Fawkes API  Fawkes Development Version
rht_lines.h
1 
2 /***************************************************************************
3  * rht_lines.h - Header of lines shape model
4  * using Randomized Hough Transform
5  *
6  * Created: Mon Sep 26 2005 09:48:55
7  * Copyright 2005 Tim Niemueller [www.niemueller.de]
8  *
9  ****************************************************************************/
10 
11 /* This program is free software; you can redistribute it and/or modify
12  * it under the terms of the GNU General Public License as published by
13  * the Free Software Foundation; either version 2 of the License, or
14  * (at your option) any later version. A runtime exception applies to
15  * this software (see LICENSE.GPL_WRE file mentioned below for details).
16  *
17  * This program is distributed in the hope that it will be useful,
18  * but WITHOUT ANY WARRANTY; without even the implied warranty of
19  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20  * GNU Library General Public License for more details.
21  *
22  * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
23  */
24 
25 #ifndef _FIREVISION_MODELS_SHAPE_RHT_LINE_H_
26 #define _FIREVISION_MODELS_SHAPE_RHT_LINE_H_
27 
28 #include <fvmodels/shape/accumulators/ht_accum.h>
29 #include <fvmodels/shape/line.h>
30 #include <fvutils/base/types.h>
31 
32 #include <cmath>
33 #include <iostream>
34 #include <vector>
35 
36 namespace firevision {
37 
38 class ROI;
39 
40 class RhtLinesModel : public ShapeModel
41 {
42 private:
43  std::vector<LineShape> m_Lines;
44  RhtAccumulator accumulator;
45 
46 public:
47  /** Creates a new RhtLinesModel instance
48  * @param max_time the maximum runtime of a single parseImage call in seconds,
49  * if you set max_iter to a small number this time may not
50  * be used completely
51  * @param max_iter the maximum number of iterations one parseImage will do,
52  * if you set max_time to a short time this number may not be reached
53  * @param nr_candidates the nr of candidates that is considered per pixel (the hole angle
54  * range is devided in this many parts/lines
55  * @param angle_from The angle to start the candidates from, given in rad, 0 is straight up
56  * @param angle_range the angle range the candidates are taken from starting at angle_from,
57  * given in rad, can be used for example to only search for horizontal lines
58  * @param r_scale This can be done to reduce the size of the hough space and to map more lines
59  * to one line
60  * @param min_votes_ratio The minimum ratio num_votes_per_line/total_num_votes that we have to
61  * have before a point in the hough space is considered to be a line,
62  * this may actually be higher if you use min_votes and set it to a higher
63  * number (set min_votes to 0 to only use min_votes_ration)
64  * @param min_votes the minimum number of votes a point in the hough space has to have before it
65  * is considered to be a line. The number may actually be higher if min_votes_ratio
66  * is set too high (set min_votes_ration to 0 to use only min_votes)
67  */
68  RhtLinesModel(float max_time = 0.005,
69  int max_iter = 1000,
70  unsigned int nr_candidates = 40,
71  float angle_from = 0,
72  float angle_range = 2 * M_PI,
73  int r_scale = 1,
74  float min_votes_ratio = 0.2f,
75  int min_votes = -1);
76  virtual ~RhtLinesModel(void);
77 
78  std::string
79  getName(void) const
80  {
81  return std::string("RhtLinesModel");
82  }
83  int parseImage(unsigned char *buffer, ROI *roi);
84  int getShapeCount(void) const;
85  LineShape * getShape(int id) const;
86  LineShape * getMostLikelyShape(void) const;
87  std::vector<LineShape> *getShapes();
88 
89 private:
90  // The following constants are used as stopping criteria
91  float RHT_MAX_TIME;
92  int RHT_MAX_ITER;
93 
94  unsigned int RHT_NR_CANDIDATES;
95  float RHT_ANGLE_INCREMENT;
96  float RHT_ANGLE_FROM;
97  float RHT_ANGLE_RANGE;
98 
99  // The following constants are used for RHT accumulator precision
100  int RHT_R_SCALE;
101  //const int RHT_PHI_SCALE = 8;
102 
103  int RHT_MIN_VOTES;
104  float RHT_MIN_VOTES_RATIO;
105 
106  unsigned int roi_width;
107  unsigned int roi_height;
108 
109  int diff_sec;
110  int diff_usec;
111 
112  float f_diff_sec;
113 };
114 
115 } // end namespace firevision
116 
117 #endif // FIREVISION_MODELS_SHAPE_RHT_LINES_H__
Line shape.
Definition: line.h:41
Region of interest.
Definition: roi.h:55
Hough-Transform accumulator.
Definition: ht_accum.h:125
Randomized Hough-Transform line model.
Definition: rht_lines.h:41
RhtLinesModel(float max_time=0.005, int max_iter=1000, unsigned int nr_candidates=40, float angle_from=0, float angle_range=2 *M_PI, int r_scale=1, float min_votes_ratio=0.2f, int min_votes=-1)
Creates a new RhtLinesModel instance.
Definition: rht_lines.cpp:42
int getShapeCount(void) const
Get number of shapes.
Definition: rht_lines.cpp:167
std::vector< LineShape > * getShapes()
Get shapes.
Definition: rht_lines.cpp:204
std::string getName(void) const
Get name of shape model.
Definition: rht_lines.h:79
int parseImage(unsigned char *buffer, ROI *roi)
Parse image for given ROI.
Definition: rht_lines.cpp:76
LineShape * getShape(int id) const
Get specific shape.
Definition: rht_lines.cpp:173
virtual ~RhtLinesModel(void)
Destructor.
Definition: rht_lines.cpp:67
LineShape * getMostLikelyShape(void) const
Get best candidate.
Definition: rht_lines.cpp:183
Shape model interface.
Definition: shapemodel.h:46