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view c/Motion.cpp @ 182:d3f6de6c3918
added drawing functialities, in particular on aerial image
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Thu, 24 Nov 2011 19:00:04 -0500 |
parents | 3a4eef37384f |
children | 6c48283a78ca |
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#include "Motion.hpp" #include "cvutils.hpp" #include "opencv2/core/core.hpp" #include "opencv2/highgui/highgui.hpp" #include "src/TrajectoryDBAccessList.h" using namespace std; using namespace cv; /******************** FeatureTrajectory ********************/ FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const Mat& homography) : lost(false) { positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); addPoint(frameNum, p, homography); } FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) : lost(false) { positions = _positions; velocities = _velocities; } FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) { bool success = trajectoryDB.read(positions, id, positionsTableName); if (!success) cout << "problem loading positions" << endl; success = trajectoryDB.read(velocities, id, velocitiesTableName); if (!success) cout << "problem loading velocities" << endl; // take advantage to request first and last instant from database trajectoryDB.timeInterval(firstInstant, lastInstant, id); } bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const { bool result = false; unsigned int nPositions = positions->size(); if (nPositions > nDisplacements) { float disp = 0; for (unsigned int i=0; i<nDisplacements; i++) disp += displacementDistances[nPositions-2-i]; result = disp < minTotalFeatureDisplacement; } return result; } bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const { bool result = true; unsigned int nPositions = positions->size(); if (nPositions >= 3) { float ratio; if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3]) ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3]; else ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2]; float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]); result &= (ratio < accelerationBound) & (cosine > deviationBound); } return result; } void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) { Point2f pp = p; if (!homography.empty()) pp = project(p, homography); positions->add(frameNum, pp); computeMotionData(frameNum); assert(positions.size() == displacementDistances.size()+1); assert(positions.size() == velocities.size()+1); } void FeatureTrajectory::shorten(void) { positions->pop_back(); velocities->pop_back(); displacementDistances.pop_back(); } void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const { trajectoryDB.write(*positions, positionsTableName); trajectoryDB.write(*velocities, velocitiesTableName); } #ifdef USE_OPENCV /// \todo add option for anti-aliased drawing, thickness void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const { Point2f p1, p2; if (!homography.empty()) p1 = project((*positions)[0], homography); else p1 = (*positions)[0]; for (unsigned int i=1; i<positions->size(); i++) { if (!homography.empty()) p2 = project((*positions)[i], homography); else p2 = (*positions)[i]; line(img, p1, p2, color, 1); p1 = p2; } } #endif // protected void FeatureTrajectory::computeMotionData(const int& frameNum) { unsigned int nPositions = positions->size(); if (nPositions >= 2) { Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2]; //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length //velocities.add(frameNum-1, displacement); velocities->add(frameNum, displacement); float dist = norm(displacement); displacementDistances.push_back(dist); } } /******************** FeatureGraph ********************/ void FeatureGraph::addFeature(const FeatureTrajectoryPtr& ft) { UndirectedGraph::vertex_descriptor newVertex = add_vertex(graph); graph[newVertex].feature = ft; for (boost::graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first; vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor FeatureTrajectoryPtr ft2 = graph[*vi].feature; unsigned int lastInstant = min(ft->getLastInstant(), ft2->getLastInstant()); unsigned int firstInstant = max(ft->getLastInstant(), ft2->getLastInstant()); if (lastInstant-firstInstant > minFeatureTime) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime // compute the distance and add edge if ok UndirectedGraph::edge_descriptor e; bool unused; tie(e, unused) = add_edge(newVertex, *vi, graph); // no need to add measures to graph[e] } } } string FeatureGraph::informationString(void) { stringstream ss; ss << num_vertices(graph) << " vertices, " << num_edges(graph) << " edges"; return ss.str(); }