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comparison include/Motion.hpp @ 139:47329bd16cc0

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cleaned code, added condition on smooth displacement
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 23 Aug 2011 13:14:47 -0400
parents c1b260b48d2a
children a3532db00c28
comparison
equal deleted inserted replaced
138:c1b260b48d2a 139:47329bd16cc0
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
21 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement 21 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
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)
25 bool motionSmooth(const int& accelerationBound, const int& deviationBound) const;
26
24 void addPoint(const int& frameNum, const cv::Point2f& p); 27 void addPoint(const int& frameNum, const cv::Point2f& p);
25 28
26 void shorten(void); 29 void shorten(void);
27 30
28 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB) const; 31 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB) const;
31 void draw(cv::Mat& img, const cv::Scalar& color) const; 34 void draw(cv::Mat& img, const cv::Scalar& color) const;
32 #endif 35 #endif
33 36
34 protected: 37 protected:
35 Trajectory<cv::Point2f> positions; 38 Trajectory<cv::Point2f> positions;
39 /** one fewer velocity than position
40 v_n = p_n+1 - p_n*/
36 Trajectory<cv::Point2f> velocities; 41 Trajectory<cv::Point2f> velocities;
37 42
43 /// norms of velocities for feature constraints, one fewer positions than positions
38 std::vector<float> displacementDistances; 44 std::vector<float> displacementDistances;
39 45
40 void computeMotionData(const int& frameNum); 46 void computeMotionData(const int& frameNum);
41 47
42 }; 48 };