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comparison c/Motion.cpp @ 186:6c48283a78ca

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work on feature similarity, issue with getting point
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Tue, 29 Nov 2011 00:38:50 -0500
parents 3a4eef37384f
children aa1061fb9695
comparison
equal deleted inserted replaced
185:c06379f25ab8 186:6c48283a78ca
60 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]); 60 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]);
61 61
62 result &= (ratio < accelerationBound) & (cosine > deviationBound); 62 result &= (ratio < accelerationBound) & (cosine > deviationBound);
63 } 63 }
64 return result; 64 return result;
65 }
66
67 bool FeatureTrajectory::minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, float connectionDistance, float segmentationDistance) {
68 Point2f diff = positions->getPointAtInstant(firstInstant)-ft.positions->getPointAtInstant(firstInstant);
69 float minDistance = norm(diff);
70 float maxDistance = minDistance;
71 bool connected = minDistance <= connectionDistance;
72 int t=firstInstant+1;
73 while (t <= lastInstant && connected) {
74 diff = positions->getPointAtInstant(t)-ft.positions->getPointAtInstant(t);
75 float distance = norm(diff);
76 if (distance < minDistance)
77 minDistance = distance;
78 else if (distance > maxDistance)
79 maxDistance = distance;
80 connected = connected && (maxDistance-minDistance < segmentationDistance);
81 t++;
82 }
83
84 return connected;
65 } 85 }
66 86
67 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) { 87 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) {
68 Point2f pp = p; 88 Point2f pp = p;
69 if (!homography.empty()) 89 if (!homography.empty())
127 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor 147 vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor
128 FeatureTrajectoryPtr ft2 = graph[*vi].feature; 148 FeatureTrajectoryPtr ft2 = graph[*vi].feature;
129 unsigned int lastInstant = min(ft->getLastInstant(), ft2->getLastInstant()); 149 unsigned int lastInstant = min(ft->getLastInstant(), ft2->getLastInstant());
130 unsigned int firstInstant = max(ft->getLastInstant(), ft2->getLastInstant()); 150 unsigned int firstInstant = max(ft->getLastInstant(), ft2->getLastInstant());
131 if (lastInstant-firstInstant > minFeatureTime) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime 151 if (lastInstant-firstInstant > minFeatureTime) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime
132 // compute the distance and add edge if ok 152 if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) {
133 UndirectedGraph::edge_descriptor e; 153 UndirectedGraph::edge_descriptor e;
134 bool unused; 154 bool unused;
135 tie(e, unused) = add_edge(newVertex, *vi, graph); 155 tie(e, unused) = add_edge(newVertex, *vi, graph);
136 // no need to add measures to graph[e] 156 // no need to add measures to graph[e]
157 }
137 } 158 }
138 } 159 }
139 } 160 }
140 161
141 string FeatureGraph::informationString(void) { 162 string FeatureGraph::informationString(void) {