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annotate include/Motion.hpp @ 178:d7df8ecf5ccd

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author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 31 Oct 2011 00:35:34 -0400
parents ae2286b1a3fd
children 4f10e97cb677
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1 #ifndef MOTION_HPP
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2 #define MOTION_HPP
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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 template<typename T> class TrajectoryDBAccessList;
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12 typedef boost::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr;
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14 /** Class for feature data
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15 positions, velocities and other statistics to evaluate their quality
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16 before saving. */
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17 class FeatureTrajectory {
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18 public:
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19 FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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21 FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities);
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23 /** loads from database
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24 can be made generic for different list and blob */
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25 FeatureTrajectory(const int& id, TrajectoryDBAccessList<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName);
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27 unsigned int length(void) const { return positions->size();}
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29 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
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31 void setLost(void) { lost = true;}
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32 bool isLost(void) { return lost;}
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34 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
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35 bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
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37 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
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38 bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const;
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39
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40 void addPoint(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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41
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42 void shorten(void);
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43
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44 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName) const;
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46 #ifdef USE_OPENCV
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47 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const;
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48 #endif
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50 friend std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft);
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52 protected:
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53 bool lost;
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54 TrajectoryPoint2fPtr positions;
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55 /** one fewer velocity than position
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56 v_n = p_n+1 - p_n*/
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57 TrajectoryPoint2fPtr velocities;
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59 /// norms of velocities for feature constraints, one fewer positions than positions
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60 std::vector<float> displacementDistances;
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61
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62 void computeMotionData(const int& frameNum);
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63 };
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64
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65 typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
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66
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67 // inlined
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68 inline std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft) {
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69 out << *(ft.positions);
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70 out << "\n";
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71 out << *(ft.velocities);
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72 return out;
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73 }
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75 // class MovingObject {}
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76 // roadUserType, group of features
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78 /// Class to group features
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79 class FeatureGraph {
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80 public:
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81 FeatureGraph(float _minDistance, float _maxDistance) : minDistance (_minDistance), maxDistance(_maxDistance) {}
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82
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83 // add vertex, includes adding links to current vertices
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84 // find connected components, check if old enough, if so, remove
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86 protected:
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87 struct FeatureConnection {
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88 float minDistance;
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89 float maxDistance;
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90 };
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91
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92 struct VertexInformation {
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93 boost::shared_ptr<FeatureTrajectory> feature;
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94 };
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95
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96 typedef boost::adjacency_list <boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph;
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97
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98 float minDistance;
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99 float maxDistance;
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100
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101 UndirectedGraph graph;
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102
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103 std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices;
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104 };
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105
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106 // inlined implementations
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107 // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance)
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108
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109 #endif