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/*
* horizon_steerer.h
*
* Copyright 2012 Florian Jung <florian.a.jung@web.de>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License Version 3
* as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#ifndef __HORIZON_STEERER_H__
#define __HORIZON_STEERER_H__
#include <opencv2/opencv.hpp>
#include "steer_interface.h"
using namespace cv;
class HorizonSteerer : public SteerIface
{
public:
HorizonSteerer(int xlen_, int ylen_);
virtual ~HorizonSteerer() {};
int find_ideal_line(vector<Point>& contour, Point origin_point, int** contour_map, int bestquality_j);
virtual void process_image(const Mat& img);
virtual double get_steer_data();
virtual double get_confidence();
private:
int find_intersection_index(int x0, int y0, int x1, int y1, int** contour_map, bool stop_at_endpoint=true);
int annotate_regions(Mat img);
Mat nicely_draw_regions(Mat annotated, int* area_cnt, int total_area_cnt, int largest_region);
double only_retain_largest_region(Mat img, int* size);
vector<Point>& prepare_and_get_contour(vector< vector<Point> >& contours, const vector<Vec4i>& hierarchy,
int* low_y, int* low_idx, int* high_y, int* first_nonbottom_idx);
void init_contour_map(const vector<Point>& contour, int** contour_map);
double* calc_contour_angles(const vector<Point>& contour, int first_nonbottom_idx, int smoothen_middle, int smoothen_bottom);
double* calc_angle_deriv(double* angles, int first_nonbottom_idx, int size, int ang_smooth);
int find_bestquality_index(const vector<Point>& contour, double* angle_derivative, int high_y, int first_nonbottom_idx, Mat& drawing,
int* bestquality_j_out, int* bestquality_width_out, int* bestquality_out, int* bestquality_max_out);
void draw_it_all(Mat drawing, vector< vector<Point> >& contours, const vector<Vec4i>& hierarchy, int first_nonbottom_idx, vector<Point>& contour,
double* angles, double* angle_derivative, int bestquality_j, int bestquality_width, int bestquality,
int steering_point, Point origin_point, double confidence);
void draw_angles_and_contour(Mat drawing, vector< vector<Point> >& contours, const vector<Vec4i>& hierarchy, int first_nonbottom_idx, vector<Point>& contour,
double* angles, double* angle_derivative);
Point find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat& drawing, double* confidence);
int xlen;
int ylen;
Mat erode_kernel;
int** my_contour_map;
double confidence;
double steer_value;
};
#endif
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