annotate include/Motion.hpp @ 176:9323427aa0a3

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changed positions and velocities to shared pointers and renamed methods
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 27 Oct 2011 13:56:46 -0400
parents 50964af05a80
children ae2286b1a3fd
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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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7 #include <boost/graph/adjacency_list.hpp>
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8
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9 template<typename T> class TrajectoryDBAccess;
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10
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11 typedef boost::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr;
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13 /** Class for feature data
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14 positions, velocities and other statistics to evaluate their quality
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15 before saving. */
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16 class FeatureTrajectory {
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17 public:
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18 FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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20 unsigned int length(void) const { return positions->size();}
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22 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
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24 void setLost(void) { lost = true;}
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25 bool isLost(void) { return lost;}
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27 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
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28 bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
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29
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30 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
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31 bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const;
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33 void addPoint(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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34
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35 void shorten(void);
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36
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37 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName) const;
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38
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39 #ifdef USE_OPENCV
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40 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const;
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41 #endif
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43 protected:
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44 bool lost;
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45 TrajectoryPoint2fPtr positions;
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46 /** one fewer velocity than position
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47 v_n = p_n+1 - p_n*/
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48 TrajectoryPoint2fPtr velocities;
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50 /// norms of velocities for feature constraints, one fewer positions than positions
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51 std::vector<float> displacementDistances;
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52
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53 void computeMotionData(const int& frameNum);
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54
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55 };
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56
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57 typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
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58
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59 // class MovingObject {}
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60 // roadUserType, group of features
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61
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62 /// Class to group features
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63 class FeatureGraph {
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64 public:
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65 FeatureGraph(float _minDistance, float _maxDistance) : minDistance (_minDistance), maxDistance(_maxDistance) {}
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67 protected:
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68 struct FeatureConnection {
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69 float minDistance;
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70 float maxDistance;
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71 };
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72
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73 struct VertexInformation {
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74 boost::shared_ptr<FeatureTrajectory> feature;
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75 };
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76
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77 typedef boost::adjacency_list <boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph;
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78
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79 float minDistance;
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80 float maxDistance;
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81
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82 UndirectedGraph graph;
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83
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84 std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices;
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85 };
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86
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87 // inlined implementations
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88 // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance)
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90 #endif