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132 lines
4.2 KiB
C++
132 lines
4.2 KiB
C++
/**
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* @file labeledPlane3d.h
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*
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* @auhtor Remus Claudiu Dumitru <r.dumitru@jacobs-university.de>
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* @date 15 Apr 2012
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*
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*/
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#ifndef LABELEDPLANE3D_H_
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#define LABELEDPLANE3D_H_
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//==============================================================================
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// Includes
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//==============================================================================
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#include "model/plane3d.h"
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#include "model/candidateOpening.h"
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#include "model/commonTypes.h"
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/ml/ml.hpp>
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#include <vector>
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//==============================================================================
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// Global Variables
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//==============================================================================
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extern bool quiet;
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//==============================================================================
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// Class Declarations
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//==============================================================================
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namespace model {
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/**
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* The three possible labels on a wall, as a result of the raytracing algorithm.
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*/
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enum Label {
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EMPTY, OCCUPIED, OCCLUDED, OPENING, UNKOWN
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};
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/**
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* A class representing a plane that has additional features such as labeling of patches.
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*/
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class LabeledPlane3d : public Plane3d {
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private:
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static const std::string RED;
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static const std::string GREEN;
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static const std::string BLUE;
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static const std::string WHITE;
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static const double LINE_EPSILON; //!< An epislon value to decide whether a line is horizontal or vertical.
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static const double SOBEL_SCALE; //!< To be used when applying Sobel to any image.
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static const double SOBEL_DELTA; //!< To be used when applying Sobel to any image.
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static const int SOBEL_KERNEL; //!< To be used when applying Sobel to any image.
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static const double CANNY_THRESH1; //!< The lower threshold for Canny.
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static const double CANNY_THRESH2; //!< The upper threshold for Canny.
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static const double HOUGH_RHO; //!< Rho used in the Hough transform.
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static const double HOUGH_THETA; //!< Theta used in the Hough transform.
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static const int HOUGH_THRESH; //!< Hough transform threshold.
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static const double HOUGH_MIN_LINE_LEN; //!< Minimum line length for Hough transform.
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static const double MIN_EMPTY_AREA; //!< Minimum empty area percentage.
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static const double MIN_TOTAL_AREA; //!< Minimum total area percentage of wall.
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static const double MAX_TOTAL_AREA; //!< Maximum total area percentage of wall.
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private:
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std::string name;
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public:
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/**
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* Each discrete patch is described in this matrix.
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*/
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std::vector<std::vector<std::pair<model::Point3d, Label> > > patches;
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/**
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* Remember a depth map of the plane to be used when detecting the windows.
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* To be built in the same time when applying labels.
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*/
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std::vector<std::vector<double> > depthMap;
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/**
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* The OpenCV image of the depthMap.
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*/
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cv::Mat depthImg;
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/**
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* The corrected depth image of the wall;
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*/
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cv::Mat correctedDepthImg;
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/**
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* The wall distance and the maximum distance (2 * wall distance + ray distance)
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* at which the depth map was computed.
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*/
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std::pair<double, double> depthMapDistances;
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// constructores and destructors
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LabeledPlane3d();
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LabeledPlane3d(const Point3d& pt, const Vector3d& normal);
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LabeledPlane3d(const Point3d& pt, const Vector3d& normal, const std::vector<Point3d>& hull);
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LabeledPlane3d(const LabeledPlane3d& other);
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virtual ~LabeledPlane3d();
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// operators
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LabeledPlane3d& operator=(const LabeledPlane3d& other);
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/**
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* Computes the Canny for this wall using the depth image.
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*/
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void detectEdges(cv::Mat& img, cv::Mat& hImg, cv::Mat& vImg, cv::Mat& combined) const;
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/**
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* Computes the horizontal and vertical lines.
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*/
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void computeLines(std::vector<int>& verticalResult, std::vector<int>& horizontalResult) const;
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/**
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* Returns all opening candidates.
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*/
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void computeOpeningCandidates(std::vector<CandidateOpening>& candidates) const;
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};
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} /* namespace model */
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#endif /* LABELEDPLANE3D_H_ */
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