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LineData.h Go to the documentation of this file. //-*-c++-*- #ifndef _LINEDATA_H_ #define _LINEDATA_H_ #include <vector> #include <iostream> #include <string> #include "BaseData.h" // superclass #include "EndPoint.h" // EndPoint data member #include "Measures.h" // coordinate_t; AngPi data member #include "ShapeFuns.h" #include "ShapePoint.h" #include "SketchTypes.h" // usint #include "Shared/mathutils.h" // deg2rad namespace DualCoding { class Region; #define EXTRACT_LINE_MIN_AREA 20 #define DEFAULT_MIN_LENGTH 4.0 class LineData : public BaseData { private: EndPoint end1_pt; EndPoint end2_pt; float rho_norm; AngTwoPi theta_norm; AngPi orientation; float length; static const Point origin_pt; friend class Shape<LineData>; // grant access to line endpoints friend class PolygonData; friend class BlobData; public: //! Constructor LineData(ShapeSpace& _space, const Point &p1, const Point &p2) : BaseData(_space,getStaticType()), end1_pt(p1), end2_pt(p2), rho_norm(0), theta_norm(0), orientation(0), length(0) { update_derived_properties(); } //! Constructor LineData(ShapeSpace& _space, const Point &pt, orientation_t orient); //! Copy constructor LineData(const LineData& other) : BaseData(other), end1_pt(other.end1_pt), end2_pt(other.end2_pt), rho_norm(other.rho_norm), theta_norm(other.theta_norm), orientation(other.orientation), length(other.length) {} static ShapeType_t getStaticType() { return lineDataType; } DATASTUFF_H(LineData); //! Updates norm parameters (rho and theta) void update_derived_properties(); //! Centroid. (Virtual in BaseData.) virtual Point getCentroid() const; //! Makes endpoints inactive if value = true void setInfinite(bool value=true); BoundingBox getBoundingBox() const { return BoundingBox(min(end1_pt.coordX(),end2_pt.coordX()), min(end1_pt.coordY(),end2_pt.coordY()), max(end1_pt.coordX(),end2_pt.coordX()), max(end1_pt.coordY(),end2_pt.coordY())); } //! Match lines based on their parameters. (Virtual in BaseData.) virtual bool isMatchFor(const ShapeRoot& other) const; bool isMatchFor(const LineData& other) const; //! Lines are admissible to the local map if they're long enough to not be noise. virtual bool isAdmissible() const ; virtual bool updateParams(const ShapeRoot& other, bool force=false); static void updateLinePt(EndPoint& localPt, coordinate_t local_coord, const EndPoint& groundPt, coordinate_t ground_coord, int sign); virtual void mergeWith(const ShapeRoot& other); LineData& operator=(const LineData&); //checks if update of endpoints from (p1,p2) to (p3,p4) is acceptable bool isValidUpdate(coordinate_t p1, coordinate_t p2, coordinate_t p3, coordinate_t p4); //! Print information about this shape. (Virtual in BaseData.) virtual void printParams() const; //! Transformations. (Virtual in BaseData.) virtual void applyTransform(const NEWMAT::Matrix& Tmat); //! Project to ground virtual void projectToGround(const NEWMAT::Matrix& camToBase, const NEWMAT::ColumnVector& groundplane); virtual unsigned short getDimension() const { return 1; } //! Point Access functions. //@{ EndPoint& end1Pt() { return end1_pt; } EndPoint& end2Pt() { return end2_pt; } const EndPoint& end1Pt() const { return end1_pt; } const EndPoint& end2Pt() const { return end2_pt; } EndPoint& leftPt(); EndPoint& rightPt(); EndPoint& topPt(); EndPoint& bottomPt(); Shape<PointData> leftPtShape(); Shape<PointData> rightPtShape(); Shape<PointData> topPtShape(); Shape<PointData> bottomPtShape(); //! 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. //@{ EndPoint& firstPt(); EndPoint& firstPt(const Shape<LineData> &otherline) const; EndPoint& secondPt(); EndPoint& secondPt(const Shape<LineData> &otherline) const; coordinate_t firstPtCoord() const; coordinate_t firstPtCoord(const Shape<LineData> &otherline) const; coordinate_t secondPtCoord() const; coordinate_t secondPtCoord(const Shape<LineData> &otherline) const; //@} void printEnds() const; void setEndPts(const EndPoint& _end1_pt, const EndPoint& _end2_pt); //! Properties functions. //@{ float getRhoNorm() const { return rho_norm; } AngTwoPi getThetaNorm() const { return theta_norm; } AngPi getOrientation() const { return orientation; } float getLength() const { return length; } pair<float,float> lineEquation_mb() const; vector<float> lineEquation_abc() const; vector<float> lineEquation_abc_xz() const; //@} public: bool isNotVertical() const; //!