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view include/Motion.hpp @ 178:d7df8ecf5ccd
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author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 31 Oct 2011 00:35:34 -0400 |
parents | ae2286b1a3fd |
children | 4f10e97cb677 |
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#ifndef MOTION_HPP #define MOTION_HPP #include "src/Trajectory.h" #include <boost/shared_ptr.hpp> #include <boost/graph/adjacency_list.hpp> template<typename T> class TrajectoryDBAccess; template<typename T> class TrajectoryDBAccessList; typedef boost::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr; /** Class for feature data positions, velocities and other statistics to evaluate their quality before saving. */ class FeatureTrajectory { public: FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography); FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities); /** loads from database can be made generic for different list and blob */ FeatureTrajectory(const int& id, TrajectoryDBAccessList<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName); unsigned int length(void) const { return positions->size();} void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);} void setLost(void) { lost = true;} bool isLost(void) { return lost;} /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const; /// indicates whether the last two displacements are smooth (limited acceleration and angle) bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const; void addPoint(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography); void shorten(void); void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName) const; #ifdef USE_OPENCV void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const; #endif friend std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft); protected: bool lost; TrajectoryPoint2fPtr positions; /** one fewer velocity than position v_n = p_n+1 - p_n*/ TrajectoryPoint2fPtr velocities; /// norms of velocities for feature constraints, one fewer positions than positions std::vector<float> displacementDistances; void computeMotionData(const int& frameNum); }; typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr; // inlined inline std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft) { out << *(ft.positions); out << "\n"; out << *(ft.velocities); return out; } // class MovingObject {} // roadUserType, group of features /// Class to group features class FeatureGraph { public: FeatureGraph(float _minDistance, float _maxDistance) : minDistance (_minDistance), maxDistance(_maxDistance) {} // add vertex, includes adding links to current vertices // find connected components, check if old enough, if so, remove protected: struct FeatureConnection { float minDistance; float maxDistance; }; struct VertexInformation { boost::shared_ptr<FeatureTrajectory> feature; }; typedef boost::adjacency_list <boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph; float minDistance; float maxDistance; UndirectedGraph graph; std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices; }; // inlined implementations // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance) #endif