74 lines
1.9 KiB
Text
74 lines
1.9 KiB
Text
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#ifndef __HOUGH_PLANE_H__
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#define __HOUGH_PLANE_H__
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#include "shapes/convexplane.h"
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#include "shapes/ConfigFileHough.h"
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//#include "wykobi/wykobi_algorithm.hpp"
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#include "slam6d/point.h"
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#include "slam6d/scan.h"
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#include "shapes/accumulator.h"
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#include "newmat/newmatio.h"
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#include <iostream>
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using std::ofstream;
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typedef vector <PtPair> vPtPair; ///< just a typedef: vPtPair = vector of type PtPair
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struct valuecompare {
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bool operator()(int* ip1, int* ip2) const {
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if(ip1[0] > ip2[0]) {
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return true;
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}else {
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return false;
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}
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}
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};
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class Hough {
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public:
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ofstream out;
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ConfigFileHough myConfigFileHough;
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Accumulator *acc;
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int nrEntries;
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vector <Point>* allPoints;
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bool maximum;
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bool quiet;
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Scan *PlaneScan;
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Scan *PlaneScan2;
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int planeCounter;
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int scanCounter;
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// TODO delete planes in Constructor
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vector<ConvexPlane*> planes;
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vector<Point> coloredPoints;
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Hough(bool quiet = true, std::string configFile = ""); // this constructor allows the Scan to be set later
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Hough(Scan * GlobalScan, bool quiet = true, std::string configFile = "bin/hough.cfg" );
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void SetScan(Scan*);
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~Hough();
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int RHT();
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void SHT();
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void PHT();
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void PPHT();
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void APHT();
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//vector<ConvexPlane>& getPlanes();
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bool distanceOK(Point p1, Point p2, Point p3);
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bool calculatePlane(Point p1, Point p2, Point p3, double &theta, double &phi, double &rho);
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double * const* deletePoints(vector<ConvexPlane*> &model, int &size);
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double * const* getPoints(int &size);
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int deletePoints(double * n, double rho);
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int deletePointsQuad(double * n, double rho);
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int writePlanes(int startCount);
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void writePlanes(std::string);
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int cluster(vPtPair &pairs, double minx, double max, double miny, double maxy);
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void writePlanePoints(std::string);
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void writeAllPoints(int index, vector<Point> points);
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};
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double calcPlane(vector<Point> &ppoint, double plane[4]);
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#endif
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