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annotate include/Motion.hpp @ 201:f7ddfc4aeb1e

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added tests for graphs
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 05 Mar 2012 01:52:56 -0500
parents 0a27fa343257
children bc93e87a2108 bc4ea09b1743
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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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11
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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 unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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21 FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities);
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22
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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();} // cautious if not continuous: max-min+1
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29 unsigned int getId(void) const { return positions->getId();}
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30 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
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32 unsigned int getFirstInstant(void) {return firstInstant;}
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33 unsigned int getLastInstant(void) {return lastInstant;}
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34
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35 //TrajectoryPoint2fPtr& getPositions(void) { return positions;}
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36 //TrajectoryPoint2fPtr& getVelocities(void) { return velocities;}
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38 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
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39 bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
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41 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
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42 bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const;
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43
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44 /// computes the distance according to the Beymer et al. algorithm
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45 bool minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, const float& connectionDistance, const float& segmentationDistance);
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47 void addPoint(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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49 void shorten(void);
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50
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51 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName) const;
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52
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53 #ifdef USE_OPENCV
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54 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const;
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55 #endif
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56
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57 friend std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft);
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58
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59 protected:
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60 /// first frame number
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61 unsigned int firstInstant;
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62 /// last frame number
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63 unsigned int lastInstant;
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65 TrajectoryPoint2fPtr positions;
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66 /** one fewer velocity than position
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67 v_n = p_n+1 - p_n*/
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68 TrajectoryPoint2fPtr velocities;
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70 /// norms of velocities for feature constraints, one fewer positions than positions
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71 std::vector<float> displacementDistances;
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72
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73 void computeMotionData(const int& frameNum);
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74 };
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76 typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
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78 // inlined
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79 inline std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft) {
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80 out << *(ft.positions);
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81 out << "\n";
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82 out << *(ft.velocities);
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83 return out;
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84 }
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86 // class MovingObject {}
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87 // roadUserType, group of features
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89 /** Class to group features: Beymer et al. 99/Saunier and Sayed 06
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90 \todo create various graph types with different parameters, that accept different feature distances or ways to connect and segment features */
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91 class FeatureGraph {
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92 protected:
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93 struct FeatureConnection {
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94 float minDistance;
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95 float maxDistance;
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96 };
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97
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98 struct VertexInformation {
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99 FeatureTrajectoryPtr feature;
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100 int index;
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101 };
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102
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103 typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph;
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104
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105 public:
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106 typedef UndirectedGraph::vertex_descriptor vertex_descriptor;
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108 FeatureGraph(float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime, float _minNFeaturesPerGroup) : connectionDistance (_connectionDistance), segmentationDistance(_segmentationDistance), minFeatureTime(_minFeatureTime), minNFeaturesPerGroup(_minNFeaturesPerGroup) {}
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109
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110 void addFeature(const FeatureTrajectoryPtr& ft);
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111
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112 // add vertex, includes adding links to current vertices
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113 // find connected components, check if old enough, if so, remove
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114
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115 /// Computes the connected components: features have to be older than lastInstant
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116 void connectedComponents(const int& lastInstant);
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117
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118 /** Performs some checks on groups of features and return their lists of ids if correct
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119 Removes the vertices from the graph */
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120 std::vector<std::vector<unsigned int> > getFeatureGroups(void);
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121
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122 std::string informationString(void) const;
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123
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124 int getNVertices(void) const;
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125 int getNEdges(void) const;
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127 protected:
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128 float connectionDistance;
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129 float segmentationDistance;
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130 unsigned int minFeatureTime;
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131 float minNFeaturesPerGroup;
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132 // float minDistance;
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133 // float maxDistance;
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134
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135 UndirectedGraph graph;
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136
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137 std::vector<std::vector<vertex_descriptor> > objectHypotheses;
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138
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139 void computeVertexIndex(void);
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140
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141 //std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices;
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142 };
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143
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144 // inlined implementations
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145 // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance)
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146
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147 #endif