3dpcp/.svn/pristine/a3/a36375913d21694c6b46abac9ba0f09d57c94154.svn-base
2012-09-16 14:33:11 +02:00

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/**
* @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_ */