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MotionDetect.cpp
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MotionDetect.cpp
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#include "MotionDetect.h"
MotionDetect::MotionDetect()
{
}
void MotionDetect::computeFlowSpeed(/*cv::Mat &imgL, cv::Mat &imgLP, */
std::vector<cv::Point2f> &featureL,
std::vector<cv::Point2f> &featureLP,/*
std::vector<cv::Point3f> &feature3D,
Eigen::Matrix3f &K,
std::vector<boost::tuple<float, float, float> >&flows*/
std::vector<cv::Point3f> &flows)
{
std::vector<cv::Point2f>::iterator it_featureL = featureL.begin();
std::vector<cv::Point2f>::iterator it_featureLP = featureLP.begin();
for(unsigned int i=0; i<featureL.size(); i++)
{
// flow value in x, y direction + magnitude of the flow
cv::Point3f flow(.0, .0, .0);
flow.x = (*it_featureLP).x - (*it_featureLP).x;
flow.y = (*it_featureLP).y - (*it_featureLP).y;
flow.z = cv::norm(cv::Point2f(flow.x, flow.y));//std::sqrt(flow.x*flow.x + flow.y*flow.y);
flows.push_back(flow);
}
}