hlines.h

机器人程序

// HLines.h - by Robin Hewitt, 2005
// http://www.robinhewitt.com/mavis
// This is free software. See license at the bottom
// of this file for terms of use.
//

//////////////////////////////////////////////////////////////
// Header file for the HLines class.
//

#ifndef __MULTIVIEW_HLINES
#define __MULTIVIEW_HLINES

#include <windows.h>
#include "maviscomm.h"
#include "MVCore.h"
#include <vector>

using namespace std;

class Mavis;
class Logger;
class YofXLineSeg;


// LineMatch_t:
//
struct LineMatch_t {
	int i;
	int j;
};


// WorldLine_t:
//
struct WorldLine_t {
	double y;
	double z1;
	double z2;
	double phi1;
	double phi2;
	BOOL inPathVis;
	int  inPathProb;
};

//////////////////////////////////////////////////////////////
//  Class:    HLines
//
//  Purpose:  Locate prominent horizontal lines in 3D space from 2 frames
//
//  Comments: Uses a simple optical flow technique.
//
class HLines
{

public:
	HLines(Mavis * pMavis);
	~HLines();

	int locateHLines(int d, HLineOrder_t ordering, HLineMetadata_t *pHLineMetadata);
	int nextLine(HLine_t * pHLine);

private:
	// parameters
	int minLineDX;           // min x-distance between endpoints (eliminates too-short lines)
	int minLineLen;          // min distance between endpoints (eliminates too-short lines)
	int minLenSq;            // min length squared (precomputed value)
	double maxLeastSquaresErr;  // max allowed variance from line eq
	int gyThreshold;         // min vertical gradient magnitude (edge v. not-edge pixels)
	int maxEndPtShift;       // line-match parameter - max displacement of end point
	double maxSlopeChange;   // line-match parameter
	double maxPctError;      // max discrepancy for accepting line as horizontal in 3D
	int    gausHalfWidth;    // size of gaussian kernel to use = hw*2 + 1. If 0, no blur
	double robotWidth;       // robot's width

	bool seriesStarted;
	int bmpNum;
	int distTraveled;     // travel distance between frames, mm

	Mavis * pMavis;
	Logger * pLogger;
	double   w, h;  // image dimensions
	double   f;     // camera's focal length
	double   hc;    // camera height

	HLineMetadata_t * pMetaData;
	int iHLinePtr;
	int sortOrder;

	// pre-computed terms for 3D calculations
	double halfHeight, halfWidth;
	double cosTheta;
	double sinTheta;
	double t5, t6;

	vector<HLine_t *>      worldLinesVector;

	vector<YofXLineSeg *>  GVPosLinesVectorA;
	vector<YofXLineSeg *>  GVPosLinesVectorB;
	vector<YofXLineSeg *>  GVNegLinesVectorA;
	vector<YofXLineSeg *>  GVNegLinesVectorB;

	vector<YofXLineSeg *> * pGVPosLinesVector1;
	vector<YofXLineSeg *> * pGVPosLinesVector2;
	vector<YofXLineSeg *> * pGVNegLinesVector1;
	vector<YofXLineSeg *> * pGVNegLinesVector2;

	vector<LineMatch_t *>  GVPosPairsVector;
	vector<LineMatch_t *>  GVNegPairsVector;

	// data-processing methods
	void findProminentHLines(
		MVImg<int> * pGrayImg,
		vector<YofXLineSeg *> * pGVPos, vector<YofXLineSeg *> * pGVNeg
	);
	void thresholdGY(MVImg<int> * pGY);
	void filterByGX(MVImg<int> * pGY, MVImg<int> * pGX);
	void findLines(MVImg<int> * pGY, int gradDir, vector<YofXLineSeg *> *);
	void matchLines(
		vector<YofXLineSeg *> * pLinesVector1,
		vector<YofXLineSeg *> * pLinesVector2,
		vector<LineMatch_t *> * pPairsVector
	);
	int bestLineMatch(YofXLineSeg *, vector<YofXLineSeg *> *);
	void addWorldLines(
		vector<YofXLineSeg *> * pLinesVector1,
		vector<YofXLineSeg *> * pLinesVector2,
		vector<LineMatch_t *> * pPairsVector,
		HLineType_t lineType
	);
	HLine_t * compute3DHLine(YofXLineSeg * pLine1, YofXLineSeg * pLine2);
	void getInPathStatus(YofXLineSeg *, YofXLineSeg *, WorldLine_t *);

	// visualization method
	void drawLinesOnImage(VideoFrame *, vector<YofXLineSeg *> *, int rgb);

	// some utility methods
	void clearVector(vector<YofXLineSeg *> *  pImgHLineVector);
	void clearVector(vector<LineMatch_t *> *  pLinePairsVector);
	void clearWorldLines();


	// Protect copy constructor and assignment operator
	HLines(const HLines &);
	HLines & HLines::operator=(const HLines &);
};

#endif

///////////////////////////////////////////////////////////////////////////////////////
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this
// license. If you do not agree to this license, do not download, install, copy or
// use the software.
//
//
//                        Mavis License Agreement
//
// Copyright (c) 2004-2005, Robin Hewitt (http://www.robin-hewitt.com).
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistributions in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
// This software is provided "as is" and any express or implied warranties, including,
// but not limited to, the implied warranties of merchantability and fitness for a
// particular purpose are disclaimed. In no event shall the authors or contributors be
// liable for any direct, indirect, incidental, special, exemplary, or consequential
// damages (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused and on any
// theory of liability, whether in contract, strict liability, or tort (including
// negligence or otherwise) arising in any way out of the use of this software, even
// if advised of the possibility of such damage.
///////////////////////////////////////////////////////////////////////////////////////