LineData Class Reference

#include <LineData.h>

Inheritance diagram for LineData:

Detailed Description

A line shape, with two endpoints, a length, orientation, etc.

Definition at line 23 of file LineData.h.


void	clearLine (Sketch< bool > &sketch)
	Clears a line from a sketch.
void	scanHorizForEndPts (const Sketch< uint > &skelDist, const Sketch< bool > &occlusions, float m, float b)
	Clears a line from a sketch.
void	scanVertForEndPts (const Sketch< uint > &skelDist, const Sketch< bool > &occlusions, float m, float b)
	Clears a line from a sketch.
void	balanceEndPointHoriz (EndPoint &pt, Sketch< bool > const &occluders, float m, float b)
	Clears a line from a sketch.
void	balanceEndPointVert (EndPoint &pt, Sketch< bool > const &occluders, float m, float b)
	Clears a line from a sketch.
static Shape< LineData >	splitLine (ShapeSpace &ShS, Region &skelchunk, Sketch< bool > &skeleton, const Sketch< bool > &occlusions)
	Helper functions used by extractLine().
static std::vector< Shape < LineData > >	extractLines (Sketch< bool > const &sketch, int const num_lines=10)
	Clears a line from a sketch.
static std::vector< Shape < LineData > >	extractLines (Sketch< bool > const &skel, Sketch< bool > const &occluders, int const num_lines=10)
	Clears a line from a sketch.
static std::vector< Shape < LineData > >	houghTransform (const Sketch< bool > &fat, const Sketch< bool > &skinny, const Sketch< bool > &occlusions, const size_t num_lines, int minLength=DEFAULT_MIN_LENGTH)
static bool	linesParallel (Shape< LineData > l1, Shape< LineData >l2)
	Clears a line from a sketch.
Rendering.
Sketch< bool > *	render () const
	Render into a sketch space and return reference.
void	setDrawCoords (float &x1, float &y1, float &x2, float &y2, const int width, const int height) const
static void	drawline2d (Sketch< bool > &canvas, int x0, int y0, int x1, int y1)
	Render into a sketch space and return reference.
Public Member Functions
	LineData (ShapeSpace &_space, const EndPoint &p1, const EndPoint &p2)
	Constructor.
	LineData (ShapeSpace &_space, const Point &pt, orientation_t orient)
	Constructor.
	LineData (const LineData &other)
	Copy constructor.
	DATASTUFF_H (LineData)
void	update_derived_properties ()
	Updates norm parameters (rho and theta).
virtual Point	getCentroid () const
	Centroid. (Virtual in BaseData.).
void	setInfinite (bool value=true)
	Makes endpoints inactive if value = true.
BoundingBox	getBoundingBox () const
virtual bool	isMatchFor (const ShapeRoot &other) const
	Match lines based on their parameters. (Virtual in BaseData.).
bool	isMatchFor (const LineData &other) const
virtual bool	isAdmissible () const
	Lines are admissible to the local map if they're long enough to not be noise.
virtual bool	updateParams (const ShapeRoot &other, bool force=false)
	Update a line in the local map with info from a matching line in the ground space.
virtual void	mergeWith (const ShapeRoot &other)
LineData &	operator= (const LineData &)
bool	isValidUpdate (coordinate_t p1, coordinate_t p2, coordinate_t p3, coordinate_t p4)
virtual void	printParams () const
	Print information about this shape. (Virtual in BaseData.).
virtual void	applyTransform (const NEWMAT::Matrix &Tmat, const ReferenceFrameType_t newref=unspecified)
	Transformations. (Virtual in BaseData.).
virtual void	projectToGround (const NEWMAT::Matrix &camToBase, const NEWMAT::ColumnVector &groundplane)
	Project to ground.
virtual unsigned short	getDimension () const
void	printEnds () const
void	setEndPts (const EndPoint &_end1_pt, const EndPoint &_end2_pt)
bool	isBetween (const Point &p, const LineData &other) const
	Check if point falls between the two lines.
bool	pointsOnSameSide (const Point &p1, const Point &p2)
bool	pointOnLine (const Point &p)
