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changeset 200:0a27fa343257

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added one test and cleaned the first and last instant mess
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Fri, 02 Mar 2012 19:32:54 -0500
parents ca9d9104afba
children f7ddfc4aeb1e
files c/Makefile c/Motion.cpp c/test_graph.cpp include/Motion.hpp
diffstat 4 files changed, 26 insertions(+), 24 deletions(-) [+]
line wrap: on
line diff
--- a/c/Makefile	Mon Feb 20 19:32:27 2012 -0500
+++ b/c/Makefile	Fri Mar 02 19:32:54 2012 -0500
@@ -27,7 +27,7 @@
 	OPENCV_HOME=/usr/local
 	INCLUDE+= -I$(OPENCV_HOME)/include -I$(OPENCV_HOME)/include/opencv
 	LIBS += -L$(OPENCV_HOME)/lib
-	LINUX_BOOST_PREFIX = /usr
+	LINUX_BOOST_PREFIX = /usr/local
 	CFLAGS += -DLINUX
 	EXE_EXTENSION=''
 else # windows
--- a/c/Motion.cpp	Mon Feb 20 19:32:27 2012 -0500
+++ b/c/Motion.cpp	Fri Mar 02 19:32:54 2012 -0500
@@ -20,17 +20,17 @@
 
 /******************** FeatureTrajectory ********************/
 
-FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const Mat& homography)
-  : lost(false) {
+FeatureTrajectory::FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p, const Mat& homography)
+  : firstInstant(frameNum), lastInstant(frameNum) {
   positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
   velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
   addPoint(frameNum, p, homography);
 }
 
-FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities)
-  : lost(false) {
+FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) {
   positions = _positions;
   velocities = _velocities;
+  positions->computeInstants(firstInstant, lastInstant);
 }
 
 FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) {
@@ -91,11 +91,15 @@
   return connected;
 }
 
-void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) {
+void FeatureTrajectory::addPoint(const unsigned int& frameNum, const Point2f& p, const Mat& homography) {
   Point2f pp = p;
   if (!homography.empty())
     pp = project(p, homography);
   positions->add(frameNum, pp);
+  if (frameNum < firstInstant)
+    firstInstant = frameNum;
+  if (frameNum > lastInstant)
+    lastInstant = frameNum;
   computeMotionData(frameNum);
   assert(positions.size() == displacementDistances.size()+1);
   assert(positions.size() == velocities.size()+1);
@@ -153,14 +157,16 @@
   for (graph_traits<UndirectedGraph>::vertex_iterator vi = vertices(graph).first; 
        vi!=vertices(graph).second; ++vi) { // vi pointer to vertex_descriptor
     FeatureTrajectoryPtr ft2 = graph[*vi].feature;
-    int lastInstant = static_cast<int>(min(ft->getLastInstant(), ft2->getLastInstant()));
-    int firstInstant = static_cast<int>(max(ft->getFirstInstant(), ft2->getFirstInstant()));
-    if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime
-      if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) {
-	UndirectedGraph::edge_descriptor e;
-	bool unused;
-	tie(e, unused) = add_edge(newVertex, *vi, graph);
-	// no need to add measures to graph[e] (edge properties)
+    if (newVertex != *vi) {
+      int lastInstant = static_cast<int>(min(ft->getLastInstant(), ft2->getLastInstant()));
+      int firstInstant = static_cast<int>(max(ft->getFirstInstant(), ft2->getFirstInstant()));
+      if (lastInstant-firstInstant > static_cast<int>(minFeatureTime)) { // equivalent to lastInstant-firstInstant+1 >= minFeatureTime
+	if (ft->minMaxSimilarity(*ft2, firstInstant, lastInstant, connectionDistance, segmentationDistance)) {
+	  UndirectedGraph::edge_descriptor e;
+	  bool unused;
+	  tie(e, unused) = add_edge(newVertex, *vi, graph);
+	  // no need to add measures to graph[e] (edge properties)
+	}
       }
     }
   }
--- a/c/test_graph.cpp	Mon Feb 20 19:32:27 2012 -0500
+++ b/c/test_graph.cpp	Fri Mar 02 19:32:54 2012 -0500
@@ -12,7 +12,7 @@
 BOOST_AUTO_TEST_SUITE(test_graph)
 
 BOOST_AUTO_TEST_CASE(graph_add_delete) {
-  FeatureGraph featureGraph(5, 1, 5, 1.);
+  FeatureGraph featureGraph(5, 1, 5 /* min time interval */, 1.);
   FeatureTrajectoryPtr ft1 = createFeatureTrajectory(10, 20, Point2f(1,1), Point2f(0.5, 0.));
   FeatureTrajectoryPtr ft2 = createFeatureTrajectory(10, 20, Point2f(1.1,1), Point2f(0.5, 0.));
 
@@ -20,9 +20,9 @@
   BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 1);
   BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 0);
 
-  // featureGraph.addFeature(ft2);
-  // BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 2);
-  // BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 1);
+  featureGraph.addFeature(ft2);
+  BOOST_CHECK_EQUAL(featureGraph.getNVertices(), 2);
+  BOOST_CHECK_EQUAL(featureGraph.getNEdges(), 1);
 
   
 }
--- a/include/Motion.hpp	Mon Feb 20 19:32:27 2012 -0500
+++ b/include/Motion.hpp	Fri Mar 02 19:32:54 2012 -0500
@@ -16,7 +16,7 @@
     before saving. */
 class FeatureTrajectory {
 public:
-  FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
+  FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
 
   FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities);
 
@@ -29,9 +29,6 @@
   unsigned int getId(void) const { return positions->getId();}
   void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
 
-  void setLost(void) { lost = true;}
-  bool isLost(void) { return lost;}
-
   unsigned int getFirstInstant(void) {return firstInstant;}
   unsigned int getLastInstant(void) {return lastInstant;}
 
@@ -47,7 +44,7 @@
   /// 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 int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
+  void addPoint(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
 
   void shorten(void);
 
@@ -60,7 +57,6 @@
   friend std::stringstream& operator<<(std::stringstream& out, const FeatureTrajectory& ft);
 
 protected:
-  bool lost; /// \todo remove
   /// first frame number
   unsigned int firstInstant;
   /// last frame number