Mercurial Hosting > traffic-intelligence
view include/Motion.hpp @ 529:f527159815ab
work on script
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Wed, 25 Jun 2014 17:50:18 -0400 |
parents | b6ad86ee7033 |
children | 045d05cef9d0 |
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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 unsigned 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();} // cautious if not continuous: max-min+1 unsigned int getId(void) const { return positions->getId();} void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);} unsigned int getFirstInstant(void) {return firstInstant;} unsigned int getLastInstant(void) {return lastInstant;} //TrajectoryPoint2fPtr& getPositions(void) { return positions;} //TrajectoryPoint2fPtr& getVelocities(void) { return velocities;} /// 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; /// computes the distance according to the Beymer et al. algorithm bool minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, const float& connectionDistance, const float& segmentationDistance); void addPoint(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography); void shorten(void); void movingAverage(const unsigned int& nFramesSmoothing); 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::ostream& operator<<(std::ostream& out, const FeatureTrajectory& ft); protected: /// first frame number unsigned int firstInstant; /// last frame number unsigned int lastInstant; TrajectoryPoint2fPtr positions; /** one fewer velocity than position v_n = p_n - p_n-1*/ 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::ostream& operator<<(std::ostream& out, const FeatureTrajectory& ft) { out << *(ft.positions); out << "\n"; out << *(ft.velocities); return out; } // class MovingObject {} // roadUserType, group of features /** Class to group features: Beymer et al. 99/Saunier and Sayed 06 \todo create various graph types with different parameters, that accept different feature distances or ways to connect and segment features */ class FeatureGraph { protected: struct FeatureConnection { float minDistance; float maxDistance; }; struct VertexInformation { FeatureTrajectoryPtr feature; int index; }; typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph; public: typedef UndirectedGraph::vertex_descriptor vertex_descriptor; FeatureGraph(float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime, float _minNFeaturesPerGroup) : connectionDistance (_connectionDistance), segmentationDistance(_segmentationDistance), minFeatureTime(_minFeatureTime), minNFeaturesPerGroup(_minNFeaturesPerGroup) {} void addFeature(const FeatureTrajectoryPtr& ft); // add vertex, includes adding links to current vertices // find connected components, check if old enough, if so, remove /// Computes the connected components: features have to be older than lastInstant void connectedComponents(const unsigned int& lastInstant); /** Performs some checks on groups of features and return their lists of ids if correct Removes the vertices from the graph */ void getFeatureGroups(std::vector<std::vector<FeatureTrajectoryPtr> >& featureGroups); std::string informationString(void) const; int getNVertices(void) const; int getNEdges(void) const; protected: float connectionDistance; float segmentationDistance; unsigned int minFeatureTime; float minNFeaturesPerGroup; // float minDistance; // float maxDistance; UndirectedGraph graph; std::vector<std::vector<vertex_descriptor> > objectHypotheses; void computeVertexIndex(void); //std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices; }; // inlined implementations // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance) #endif