float	perpendicularDistanceFrom (const Point &other) const
	Distance.
virtual Sketch< bool > &	getRendering ()
	Update properties of the shape derived from endpoints or other basic parameters.
Point access functions.
EndPoint &	end1Pt ()
EndPoint &	end2Pt ()
const EndPoint &	end1Pt () const
const EndPoint &	end2Pt () const
EndPoint &	leftPt ()
EndPoint &	rightPt ()
EndPoint &	topPt ()
EndPoint &	bottomPt ()
Shape< PointData >	leftPtShape ()
Shape< PointData >	rightPtShape ()
Shape< PointData >	topPtShape ()
Shape< PointData >	bottomPtShape ()
EndPoint &	firstPt ()
EndPoint &	firstPt (const Shape< LineData > &otherline) const
EndPoint &	secondPt ()
EndPoint &	secondPt (const Shape< LineData > &otherline) const
Shape< PointData >	firstPtShape ()
Shape< PointData >	secondPtShape ()
coordinate_t	firstPtCoord () const
coordinate_t	firstPtCoord (const Shape< LineData > &otherline) const
coordinate_t	secondPtCoord () const
coordinate_t	secondPtCoord (const Shape< LineData > &otherline) const
Properties functions
float	getRhoNorm () const
AngTwoPi	getThetaNorm () const
AngPi	getOrientation () const
float	getLength () const
std::pair< float, float >	lineEquation_mb () const
std::vector< float >	lineEquation_abc () const
	Determine parameters a, b, c satisfying the equation ax + by = c.
std::vector< float >	lineEquation_abc_xz () const
	Determine parameters a, b, c, d satisfying the equation ax + bz = c.
Orientation functions
bool	isNotVertical () const
	True if line orientation is far enough from vertical.
bool	isOverlappedWith (const LineData &otherline, int amount=0) const
	True if line orientation is far enough from vertical.
Predicates based on line length
bool	isLongerThan (const Shape< LineData > &other) const
bool	isLongerThan (float ref_length) const
bool	isShorterThan (const Shape< LineData > &other) const
bool	isShorterThan (float ref_length) const
Check line intersection
bool	intersectsLine (const Shape< LineData > &other) const
bool	intersectsLine (const LineData &other) const
Point	intersectionWithLine (const Shape< LineData > &other) const
Point	intersectionWithLine (const Shape< LineData > &other, bool &intersection_on_this, bool &intersection_on_other) const
Point	intersectionWithLine (const LineData &other) const
Point	intersectionWithLine (const LineData &other, bool &intersection_on_this, bool &intersection_on_other) const
Static Public Member Functions
static ShapeType_t	getStaticType ()
static void	updateLinePt (EndPoint &localPt, coordinate_t local_coord, const EndPoint &groundPt, coordinate_t ground_coord, int sign)
Line extraction
static Shape< LineData >	extractLine (Sketch< bool > &sketch)
	Extracts most prominent line from a skeletonized image.
static Shape< LineData >	extractLine (Sketch< bool > &skelsketch, const Sketch< bool > &occlusions)
Private Attributes
EndPoint	end1_pt
EndPoint	end2_pt
float	rho_norm
AngTwoPi	theta_norm
AngPi	orientation
float	length
Static Private Attributes
static const Point	origin_pt = Point(0,0)
static const int	extractorGapTolerance = 8
Friends
class	Shape< LineData >
class	PolygonData
class	BlobData
Classes
class	ColinearTest
	True if line orientations are within ang_tol (default 20 deg) and normpoints are within dist_tol (default 10 units). More...
class	IsHorizontal
	Predicate returns true if line orientation is within threshold of horizontal. More...
class	IsVertical
	Predicate returns true if line orientation is within threshold of vertical. More...
class	LengthLessThan
	True if line1 shorter than line2. More...
class	ParallelTest
	True if difference in line orientations is <= tolerance (default 20 deg). More...
class	PerpendicularTest
	True if difference in line orientations is 90 deg +/- tolerance (default 20 deg). More...

