198 lines
6 KiB
Text
198 lines
6 KiB
Text
/**
|
|
* @file scene.h
|
|
*
|
|
* @auhtor Remus Claudiu Dumitru <r.dumitru@jacobs-university.de>
|
|
* @date 13 Feb 2012
|
|
*
|
|
*/
|
|
|
|
#ifndef SCENE_H_
|
|
#define SCENE_H_
|
|
|
|
//==============================================================================
|
|
// Includes
|
|
//==============================================================================
|
|
#include "model/point3d.h"
|
|
#include "model/vector3d.h"
|
|
#include "model/labeledPlane3d.h"
|
|
|
|
#include "shapes/hough.h"
|
|
#include "shapes/shape.h"
|
|
#include "slam6d/Boctree.h"
|
|
#include "slam6d/io_types.h"
|
|
|
|
#include <vector>
|
|
|
|
//==============================================================================
|
|
// Global Variables
|
|
//==============================================================================
|
|
extern bool quiet;
|
|
|
|
/**
|
|
* All available plane detection algos.
|
|
*/
|
|
enum PlaneAlgorithm {
|
|
RHT, SHT, PHT, PPHT, APHT, RANSAC
|
|
};
|
|
|
|
namespace model {
|
|
|
|
/**
|
|
* A class defining a 3d scene.
|
|
*/
|
|
class Scene {
|
|
private:
|
|
// private fields
|
|
static const double PRECISION; //!< Precision at which to draw the 3d Bresenham line.
|
|
static const double RAY_DIST; //!< The max distance to consider that a ray hit something.
|
|
static const double PATCH_DIST; //!< The distance between each discrete patch on a wall surface.
|
|
static const double WALL_DIST; //!< Tolerance to consider a point part of a wall, squared.
|
|
static const double MIN_EMPTY_AREA; //!< The minimum empty area percentage to be considered a window.
|
|
static const double MIN_EDGE_COV; //!< Minimum edge coverage coefficient.
|
|
|
|
public:
|
|
// public fields
|
|
SearchTree *octTree; //!< An efficient octree containing the points.
|
|
double **octTreePoints; //!< Used to construct the octree.
|
|
unsigned int nrPoints; //!< The total number of points in the octree.
|
|
|
|
std::vector<Point3d> points; //!< The 3d point cloud.
|
|
std::vector<Plane3d> planes; //!< The list of planes in our scene.
|
|
|
|
std::vector<LabeledPlane3d> walls; //!< The walls of the room.
|
|
LabeledPlane3d ceiling; //!< The ceiling of the room.
|
|
LabeledPlane3d floor; //!< The floor of the room.
|
|
|
|
std::vector<Plane3d> finalOpenings; //!< The windows of the room.
|
|
|
|
std::vector<Pose6d> poses; //!< Container for all the poses from where scans have been taken from.
|
|
|
|
protected:
|
|
// protected methods
|
|
Scene();
|
|
|
|
public:
|
|
// public methods
|
|
inline Scene(const std::vector<Point3d>& points,
|
|
const std::vector<Plane3d>& planes) :
|
|
points(points),
|
|
planes(planes)
|
|
{
|
|
if (!quiet) cout << "== Creating scene..." << endl;
|
|
this->nrPoints = 0;
|
|
};
|
|
|
|
Scene(const IOType& type,
|
|
const int& start, const int& end,
|
|
std::string dir, const bool& scanserver,
|
|
const int& maxDist, const int& minDist,
|
|
const PlaneAlgorithm& alg, const int& octree, const double& red,
|
|
const vector<Pose6d>& poses);
|
|
|
|
Scene(const Scene& other);
|
|
~Scene();
|
|
|
|
/**
|
|
* Given some planes, returns the HORIZONTAL convex hull formed by the
|
|
* application point inside the plane objects, only of VERTICAL planes.
|
|
*/
|
|
static std::vector<Plane3d> getConvexHull(std::vector<Plane3d> planes);
|
|
|
|
/**
|
|
* Removes planes that have similar normals. [O(n^2)]
|
|
* @warning the hull is not averaged, it is simply the first found hull for each plane
|
|
*/
|
|
static std::vector<Plane3d> getSignificantPlanes(std::vector<Plane3d> planes);
|
|
|
|
/**
|
|
* Returns true if the highest horizontal plane has been found.
|
|
*/
|
|
bool getCeiling(std::vector<Plane3d> planes, Plane3d& result);
|
|
|
|
/**
|
|
* Returns true if the lowest horizontal plane has been found.
|
|
*/
|
|
bool getFloor(std::vector<Plane3d> planes, Plane3d& result);
|
|
|
|
/**
|
|
* Creates the walls, floor and ceiling.
|
|
*/
|
|
void detectWalls();
|
|
|
|
/**
|
|
* Performs ray casting from source point to destination and returns true
|
|
* if the ray successfully reached the destination point, returning the
|
|
* point it hit along the way.
|
|
*/
|
|
bool castRay(const model::Point3d& src, const model::Point3d& dest, const double& extraDist,
|
|
Point3d& ptHit);
|
|
|
|
/**
|
|
* Applies labels to the given plane.
|
|
*/
|
|
void applyLabels(LabeledPlane3d& surf);
|
|
|
|
/**
|
|
* Applies labels to all the walls.
|
|
*/
|
|
void applyAllLabels();
|
|
|
|
/**
|
|
* Finds all openings using the SVM.
|
|
*/
|
|
void detectPotentialOpenings(const LabeledPlane3d& surf,
|
|
std::vector<CandidateOpening>& openings);
|
|
|
|
/**
|
|
* Applies KMeans clustering to the multiple windows yielding only one possible window for each cluster.
|
|
* Does not work with OpenCV 2.4.0!!!
|
|
*/
|
|
void clusterOpenings(const LabeledPlane3d& surf, const std::vector<CandidateOpening>& openings,
|
|
std::vector<CandidateOpening>& result) const;
|
|
|
|
/**
|
|
* Returns all openings, after deciding which are the correct ones.
|
|
*/
|
|
void addFinalOpenings(const LabeledPlane3d& surf,
|
|
std::vector<CandidateOpening>& result);
|
|
|
|
/**
|
|
* Corrects an image to fill in missing data.
|
|
*/
|
|
void correct(LabeledPlane3d& surf, const std::vector<CandidateOpening>& openings);
|
|
|
|
/**
|
|
* Writes the walls to appropriate files in the given folder.
|
|
*/
|
|
void writeModel(std::string dir);
|
|
|
|
/**
|
|
* Writes the corrected walls to the given folder.
|
|
*/
|
|
void writeCorrectedWalls(std::string dir);
|
|
|
|
/**
|
|
* Computes the corrected wall in UOS_RGB.
|
|
*/
|
|
void getCorrectedWall(const LabeledPlane3d& surf, vector<pair<Point3d, cv::Vec3i> >& points);
|
|
|
|
private:
|
|
// private methods
|
|
|
|
/**
|
|
* Floods a point on the labeling matrix with the other given value.
|
|
*/
|
|
void flood(LabeledPlane3d& surf,
|
|
const int& i, const int& j,
|
|
const Label& target, const Label& replacement);
|
|
|
|
/**
|
|
* Returns true if the cube centered at the given coordinates is occupied.
|
|
*/
|
|
bool isOccupied(const Point3d& center, const double& width);
|
|
|
|
};
|
|
|
|
} /* namespace model */
|
|
|
|
#endif /* SCENE_H_ */
|