< True if line orientation is far enough from vertical bool isOverlappedWith(const LineData& otherline, int amount=0) const; // bool isRoughlyPerpendicularTo(Shape<LineData> &other); // bool isExactlyPerpendicularTo(Shape<LineData> &other); //@} //! 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 if point falls between the two lines bool isBetween(const Point &p, const LineData &other) const; //! Check intersection. //@{ bool intersectsLine(const Shape<LineData>& other) const; bool intersectsLine(const LineData& other) const; Point intersectionWithLine(const Shape<LineData>& other) const { bool b; return intersectionWithLine(other,b,b); }; Point intersectionWithLine(const Shape<LineData>& other, bool& intersection_on_this, bool& intersection_on_other) const; Point intersectionWithLine(const LineData& other) const { bool b; return intersectionWithLine(other, b,b); }; Point intersectionWithLine(const LineData& other, bool& intersection_on_this, bool& intersection_on_other) const; //@} bool pointsOnSameSide(const Point& p1, const Point& p2); bool pointOnLine(const Point& p); //! Distance. //@{ float perpendicularDistanceFrom(const Point& other) const; //@} // ================================================== // BEGIN SKETCH MANIPULATION AND LINE EXTRACTION CODE // ================================================== //! Extraction. //@{ //! Extracts most prominent line from a skeletonized image. static Shape<LineData> extractLine(Sketch<bool>& sketch); //! Extracts most prominent line from a skeletonized image. //! It's often useful to use the original sketch as an occluder static Shape<LineData> extractLine(Sketch<bool>& skelsketch, const Sketch<bool>& occlusions); //! Helper functions used by extractLine(). //@{ static Shape<LineData> splitLine(ShapeSpace &ShS, Region &skelchunk, Sketch<bool> &skeleton, const Sketch<bool> &occlusions); //! Clears a line from a sketch. void clearLine(Sketch<bool>& sketch); void scanHorizForEndPts(const Sketch<usint>& skelDist, const Sketch<bool>& occlusions, float m, float b); void scanVertForEndPts(const Sketch<usint>& skelDist, const Sketch<bool>& occlusions, float m, float b); void balanceEndPointHoriz(EndPoint &pt, Sketch<bool> const &occluders, float m, float b); void balanceEndPointVert(EndPoint &pt, Sketch<bool> const &occluders, float m, float b); static vector<Shape<LineData> > extractLines(Sketch<bool> const& sketch, int const num_lines=10); static vector<Shape<LineData> > extractLines(Sketch<bool> const& skel, Sketch<bool> const& occluders, int const num_lines=10); 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); //@} //! Comparison predicates used by shape functions //@{ class LengthLessThan : public BinaryShapePred<LineData> { public: bool operator() (const Shape<LineData> &ln1, const Shape<LineData> &ln2) const; }; class ParallelTest : public BinaryShapePred<LineData> { public: AngPi tolerance; ParallelTest(AngPi _tol=mathutils::deg2rad(20.0)) : tolerance(_tol) {} bool operator() (const Shape<LineData> &line1, const Shape<LineData> &line2) const; }; class PerpendicularTest : public BinaryShapePred<LineData> { public: AngPi tolerance; PerpendicularTest(AngPi _tol=mathutils::deg2rad(20.0)) : tolerance(_tol) {} bool operator() (const Shape<LineData> &line1, const Shape<LineData> &line2) const; }; class ColinearTest : public BinaryShapePred<LineData> { public: AngPi ang_tol; coordinate_t dist_tol; ColinearTest(AngPi _ang_tol=mathutils::deg2rad(20.0), coordinate_t _dist_tol=10) : ang_tol(_ang_tol), dist_tol(_dist_tol) {} bool operator() (const Shape<LineData> &line1, const Shape<LineData> &ln2) const; }; class IsHorizontal : public UnaryShapePred<LineData> { public: IsHorizontal(AngPi thresh=M_PI/6) : UnaryShapePred<LineData>(), threshold(thresh) {} bool operator() (const Shape<LineData> &line); private: AngPi threshold; }; //@} virtual Sketch<bool>& getRendering(); private: static const int extractorGapTolerance = 8; //! Rendering. //@{ //! Render into a sketch space and return reference. Sketch<bool>* render() const; //! returns a Sketch which is true where the specified line is //! end0_stop and end1_stop specify whether rendering should stop at endpoints // Sketch<bool>& drawline2d(SketchSpace &renderspace, // int x0, int y0, int x1, int y1) const; 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); //@} }; } // namespace #endif

DualCoding 3.0beta

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