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comparison include/Motion.hpp @ 147:0089fb29cd26

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added projection of points and reprojection for display
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 30 Aug 2011 13:38:31 -0400
parents a3532db00c28
children cde87a07eb58
comparison
equal deleted inserted replaced
146:7150427c665e 147:0089fb29cd26
10 /** Class for feature data 10 /** Class for feature data
11 positions, velocities and other statistics to evaluate their quality 11 positions, velocities and other statistics to evaluate their quality
12 before saving. */ 12 before saving. */
13 class FeatureTrajectory { 13 class FeatureTrajectory {
14 public: 14 public:
15 FeatureTrajectory(const int& frameNum, const cv::Point2f& p); 15 FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
16 16
17 unsigned int length(void) const { return positions.size();} 17 unsigned int length(void) const { return positions.size();}
18 18
19 void setId(const unsigned int& id) { positions.setId(id);velocities.setId(id);} 19 void setId(const unsigned int& id) { positions.setId(id);velocities.setId(id);}
20 20
22 bool smallDisplacement(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const; 22 bool smallDisplacement(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
23 23
24 /// indicates whether the last two displacements are smooth (limited acceleration and angle) 24 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
25 bool motionSmooth(const int& accelerationBound, const int& deviationBound) const; 25 bool motionSmooth(const int& accelerationBound, const int& deviationBound) const;
26 26
27 void addPoint(const int& frameNum, const cv::Point2f& p); 27 void addPoint(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
28 28
29 void shorten(void); 29 void shorten(void);
30 30
31 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const; 31 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const;
32 32
33 #ifdef USE_OPENCV 33 #ifdef USE_OPENCV
34 void draw(cv::Mat& img, const cv::Scalar& color) const; 34 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const;
35 #endif 35 #endif
36 36
37 protected: 37 protected:
38 Trajectory<cv::Point2f> positions; 38 Trajectory<cv::Point2f> positions;
39 /** one fewer velocity than position 39 /** one fewer velocity than position