BearExtrCamUtils.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



#ifndef __BEAR_EXTR_CAM_UTILS_H_
#define __BEAR_EXTR_CAM_UTILS_H_

#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/imgproc/imgproc_c.h>
#include <TooN/TooN.h>
#include <visp/vpDot2.h>
#include <visp/vpImageConvert.h>
#include <SpacesArma.h>

using namespace std;
namespace MipAlgorithms{
 
 class BearExtrCamPar{
  private:
   uint        _widthCam;
   uint        _heightCam;
   int         _areaCircMin; 
   int         _areaCircMax;
   Decimal      _rndThr;
   Decimal      _crThr;
   int        _sigmaBlur;
   int        _edgeThr;
   int        _maxVal;
   int        _typeThrAlgo;
   Decimal      _sonarStaticHeight;
   Position3DArma  _sonarQuadPos;
   Roto3DArma    _sonarQuadRot;
   int        _widthROI;
   int        _heightROI;
   int         _areaCircMinRect; 
   int         _areaCircMaxRect;
   Decimal      _sigmaBlurRect;
   int        _edgeThrRect;
   Decimal      _searchNewFeature;
   bool       _useRect;
   
  public:
   BearExtrCamPar();
   
   BearExtrCamPar(const uint &w, const uint &h, const int &acm, const int &acM, const Decimal &rndThr, const Decimal &crThr, const int &sigmaBlr, const int &edgeThr, const int& mv, const int& ta, const Decimal &ssh, const Position3DArma& pos, const Roto3DArma& rot, const int &wROI, const int &hROI, const int &acmRect, const int &acMRect, const Decimal &sbRect, const int &edthrRect, const Decimal &time, const bool &ur);
   
   BearExtrCamPar(const Position3DArma& pos, const Roto3DArma& rot);
   
   BearExtrCamPar(const Decimal &w, const Decimal &h, const Position3DArma& pos, const Roto3DArma& rot);
   
   BearExtrCamPar(const BearExtrCamPar &A);
   
   BearExtrCamPar& operator=(const BearExtrCamPar& A);
   
   ~BearExtrCamPar();
   
   uint getWidthCamera() const;
   
   uint getHeightCamera() const;
   
   int getAreaCircMin() const;
   
   int getAreaCircMax() const;
   
   Decimal getRndThr() const;
   
   Decimal getCrThr() const;
   
   int getSigmaBlur() const;
   
   int getEdgeThr() const;
   
   int getMaxVal() const;
   
   int getTypeThrAlgo() const;
   
   Decimal getStaticSonarHeight() const;
   
   Position3DArma getSonarQuadPos() const;
   
   Roto3DArma getSonarQuadRot() const;
   
   int getWidthROI() const;
   
   int getHeightROI() const;
   
   int getAreaCircMinRect() const;
   
   int getAreaCircMaxRect() const;
   
   int getSigmaBlurRect() const;
   
   int getEdgeThrRect() const;
   
   Decimal getSearchNewFeatureTimer() const;
   
   bool getUseRect() const;
   
   void setWidthCamera(const uint& w);
   
   void setHeightCamera(const uint& h);
   
   void setAreaCircMin(const int& mca);
   
   void setAreaCircMax(const int& mca);
   
   Decimal setRndThr(const Decimal &rndThr);
   
   Decimal setCrThr(const Decimal &crThr);
   
   void setSigmaBlur(const int& sb);
   
   void setEdgeThr(const int& et);
   
   void setMaxVal(const int &vo);
   
   void setTypeThrAlgo(const int &at);
   
   void setStaticSonarHeight(const Decimal &h);
   
   void setSonarQuadPos(const Position3DArma& pos);
   
   void setSonarQuadRot(const Roto3DArma& rot);
   
   void setWidthROI(const int &wROI);
   
   void setHeightROI(const int &hROI);
   
   void setAreaCircMinRect(const int& mca);
   
   void setAreaCircMaxRect(const int& mca);
   
   void setSigmaBlurRect(const int& sb);
   
   void setEdgeThrRect(const int& et);
   
   void setSearchNewFeatureTimer(const Decimal& time);
   
   void setUseRect(const bool &ur);
 };
 
 class BearExtrCamVar{
  private:
   int         _areaCircMin; 
   int         _areaCircMax;
   Decimal      _crThr;
   int        _widthROI;
   int        _heightROI;
   int         _areaCircMinRect; 
   int         _areaCircMaxRect;
   Decimal       _actTime;
   Decimal       _lastTime;
   
  public:
   
   BearExtrCamVar();
   
   BearExtrCamVar(const int &acm, const int &acM, const Decimal &ct, const int &wROI, const int &hROI, const int &acmRect, const int &acMRect, const Decimal at, const Decimal &lt);
   
   ~BearExtrCamVar();
   
   BearExtrCamVar(const BearExtrCamVar &A);
   
   BearExtrCamVar& operator=(const BearExtrCamVar& A);
   
   int getAreaCircMin() const;
   
   int getAreaCircMax() const;
   
   Decimal getCrThr() const;
   
   int getWidthROI() const;
   
   int getHeightROI() const;
   
   int getAreaCircMinRect() const;
   
   int getAreaCircMaxRect() const;
   
   Decimal getActualTime() const;
   
   Decimal getLastTime() const;
   
   void setAreaCircMin(const int& mca);
   
   void setAreaCircMax(const int& mca);
   
   Decimal setCrThr(const Decimal &crThr);
   
   void setWidthROI(const int &wROI);
   
   void setHeightROI(const int &hROI);
   
   void setAreaCircMinRect(const int& mca);
   
   void setAreaCircMaxRect(const int& mca);
   
   void setActualTime(const Decimal& act);
   
   void setLastTime(const Decimal& l);
 };
 
 class BearExtrCamUtils{
  public:
   static std::vector<std::vector<cv::Point> >  circle_detect_thresh(cv::Mat &src,int &Tl_x, int &Tl_y,int &_Tp_width, int &_Tp_height,const int &sigma,const int &thresh,const int &max_val, const int &area_circ_min,const int &area_circ_max, const Decimal &tresh_roundness);
   
   static std::vector<std::vector<cv::Point> >  detect_rectangle_in_roi(cv::Mat Image, std::vector<std::vector<cv::Point> > circles, BearExtrCamPar* par, BearExtrCamVar* var);
   
   static cv::Rect build_roi_around_circle(std::vector<cv::Point> circle,int img_width, int img_height,cv::Point  & center_C, BearExtrCamPar* par, BearExtrCamVar* var);
   
   static cv::Point computeContourCenter(std::vector< cv::Point > & square, BearExtrCamPar* par);
   
   static void computeContourMaxMin(std::vector<cv::Point>& square, cv::Point& max, cv::Point& min, BearExtrCamPar* par);
   
   static void findSquares1( const cv::Mat image, std::vector<std::vector<cv::Point> >& squares, BearExtrCamPar* par, BearExtrCamVar* var);
   
   static Decimal angle( cv::Point pt1, cv::Point pt2, cv::Point pt0 );
   
   static void findRoiInImage(std::vector<cv::Point> &region, cv::Point pointRoi);
   
   static Decimal distPoint(cv::Point first, cv::Point second);
   
   static cv::Point calc_middle_square(std::vector<cv::Point> square,cv::Point C_center);
 };
}
#endif