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comparison include/Motion.hpp @ 176:9323427aa0a3

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changed positions and velocities to shared pointers and renamed methods
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Thu, 27 Oct 2011 13:56:46 -0400
parents 50964af05a80
children ae2286b1a3fd
comparison
equal deleted inserted replaced
175:a234a5e818f3 176:9323427aa0a3
6 #include <boost/shared_ptr.hpp> 6 #include <boost/shared_ptr.hpp>
7 #include <boost/graph/adjacency_list.hpp> 7 #include <boost/graph/adjacency_list.hpp>
8 8
9 template<typename T> class TrajectoryDBAccess; 9 template<typename T> class TrajectoryDBAccess;
10 10
11 typedef boost::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr;
12
11 /** Class for feature data 13 /** Class for feature data
12 positions, velocities and other statistics to evaluate their quality 14 positions, velocities and other statistics to evaluate their quality
13 before saving. */ 15 before saving. */
14 class FeatureTrajectory { 16 class FeatureTrajectory {
15 public: 17 public:
16 FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography); 18 FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
17 19
18 unsigned int length(void) const { return positions.size();} 20 unsigned int length(void) const { return positions->size();}
19 21
20 void setId(const unsigned int& id) { positions.setId(id);velocities.setId(id);} 22 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
21 23
22 void setLost(void) { lost = true;} 24 void setLost(void) { lost = true;}
23 bool isLost(void) { return lost;} 25 bool isLost(void) { return lost;}
24 26
25 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement 27 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
26 bool smallDisplacement(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const; 28 bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
27 29
28 /// indicates whether the last two displacements are smooth (limited acceleration and angle) 30 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
29 bool motionSmooth(const int& accelerationBound, const int& deviationBound) const; 31 bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const;
30 32
31 void addPoint(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography); 33 void addPoint(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
32 34
33 void shorten(void); 35 void shorten(void);
34 36
38 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const; 40 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const;
39 #endif 41 #endif
40 42
41 protected: 43 protected:
42 bool lost; 44 bool lost;
43 Trajectory<cv::Point2f> positions; 45 TrajectoryPoint2fPtr positions;
44 /** one fewer velocity than position 46 /** one fewer velocity than position
45 v_n = p_n+1 - p_n*/ 47 v_n = p_n+1 - p_n*/
46 Trajectory<cv::Point2f> velocities; 48 TrajectoryPoint2fPtr velocities;
47 49
48 /// norms of velocities for feature constraints, one fewer positions than positions 50 /// norms of velocities for feature constraints, one fewer positions than positions
49 std::vector<float> displacementDistances; 51 std::vector<float> displacementDistances;
50 52
51 void computeMotionData(const int& frameNum); 53 void computeMotionData(const int& frameNum);