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comparison c/feature-based-tracking.cpp @ 180:3a4eef37384f

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method to add features and vertices to graph
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 01 Nov 2011 00:12:33 -0400
parents 4f10e97cb677
children 6c48283a78ca
comparison
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179:4f10e97cb677 180:3a4eef37384f
136 Mat prevDesc, currDesc; 136 Mat prevDesc, currDesc;
137 137
138 vector<FeatureTrajectoryPtr> lostFeatures; 138 vector<FeatureTrajectoryPtr> lostFeatures;
139 vector<FeaturePointMatch> featurePointMatches; 139 vector<FeaturePointMatch> featurePointMatches;
140 140
141 FeatureGraph graph(params.mmConnectionDistance, params.mmSegmentationDistance);
142
143 int key = '?'; 141 int key = '?';
144 unsigned int savedFeatureId=0; 142 unsigned int savedFeatureId=0;
145 Mat frame, currentFrameBW, previousFrameBW; 143 Mat frame, currentFrameBW, previousFrameBW;
146 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) { 144 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)) && !::interruptionKey(key); frameNum++) {
147 capture >> frame; 145 capture >> frame;
267 //trajectoryDB->createViewInstants("last"); 265 //trajectoryDB->createViewInstants("last");
268 int maxTrajectoryLength; 266 int maxTrajectoryLength;
269 trajectoryDB->maxTrajectoryLength(maxTrajectoryLength); 267 trajectoryDB->maxTrajectoryLength(maxTrajectoryLength);
270 cout << "max trajectory length " << maxTrajectoryLength << endl; 268 cout << "max trajectory length " << maxTrajectoryLength << endl;
271 269
270 FeatureGraph featureGraph(params.mmConnectionDistance, params.mmSegmentationDistance, params.minFeatureTime);
271
272 // main loop 272 // main loop
273 // TODO version que l'on peut interrompre ? 273 // TODO version que l'on peut interrompre ?
274 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) { 274 for (int frameNum = params.frame1; ((frameNum-params.frame1 < params.nFrames) || (params.nFrames < 0)); frameNum++) {
275 vector<int> trajectoryIds; 275 vector<int> trajectoryIds;
276 success = trajectoryDB->trajectoryIdStartingAt(trajectoryIds, frameNum); // ending 276 success = trajectoryDB->trajectoryIdEndingAt(trajectoryIds, frameNum); // ending
277 cout << "frame " << frameNum << " " << success << endl; 277 cout << "frame " << frameNum << " " << success << endl;
278 cout << trajectoryIds.size() << " trajectories " << endl; 278 cout << trajectoryIds.size() << " trajectories " << endl;
279 BOOST_FOREACH(int trajectoryId, trajectoryIds) { 279 BOOST_FOREACH(int trajectoryId, trajectoryIds) {
280 //cout << trajectoryId << " " << endl; 280 //cout << trajectoryId << " " << endl;
281 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory; 281 // boost::shared_ptr<Trajectory<cv::Point2f> > trajectory;
282 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities 282 // success = trajectoryDB->read(trajectory, trajectoryId, "positions"); // velocities
283 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities")); 283 FeatureTrajectoryPtr ft = FeatureTrajectoryPtr(new FeatureTrajectory(trajectoryId, *trajectoryDB, "positions", "velocities"));
284 stringstream ss;ss << *ft; cout << ss.str() << endl; 284 // stringstream ss;ss << *ft; cout << ss.str() << endl;
285 cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl; 285 // cout << ft->getFirstInstant() << " " << ft->getLastInstant() << endl;
286 featureGraph.addFeature(ft);
286 } 287 }
287 288
288 // should the trajectory be loaded one by one? yes 289 // should the trajectory be loaded one by one? yes
289 290
290 } 291 cout << featureGraph.informationString() << endl;
292 }
291 293
292 trajectoryDB->endTransaction(); 294 trajectoryDB->endTransaction();
293 trajectoryDB->disconnect(); 295 trajectoryDB->disconnect();
294 } 296 }
295 297