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annotate c/Motion.cpp @ 178:d7df8ecf5ccd

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author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Mon, 31 Oct 2011 00:35:34 -0400
parents ae2286b1a3fd
children 4f10e97cb677
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1 #include "Motion.hpp"
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2 #include "cvutils.hpp"
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3
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4 #include "opencv2/core/core.hpp"
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5 #include "opencv2/highgui/highgui.hpp"
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6
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7 #include "src/TrajectoryDBAccessList.h"
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8
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9 using namespace std;
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10 using namespace cv;
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11
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12 /******************** FeatureTrajectory ********************/
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13
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14 FeatureTrajectory::FeatureTrajectory(const int& frameNum, const cv::Point2f& p, const Mat& homography)
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15 : lost(false) {
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16 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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17 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
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18 addPoint(frameNum, p, homography);
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19 }
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21 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities)
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22 : lost(false) {
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23 positions = _positions;
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24 velocities = _velocities;
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25 }
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27 FeatureTrajectory::FeatureTrajectory(const int& id, TrajectoryDBAccessList<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) {
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28 bool success = trajectoryDB.read(positions, id, positionsTableName);
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29 if (!success)
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30 cout << "problem loading positions" << endl;
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31 success = trajectoryDB.read(velocities, id, velocitiesTableName);
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32 if (!success)
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33 cout << "problem loading velocities" << endl;
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34 }
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35
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36 bool FeatureTrajectory::isDisplacementSmall(const unsigned int& nDisplacements, const float& minTotalFeatureDisplacement) const {
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37 bool result = false;
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38 unsigned int nPositions = positions->size();
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39 if (nPositions > nDisplacements) {
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40 float disp = 0;
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41 for (unsigned int i=0; i<nDisplacements; i++)
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42 disp += displacementDistances[nPositions-2-i];
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43 result = disp < minTotalFeatureDisplacement;
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44 }
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45 return result;
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46 }
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47
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48 bool FeatureTrajectory::isMotionSmooth(const int& accelerationBound, const int& deviationBound) const {
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49 bool result = true;
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50 unsigned int nPositions = positions->size();
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51 if (nPositions >= 3) {
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52 float ratio;
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53 if (displacementDistances[nPositions-2] > displacementDistances[nPositions-3])
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54 ratio = displacementDistances[nPositions-2] / displacementDistances[nPositions-3];
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55 else
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56 ratio = displacementDistances[nPositions-3] / displacementDistances[nPositions-2];
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57
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58 float cosine = scalarProduct((*velocities)[nPositions-3],(*velocities)[nPositions-2]) / (displacementDistances[nPositions-3] * displacementDistances[nPositions-2]);
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59
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60 result &= (ratio < accelerationBound) & (cosine > deviationBound);
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61 }
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62 return result;
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63 }
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64
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65 void FeatureTrajectory::addPoint(const int& frameNum, const Point2f& p, const Mat& homography) {
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66 Point2f pp = p;
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67 if (!homography.empty())
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68 pp = project(p, homography);
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69 positions->add(frameNum, pp);
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70 computeMotionData(frameNum);
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71 assert(positions.size() == displacementDistances.size()+1);
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72 assert(positions.size() == velocities.size()+1);
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73 }
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74
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75 void FeatureTrajectory::shorten(void) {
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76 positions->pop_back();
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77 velocities->pop_back();
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78 displacementDistances.pop_back();
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79 }
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80
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81 void FeatureTrajectory::write(TrajectoryDBAccess<Point2f>& trajectoryDB, const string& positionsTableName, const string& velocitiesTableName) const {
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82 trajectoryDB.write(*positions, positionsTableName);
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83 trajectoryDB.write(*velocities, velocitiesTableName);
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84 }
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85
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86 #ifdef USE_OPENCV
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87 /// \todo add option for anti-aliased drawing, thickness
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88 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const {
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89 Point2f p1, p2;
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90 if (!homography.empty())
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91 p1 = project((*positions)[0], homography);
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92 else
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93 p1 = (*positions)[0];
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94 for (unsigned int i=1; i<positions->size(); i++) {
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95 if (!homography.empty())
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96 p2 = project((*positions)[i], homography);
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97 else
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98 p2 = (*positions)[i];
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99 line(img, p1, p2, color, 1);
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100 p1 = p2;
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101 }
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102 }
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103 #endif
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104
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105 // protected
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106
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107 void FeatureTrajectory::computeMotionData(const int& frameNum) {
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108 unsigned int nPositions = positions->size();
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109 if (nPositions >= 2) {
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110 Point2f displacement = (*positions)[nPositions-1] - (*positions)[nPositions-2];
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111 //if (nPositions == 2) // duplicate first displacement so that positions and velocities have the same length
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112 //velocities.add(frameNum-1, displacement);
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113 velocities->add(frameNum, displacement);
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114 float dist = norm(displacement);
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115 displacementDistances.push_back(dist);
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116 }
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117 }
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118
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119 /******************** FeatureGraph ********************/