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annotate include/Motion.hpp @ 398:3399bd48cb40

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Ajout d'une méthode pour obtenir le nombre de FPS Méthode de capture des trames vidéos plus résistante aux erreur Utilisation d'un dictionnaire pour les fichier de configuration afin de garder le nom des sections
author Jean-Philippe Jodoin <jpjodoin@gmail.com>
date Mon, 29 Jul 2013 13:46:07 -0400
parents 03dbecd3a887
children c389fae9689a
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1 #ifndef MOTION_HPP
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2 #define MOTION_HPP
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3
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4 #include "src/Trajectory.h"
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5 #include <boost/shared_ptr.hpp>
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6 #include <boost/graph/adjacency_list.hpp>
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8 template<typename T> class TrajectoryDBAccess;
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9 template<typename T> class TrajectoryDBAccessList;
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11 typedef boost::shared_ptr<TrajectoryPoint2f> TrajectoryPoint2fPtr;
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13 /** Class for feature data
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14 positions, velocities and other statistics to evaluate their quality
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15 before saving. */
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16 class FeatureTrajectory {
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17 public:
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18 FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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20 FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities);
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21
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22 /** loads from database
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23 can be made generic for different list and blob */
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24 FeatureTrajectory(const int& id, TrajectoryDBAccessList<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName);
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26 unsigned int length(void) const { return positions->size();} // cautious if not continuous: max-min+1
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28 unsigned int getId(void) const { return positions->getId();}
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29 void setId(const unsigned int& id) { positions->setId(id);velocities->setId(id);}
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31 unsigned int getFirstInstant(void) {return firstInstant;}
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32 unsigned int getLastInstant(void) {return lastInstant;}
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33
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34 //TrajectoryPoint2fPtr& getPositions(void) { return positions;}
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35 //TrajectoryPoint2fPtr& getVelocities(void) { return velocities;}
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37 /// indicates whether the sum of the last nDisplacements displacements has been inferior to minFeatureDisplacement
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38 bool isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const;
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40 /// indicates whether the last two displacements are smooth (limited acceleration and angle)
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41 bool isMotionSmooth(const int& accelerationBound, const int& deviationBound) const;
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43 /// computes the distance according to the Beymer et al. algorithm
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44 bool minMaxSimilarity(const FeatureTrajectory& ft, const int& firstInstant, const int& lastInstant, const float& connectionDistance, const float& segmentationDistance);
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46 void addPoint(const unsigned int& frameNum, const cv::Point2f& p, const cv::Mat& homography);
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48 void shorten(void);
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49
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50 void write(TrajectoryDBAccess<cv::Point2f>& trajectoryDB, const std::string& positionsTableName, const std::string& velocitiesTableName) const;
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52 #ifdef USE_OPENCV
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53 void draw(cv::Mat& img, const cv::Mat& homography, const cv::Scalar& color) const;
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54 #endif
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55
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56 friend std::ostream& operator<<(std::ostream& out, const FeatureTrajectory& ft);
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58 protected:
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59 /// first frame number
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60 unsigned int firstInstant;
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61 /// last frame number
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62 unsigned int lastInstant;
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64 TrajectoryPoint2fPtr positions;
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65 /** one fewer velocity than position
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66 v_n = p_n - p_n-1*/
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67 TrajectoryPoint2fPtr velocities;
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69 /// norms of velocities for feature constraints, one fewer positions than positions
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70 std::vector<float> displacementDistances;
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71
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72 void computeMotionData(const int& frameNum);
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73 };
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74
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75 typedef boost::shared_ptr<FeatureTrajectory> FeatureTrajectoryPtr;
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77 // inlined
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78 inline std::ostream& operator<<(std::ostream& out, const FeatureTrajectory& ft) {
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79 out << *(ft.positions);
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80 out << "\n";
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81 out << *(ft.velocities);
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82 return out;
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83 }
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85 // class MovingObject {}
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86 // roadUserType, group of features
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88 /** Class to group features: Beymer et al. 99/Saunier and Sayed 06
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89 \todo create various graph types with different parameters, that accept different feature distances or ways to connect and segment features */
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90 class FeatureGraph {
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91 protected:
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92 struct FeatureConnection {
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93 float minDistance;
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94 float maxDistance;
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95 };
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96
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97 struct VertexInformation {
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98 FeatureTrajectoryPtr feature;
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99 int index;
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100 };
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101
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102 typedef boost::adjacency_list<boost::listS, boost::listS, boost::undirectedS, VertexInformation, FeatureConnection> UndirectedGraph;
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103
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104 public:
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105 typedef UndirectedGraph::vertex_descriptor vertex_descriptor;
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107 FeatureGraph(float _connectionDistance, float _segmentationDistance, unsigned int _minFeatureTime, float _minNFeaturesPerGroup) : connectionDistance (_connectionDistance), segmentationDistance(_segmentationDistance), minFeatureTime(_minFeatureTime), minNFeaturesPerGroup(_minNFeaturesPerGroup) {}
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108
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109 void addFeature(const FeatureTrajectoryPtr& ft);
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110
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111 // add vertex, includes adding links to current vertices
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112 // find connected components, check if old enough, if so, remove
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114 /// Computes the connected components: features have to be older than lastInstant
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115 void connectedComponents(const unsigned int& lastInstant);
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116
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117 /** Performs some checks on groups of features and return their lists of ids if correct
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118 Removes the vertices from the graph */
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119 void getFeatureGroups(std::vector<std::vector<FeatureTrajectoryPtr> >& featureGroups);
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120
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121 std::string informationString(void) const;
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122
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123 int getNVertices(void) const;
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124 int getNEdges(void) const;
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126 protected:
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127 float connectionDistance;
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128 float segmentationDistance;
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129 unsigned int minFeatureTime;
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130 float minNFeaturesPerGroup;
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131 // float minDistance;
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132 // float maxDistance;
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133
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134 UndirectedGraph graph;
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135
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136 std::vector<std::vector<vertex_descriptor> > objectHypotheses;
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137
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138 void computeVertexIndex(void);
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139
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140 //std::vector<UndirectedGraph::vertex_descriptor> currentVertices, lostVertices;
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141 };
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142
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143 // inlined implementations
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144 // inline FeatureGraph::FeatureGraph(float _minDistance, float _maxDistance)
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145
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146 #endif