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 <vector>
29 #include <iostream>
30 #include <cmath>
31 
32 #include <fvutils/base/types.h>
33 #include <fvmodels/shape/line.h>
34 #include <fvmodels/shape/accumulators/ht_accum.h>
35 
36 namespace firevision {
37 #if 0 /* just to make Emacs auto-indent happy */
38 }
39 #endif
40 
41 class ROI;
42 
44 {
45  private:
46  std::vector<LineShape> m_Lines;
47  RhtAccumulator accumulator;
48 
49  public:
50  /** Creates a new RhtLinesModel instance
51  * @param max_time the maximum runtime of a single parseImage call in seconds,
52  * if you set max_iter to a small number this time may not
53  * be used completely
54  * @param max_iter the maximum number of iterations one parseImage will do,
55  * if you set max_time to a short time this number may not be reached
56  * @param nr_candidates the nr of candidates that is considered per pixel (the hole angle
57  * range is devided in this many parts/lines
58  * @param angle_from The angle to start the candidates from, given in rad, 0 is straight up
59  * @param angle_range the angle range the candidates are taken from starting at angle_from,
60  * given in rad, can be used for example to only search for horizontal lines
61  * @param r_scale This can be done to reduce the size of the hough space and to map more lines
62  * to one line
63  * @param min_votes_ratio The minimum ratio num_votes_per_line/total_num_votes that we have to
64  * have before a point in the hough space is considered to be a line,
65  * this may actually be higher if you use min_votes and set it to a higher
66  * number (set min_votes to 0 to only use min_votes_ration)
67  * @param min_votes the minimum number of votes a point in the hough space has to have before it
68  * is considered to be a line. The number may actually be higher if min_votes_ratio
69  * is set too high (set min_votes_ration to 0 to use only min_votes)
70  */
71  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);
72  virtual ~RhtLinesModel(void);
73 
74  std::string getName(void) const {return std::string("RhtLinesModel");}
75  int parseImage(unsigned char* buffer, ROI *roi);
76  int getShapeCount(void) const;
77  LineShape* getShape(int id) const;
78  LineShape* getMostLikelyShape(void) const;
79  std::vector< LineShape > * getShapes();
80 
81  private:
82  // The following constants are used as stopping criteria
83  float RHT_MAX_TIME;
84  int RHT_MAX_ITER;
85 
86  unsigned int RHT_NR_CANDIDATES;
87  float RHT_ANGLE_INCREMENT;
88  float RHT_ANGLE_FROM;
89  float RHT_ANGLE_RANGE;
90 
91  // The following constants are used for RHT accumulator precision
92  int RHT_R_SCALE;
93  //const int RHT_PHI_SCALE = 8;
94 
95  int RHT_MIN_VOTES;
96  float RHT_MIN_VOTES_RATIO;
97 
98  unsigned int roi_width;
99  unsigned int roi_height;
100 
101 
102  int diff_sec;
103  int diff_usec;
104 
105  float f_diff_sec;
106 
107 };
108 
109 } // end namespace firevision
110 
111 #endif // __FIREVISION_MODELS_SHAPE_RHT_LINES_H_
112 
Hough-Transform accumulator.
Definition: ht_accum.h:125
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:45
LineShape * getShape(int id) const
Get specific shape.
Definition: rht_lines.cpp:177
int parseImage(unsigned char *buffer, ROI *roi)
Parse image for given ROI.
Definition: rht_lines.cpp:73
Region of interest.
Definition: roi.h:58
Randomized Hough-Transform line model.
Definition: rht_lines.h:43
std::vector< LineShape > * getShapes()
Get shapes.
Definition: rht_lines.cpp:210
int getShapeCount(void) const
Get number of shapes.
Definition: rht_lines.cpp:171
std::string getName(void) const
Get name of shape model.
Definition: rht_lines.h:74
Line shape.
Definition: line.h:40
Shape model interface.
Definition: shapemodel.h:49
LineShape * getMostLikelyShape(void) const
Get best candidate.
Definition: rht_lines.cpp:188
virtual ~RhtLinesModel(void)
Destructor.
Definition: rht_lines.cpp:64