Constructor & Destructor Documentation

LineData	(	ShapeSpace &	_space,
		const EndPoint &	p1,
		const EndPoint &	p2
	)			`[inline]`

Constructor.

Definition at line 41 of file LineData.h.

LineData	(	ShapeSpace &	_space,
		const Point &	pt,
		orientation_t	orient
	)

Constructor.

Definition at line 29 of file LineData.cc.

LineData ( const LineData & other ) [inline]

Copy constructor.

Definition at line 50 of file LineData.h.

Member Function Documentation

static ShapeType_t getStaticType ( ) [inline, static]

Definition at line 56 of file LineData.h.

DATASTUFF_H ( LineData )

void update_derived_properties ( )

Updates norm parameters (rho and theta).

Definition at line 469 of file LineData.cc.

Referenced by LineData::applyTransform(), LineData::LineData(), LineData::mergeWith(), LineData::projectToGround(), LineData::setEndPts(), TargetData::update_derived_properties(), and LineData::updateParams().

Point getCentroid ( ) const [virtual]

Centroid. (Virtual in BaseData.).

Implements BaseData.

Definition at line 63 of file LineData.cc.

Referenced by TargetData::getBackCentroid(), TargetData::getCentroid(), TargetData::getFrontCentroid(), LineData::isMatchFor(), and TargetData::update_derived_properties().

void setInfinite ( bool value = true )

Makes endpoints inactive if value = true.

Definition at line 65 of file LineData.cc.

BoundingBox getBoundingBox ( ) const [inline, virtual]

Reimplemented from BaseData.

Definition at line 69 of file LineData.h.

Referenced by TargetData::getBoundingBox().

bool isMatchFor ( const ShapeRoot & other ) const [virtual]

Match lines based on their parameters. (Virtual in BaseData.).

Implements BaseData.

Definition at line 74 of file LineData.cc.

Referenced by PolygonData::isClosed(), TargetData::isMatchFor(), and PolygonData::tryClosePolygon().

bool isMatchFor ( const LineData & other ) const

Definition at line 83 of file LineData.cc.

bool isAdmissible ( ) const [virtual]

Lines are admissible to the local map if they're long enough to not be noise.

Reimplemented from BaseData.

Definition at line 176 of file LineData.cc.

bool updateParams	(	const ShapeRoot &	other,
		bool	force = `false`
	)			`[virtual]`

Update a line in the local map with info from a matching line in the ground space.

Implements BaseData.

Definition at line 130 of file LineData.cc.

Referenced by TargetData::updateParams().

void updateLinePt	(	EndPoint &	localPt,
		coordinate_t	local_coord,
		const EndPoint &	groundPt,
		coordinate_t	ground_coord,
		int	sign
	)			`[static]`

Definition at line 163 of file LineData.cc.

Referenced by LineData::updateParams().

void mergeWith ( const ShapeRoot & other ) [virtual]

Definition at line 110 of file LineData.cc.

Referenced by TargetData::mergeWith().

LineData & operator= ( const LineData & other )

Definition at line 1436 of file LineData.cc.

bool isValidUpdate	(	coordinate_t	p1,
		coordinate_t	p2,
		coordinate_t	p3,
		coordinate_t	p4
	)

Definition at line 122 of file LineData.cc.

Referenced by LineData::updateParams().

void printParams ( ) const [virtual]

Print information about this shape. (Virtual in BaseData.).

Implements BaseData.

Definition at line 184 of file LineData.cc.

Referenced by PolygonData::tryClosePolygon().

void applyTransform	(	const NEWMAT::Matrix &	Tmat,
		const ReferenceFrameType_t	newref = `unspecified`
	)			`[virtual]`

Transformations. (Virtual in BaseData.).

Apply a transformation to this shape.

Implements BaseData.

Definition at line 221 of file LineData.cc.

Referenced by TargetData::applyTransform().

void projectToGround	(	const NEWMAT::Matrix &	camToBase,
		const NEWMAT::ColumnVector &	groundplane
	)			`[virtual]`

Project to ground.

Implements BaseData.

Definition at line 227 of file LineData.cc.

Referenced by TargetData::projectToGround().

virtual unsigned short getDimension ( ) const [inline, virtual]

Implements BaseData.

Definition at line 104 of file LineData.h.

void printEnds ( ) const

Definition at line 208 of file LineData.cc.

void setEndPts	(	const EndPoint &	_end1_pt,
		const EndPoint &	_end2_pt
	)

Definition at line 361 of file LineData.cc.

Referenced by LineData::scanHorizForEndPts(), LineData::scanVertForEndPts(), PolygonData::tryImportNewEndline(), and LineData::updateParams().

EndPoint& end1Pt ( ) [inline]

The first point of a line is the leftmost point if the line is horizontal, else the topmost point. With an optional Shape<LineData> argument, uses the current line's orientation to pick the appropriate point of the other line.

Definition at line 115 of file LineData.h.

Referenced by LineData::applyTransform(), LineData::bottomPt(), LineData::firstPt(), PolygonData::formsNewEndline(), TargetData::getBackLeftPt(), LineData::getCentroid(), TargetData::getFrontLeftPt(), LineData::getRendering(), LineData::intersectionWithLine(), LineData::intersectsLine(), LineData::isAdmissible(), LineData::isBetween(), MapBuilder::isLineVisible(), LineData::leftPt(), LineData::lineEquation_abc(), LineData::lineEquation_abc_xz(), LineData::lineEquation_mb(), LineData::printEnds(), LineData::printParams(), LineData::projectToGround(), LineData::render(), LineData::rightPt(), LineData::secondPt(), LineData::setDrawCoords(), LineData::topPt(), PolygonData::tryImportNewEndline(), and LineData::update_derived_properties().