[44] | 1 | /*!
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| 2 | * \file HoughLines.h
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| 3 | * \brief HoughLines algorithm
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| 4 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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| 5 | * \date 2015/10/07
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| 6 | * \version 4.0
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| 7 | */
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| 8 |
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| 9 |
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| 10 | #ifndef HOUGHLINES_H
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| 11 | #define HOUGHLINES_H
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| 12 |
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| 13 | #include <IODevice.h>
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| 14 | #include <cv.h>
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| 15 |
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| 16 | namespace flair {
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| 17 | namespace core {
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| 18 | class cvimage;
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| 19 | class cvmatrix;
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| 20 | }
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| 21 | namespace gui {
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| 22 | class LayoutPosition;
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| 23 | class SpinBox;
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| 24 | class DoubleSpinBox;
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| 25 | }
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| 26 | }
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| 27 |
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| 28 | namespace flair { namespace filter {
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| 29 | /*! \class HoughLines
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| 30 | *
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| 31 | * \brief HoughLines algorithm
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| 32 | *
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| 33 | * HoughLines is done using the DSP of the DM3730.
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| 34 | */
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| 35 | class HoughLines : public core::IODevice {
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| 36 | public:
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| 37 | /*!
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| 38 | * \brief Constructor
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| 39 | *
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| 40 | * Construct an OpticalFlow filter at given position. \n
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| 41 | * After calling this function, position will be deleted as it is no longer usefull. \n
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| 42 | *
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| 43 | * \param parent parent
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| 44 | * \param position position
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| 45 | * \param name name
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| 46 | */
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| 47 | HoughLines(const core::IODevice* parent,const gui::LayoutPosition* position,std::string name);
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| 48 |
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| 49 | /*!
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| 50 | * \brief Destructor
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| 51 | *
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| 52 | */
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| 53 | ~HoughLines();
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| 54 |
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| 55 | bool isLineDetected(void) const;
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| 56 | float GetOrientation(void) const;
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| 57 | float GetDistance(void) const;
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| 58 | core::cvmatrix *Output(void) const;
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| 59 |
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| 60 | private:
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| 61 | void UpdateFrom(const core::io_data *data);
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| 62 | gui::SpinBox *fullRhoStep,*trackingRhoStep,*nbPoints;
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| 63 | gui::DoubleSpinBox *fullThetaStep,*trackingThetaStep,*trackingDeltaTheta;
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| 64 | bool isTracking,lostLine,initLine,noLine;
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| 65 | int nbLines;
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| 66 | float yawMean,prevYawMean;
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| 67 | float prevRhoMean,rhoMean;
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| 68 | float prevThetaMean,thetaMean;
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| 69 | float distance,orientation;
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| 70 | CvMat* linesStorage;
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| 71 | core::cvmatrix *output;
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| 72 | };
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| 73 | } // end namespace filter
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| 74 | } // end namespace flair
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| 75 | #endif // HOUGHLINES_H
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