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192 | /*
* File: LineGraphProvider.h
* Author: Heinrich Mellmann
*
*/
#ifndef _LineGraphProvider_H_
#define _LineGraphProvider_H_
#include <ModuleFramework/Module.h>
// Tools
#include "Tools/ColorClasses.h"
#include "Tools/Math/Vector2.h"
#include "Tools/ImageProcessing/Edgel.h"
#include "Tools/Math/Line.h"
// Representations
#include "Representations/Perception/ScanLineEdgelPercept.h"
#include "Representations/Infrastructure/CameraInfo.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Modeling/OdometryData.h"
#include "Representations/Modeling/ProbabilisticQuadCompas.h"
#include "Representations/Perception/LineGraphPercept.h"
#include "Tools/DoubleCamHelpers.h"
#include <algorithm>
#include <set>
#include "Representations/Debug/Stopwatch.h"
#include "Tools/Debug/DebugRequest.h"
#include "Tools/Debug/DebugModify.h"
#include "Tools/Debug/DebugDrawings.h"
#include "Tools/Debug/DebugImageDrawings.h"
#include "Tools/Debug/DebugParameterList.h"
BEGIN_DECLARE_MODULE(LineGraphProvider)
PROVIDE(StopwatchManager)
PROVIDE(DebugRequest)
PROVIDE(DebugModify)
PROVIDE(DebugDrawings)
PROVIDE(DebugImageDrawings)
PROVIDE(DebugImageDrawingsTop)
PROVIDE(DebugParameterList)
REQUIRE(ScanLineEdgelPercept)
REQUIRE(ScanLineEdgelPerceptTop)
REQUIRE(CameraInfo)
REQUIRE(CameraInfoTop)
REQUIRE(OdometryData)
REQUIRE(CameraMatrix)
REQUIRE(CameraMatrixTop)
//PROVIDE(ProbabilisticQuadCompas)
PROVIDE(LineGraphPercept)
END_DECLARE_MODULE(LineGraphProvider)
class LineGraphProvider : private LineGraphProviderBase
{
public:
LineGraphProvider();
virtual ~LineGraphProvider();
virtual void execute(CameraInfo::CameraID id);
void execute()
{
//getProbabilisticQuadCompas().reset();
getLineGraphPercept().reset();
execute(CameraInfo::Bottom);
execute(CameraInfo::Top);
//getProbabilisticQuadCompas().normalize();
DEBUG_REQUEST("Vision:LineGraphProvider:draw_extended_line_graph",
FIELD_DRAWING_CONTEXT;
int c = 0;
for(const std::vector<EdgelD>& subgraph : getLineGraphPercept().lineGraphs) {
PEN(ColorClasses::colorClassToHex((ColorClasses::Color)c),2);
c = (c+1) % ColorClasses::numOfColors;
for(size_t i = 0; i < subgraph.size(); i++) {
const Vector2d& first = subgraph[i].point;
CIRCLE( subgraph[i].point.x, subgraph[i].point.y, 25);
if(i+1 < subgraph.size()) {
const Vector2d& next = subgraph[i+1].point;
LINE(first.x,first.y,next.x,next.y);
}
}
}
);
DEBUG_REQUEST("Vision:LineGraphProvider:draw_extended_line_graph_top",
FIELD_DRAWING_CONTEXT;
int c = 0;
for(const std::vector<EdgelD>& subgraph : getLineGraphPercept().lineGraphsTop) {
PEN(ColorClasses::colorClassToHex((ColorClasses::Color)c),2);
c = (c+1) % ColorClasses::numOfColors;
for(size_t i = 0; i < subgraph.size(); i++) {
const Vector2d& first = subgraph[i].point;
CIRCLE( subgraph[i].point.x, subgraph[i].point.y, 25);
if(i+1 < subgraph.size()) {
const Vector2d& next = subgraph[i+1].point;
LINE(first.x,first.y,next.x,next.y);
}
}
}
);
}
class Parameters: public ParameterList
{
public:
Parameters() : ParameterList("LineGraphProvider")
{
PARAMETER_REGISTER(edgelSimThreshold) = 0.8;
PARAMETER_REGISTER(quadCompasSmoothingFactor) = 0.4;
PARAMETER_REGISTER(minimalNumberOfPairs) = 0;
PARAMETER_REGISTER(maximalProjectedLineWidth) = 30;
syncWithConfig();
}
virtual ~Parameters() {
}
double edgelSimThreshold;
double quadCompasSmoothingFactor;
int minimalNumberOfPairs;
int maximalProjectedLineWidth;
} params;
struct Neighbors {
Neighbors():left(-1), right(-1), w_left(0), w_right(0){}
int left;
int right;
double w_left;
double w_right;
int operator[](int i){ return i==0?left:right; }<--- Technically the member function 'LineGraphProvider::Neighbors::operator[]' can be const. [+]The member function 'LineGraphProvider::Neighbors::operator[]' can be made a const function. Making this function 'const' should not cause compiler errors. Even though the function can be made const function technically it may not make sense conceptually. Think about your design and the task of the function first - is it a function that must not change object internal state?
void reset() {left = right= -1; w_left = w_right = 0; }
};
struct EdgelPair {
int left;
int right;
double sim;
EdgelPair(int left, int right, double sim) : left(left), right(right), sim(sim) {}
};
private: // data members
CameraInfo::CameraID cameraID;
std::vector<Neighbors> edgelNeighbors;
std::vector<EdgelPair> edgelPairs;
std::vector<Vector2d> edgelProjectionsBegin;
std::vector<Vector2d> edgelProjectionsEnd;
std::vector<std::vector<int>> lineGraphsIds;
private: // method members
static double edgelSim(const EdgelT<double>& e1, const EdgelT<double>& e2);
void calculatePairsAndNeigbors(
const std::vector<ScanLineEdgelPercept::EdgelPair>& edgels,
std::vector<EdgelPair>& edgelPairs, <--- Function 'calculatePairsAndNeigbors' argument 2 names different: declaration 'edgelPairs' definition 'pairs'.
std::vector<Neighbors>& neighbors, double threshold) const;
void extendLineGraph(std::vector<Neighbors>& neighbors);
DOUBLE_CAM_PROVIDE(LineGraphProvider, DebugImageDrawings);
DOUBLE_CAM_REQUIRE(LineGraphProvider, CameraInfo);
DOUBLE_CAM_REQUIRE(LineGraphProvider, CameraMatrix);
DOUBLE_CAM_REQUIRE(LineGraphProvider, ScanLineEdgelPercept);
};
#endif /* _LineGraphProvider_H_ */
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