Mercurial > hg > nsaunier > traffic-intelligence

comparison c/Motion.cpp @ 804:17e54690af8a dev

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work in progress, not fully functional yet
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 01 Jun 2016 17:57:49 -0400
parents 6022350f8173
children
comparison
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803:f7cf43b5ad3b 804:17e54690af8a
20 using namespace cv; 20 using namespace cv;
21 using namespace boost; 21 using namespace boost;
22 22
23 /******************** FeatureTrajectory ********************/ 23 /******************** FeatureTrajectory ********************/
24 24
25 FeatureTrajectory::FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p, const Mat& homography) 25 FeatureTrajectory::FeatureTrajectory(const unsigned int& frameNum, const cv::Point2f& p)
26 : firstInstant(frameNum), lastInstant(frameNum) { 26 : firstInstant(frameNum), lastInstant(frameNum) {
27 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); 27 positions = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
28 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f()); 28 velocities = TrajectoryPoint2fPtr(new TrajectoryPoint2f());
29 addPoint(frameNum, p, homography); 29 addPoint(frameNum, p);
30 } 30 }
31 31
32 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) { 32 FeatureTrajectory::FeatureTrajectory(TrajectoryPoint2fPtr& _positions, TrajectoryPoint2fPtr& _velocities) {
33 positions = _positions; 33 positions = _positions;
34 velocities = _velocities; 34 velocities = _velocities;
91 } 91 }
92 92
93 return connected; 93 return connected;
94 } 94 }
95 95
96 void FeatureTrajectory::addPoint(const unsigned int& frameNum, const Point2f& p, const Mat& homography) { 96 void FeatureTrajectory::addPoint(const unsigned int& frameNum, const Point2f& p) {
97 Point2f pp = p; 97 positions->add(frameNum, p);
98 if (!homography.empty())
99 pp = project(p, homography);
100 positions->add(frameNum, pp);
101 if (frameNum < firstInstant) 98 if (frameNum < firstInstant)
102 firstInstant = frameNum; 99 firstInstant = frameNum;
103 if (frameNum > lastInstant) 100 if (frameNum > lastInstant)
104 lastInstant = frameNum; 101 lastInstant = frameNum;
105 computeMotionData(frameNum); 102 computeMotionData(frameNum);
126 #ifdef USE_OPENCV 123 #ifdef USE_OPENCV
127 /// \todo add option for anti-aliased drawing, thickness 124 /// \todo add option for anti-aliased drawing, thickness
128 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const { 125 void FeatureTrajectory::draw(Mat& img, const Mat& homography, const Scalar& color) const {
129 Point2f p1, p2; 126 Point2f p1, p2;
130 if (!homography.empty()) 127 if (!homography.empty())
131 p1 = project((*positions)[0], homography); 128 p1 = project<double>((*positions)[0], homography);
132 else 129 else
133 p1 = (*positions)[0]; 130 p1 = (*positions)[0];
134 for (unsigned int i=1; i<positions->size(); i++) { 131 for (unsigned int i=1; i<positions->size(); i++) {
135 if (!homography.empty()) 132 if (!homography.empty())
136 p2 = project((*positions)[i], homography); 133 p2 = project<double>((*positions)[i], homography);
137 else 134 else
138 p2 = (*positions)[i]; 135 p2 = (*positions)[i];
139 line(img, p1, p2, color, 1); 136 line(img, p1, p2, color, 1);
140 p1 = p2; 137 p1 = p2;
141 } 138 }