28 #include <fvmodels/shape/ht_lines.h>
29 #include <utils/math/angle.h>
32 using namespace fawkes;
34 namespace firevision {
39 #define TEST_IF_IS_A_PIXEL(x) ((x)>230)
53 HtLinesModel::HtLinesModel(
unsigned int nr_candidates,
float angle_from,
float angle_range,
int r_scale,
float min_votes_ratio,
int min_votes)
55 RHT_NR_CANDIDATES = nr_candidates;
57 RHT_R_SCALE = r_scale;
59 RHT_MIN_VOTES = min_votes;
60 RHT_MIN_VOTES_RATIO = min_votes_ratio;
62 RHT_ANGLE_FROM = angle_from - (floor(angle_from / (2 * M_PI )) * (2 * M_PI));
63 RHT_ANGLE_RANGE = angle_range - (floor(angle_range / (2 * M_PI )) * (2 * M_PI));
64 RHT_ANGLE_INCREMENT = RHT_ANGLE_RANGE / RHT_NR_CANDIDATES;
69 HtLinesModel::~HtLinesModel(
void)
75 HtLinesModel::parseImage(
unsigned char *buf,
88 unsigned char *line_start = buffer;
90 vector<point_t> pixels;
92 for (y = 0; y < roi->
height; ++y) {
93 for (x = 0; x < roi->
width; ++x) {
94 if (TEST_IF_IS_A_PIXEL(*buffer)) {
108 vector< point_t >::iterator pos;
109 if (pixels.size() == 0) {
115 while (pixels.size() > 0) {
119 for (
unsigned int i = 0; i < RHT_NR_CANDIDATES; ++i) {
120 phi = RHT_ANGLE_FROM + i * RHT_ANGLE_INCREMENT;
121 r = p.
x * cos( phi ) + p.
y * sin( phi );
125 accumulator.accumulate( (
int)round(r / RHT_R_SCALE),
133 int max, r_max, phi_max, any_max;
134 max = accumulator.getMax(r_max, phi_max, any_max);
136 roi_width = roi->
width;
140 l.r = r_max * RHT_R_SCALE;
143 m_Lines.push_back( l );
150 HtLinesModel::getShapeCount(
void)
const
152 return m_Lines.size();
156 HtLinesModel::getShape(
int id)
const
158 if (
id < 0 || (
unsigned int)
id >= m_Lines.size()) {
161 return const_cast<LineShape*
>(&m_Lines[id]);
167 HtLinesModel::getMostLikelyShape(
void)
const
169 if (m_Lines.size() == 0) {
171 }
else if (m_Lines.size() == 1) {
172 return const_cast<LineShape*
>(&m_Lines[0]);
175 for (
unsigned int i=1; i < m_Lines.size(); ++i) {
176 if (m_Lines[i].count > m_Lines[cur].count) {
180 return const_cast<LineShape*
>(&m_Lines[cur]);
188 vector< LineShape > *
189 HtLinesModel::getShapes()
191 int votes = (int)(accumulator.getNumVotes() * (float)RHT_MIN_VOTES_RATIO);
193 if ( RHT_MIN_VOTES > votes ) {
194 votes = RHT_MIN_VOTES;
197 vector< LineShape > * rv =
new vector< LineShape >();
199 vector< vector< int > > *rht_nodes = accumulator.getNodes( votes );
200 vector< vector< int > >::iterator node_it;
204 for (node_it = rht_nodes->begin(); node_it != rht_nodes->end(); ++node_it) {
205 l.r = node_it->at(0) * RHT_R_SCALE;
206 l.phi = node_it->at(1);
208 l.count = node_it->at(3);
unsigned int x
x coordinate
unsigned int width
ROI width.
unsigned char * get_roi_buffer_start(unsigned char *buffer) const
Get ROI buffer start.
Point with cartesian coordinates as unsigned integers.
unsigned int y
y coordinate
void calcPoints()
Calc points for line.
float rad2deg(float rad)
Convert an angle given in radians to degrees.
unsigned int height
ROI height.
unsigned int line_step
line step