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comparison include/Motion.hpp @ 191:0e60a306d324

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added basic code to identify features and save them (crash)
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 08 Dec 2011 18:32:35 -0500
parents 36968a63efe1
children 38974d27dd2d
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equal deleted inserted replaced
190:36968a63efe1 191:0e60a306d324
24 can be made generic for different list and blob */ 24 can be made generic for different list and blob */
25 FeatureTrajectory(const int& id, TrajectoryDBAccessList<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName); 25 FeatureTrajectory(const int& id, TrajectoryDBAccessList<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName);
26 26
27 unsigned int length(void) const { return positions->size();} // cautious if not continuous: max-min+1 27 unsigned int length(void) const { return positions->size();} // cautious if not continuous: max-min+1
28 28
29 unsigned int getId(void) const { return positions->getId();}
29 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);} 30 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
30 31
31 void setLost(void) { lost = true;} 32 void setLost(void) { lost = true;}
32 bool isLost(void) { return lost;} 33 bool isLost(void) { return lost;}
33 34
90 // roadUserType, group of features 91 // roadUserType, group of features
91 92
92 /** Class to group features: Beymer et al. 99/Saunier and Sayed 06 93 /** Class to group features: Beymer et al. 99/Saunier and Sayed 06
93 \todo create various graph types with different parameters, that accept different feature distances or ways to connect and segment features */ 94 \todo create various graph types with different parameters, that accept different feature distances or ways to connect and segment features */
94 class FeatureGraph { 95 class FeatureGraph {
95 public:
96 //FeatureGraph(float _minDistance, float _maxDistance) : minDistance (_minDistance), maxDistance(_maxDistance) {}
97 FeatureGraph(float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime) : connectionDistance (_connectionDistance), segmentationDistance(_segmentationDistance), minFeatureTime(_minFeatureTime) {}
98
99 void addFeature(const FeatureTrajectoryPtr& ft);
100
101 // add vertex, includes adding links to current vertices
102 // find connected components, check if old enough, if so, remove
103
104 /// Computes the connected components: features have to be older than lastInstant
105 void connectedComponents(const int& lastInstant);
106
107 std::string informationString(void);
108
109 protected: 96 protected:
110 struct FeatureConnection { 97 struct FeatureConnection {
111 float minDistance; 98 float minDistance;
112 float maxDistance; 99 float maxDistance;
113 }; 100 };
116 FeatureTrajectoryPtr feature; 103 FeatureTrajectoryPtr feature;
117 }; 104 };
118 105
119 typedef boost::adjacency_list<boost::listS, boost::vecS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph; 106 typedef boost::adjacency_list<boost::listS, boost::vecS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph;
120 107
108 public:
109 typedef UndirectedGraph::vertex_descriptor vertex_descriptor;
110
111 //FeatureGraph(float _minDistance, float _maxDistance) : minDistance (_minDistance), maxDistance(_maxDistance) {}
112 FeatureGraph(float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime, float _minNFeaturesPerGroup) : connectionDistance (_connectionDistance), segmentationDistance(_segmentationDistance), minFeatureTime(_minFeatureTime), minNFeaturesPerGroup(_minNFeaturesPerGroup) {}
113
114 void addFeature(const FeatureTrajectoryPtr& ft);
115
116 // add vertex, includes adding links to current vertices
117 // find connected components, check if old enough, if so, remove
118
119 /// Computes the connected components: features have to be older than lastInstant
120 std::vector<std::vector<vertex_descriptor> > connectedComponents(const int& lastInstant);
121
122 /** Performs some checks on groups of features and return their lists of ids if correct
123 Removes the vertices from the graph
124 */
125 std::vector<std::vector<unsigned int> > getFeatureGroups(const std::vector<std::vector<vertex_descriptor> >& objectHypotheses);
126
127 std::string informationString(void);
128
129 protected:
121 float connectionDistance; 130 float connectionDistance;
122 float segmentationDistance; 131 float segmentationDistance;
123 unsigned int minFeatureTime; 132 unsigned int minFeatureTime;
133 float minNFeaturesPerGroup;
124 // float minDistance; 134 // float minDistance;
125 // float maxDistance; 135 // float maxDistance;
126 136
127 UndirectedGraph graph; 137 UndirectedGraph graph;
128 138