HoughLineDetector.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLCV/src/ICLCV/HoughLineDetector.h                    **
** Module : ICLCV                                                  **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once


#include <cmath>
#include <vector>
#include <ICLMath/FixedVector.h>
#include <ICLUtils/Range.h>
#include <ICLUtils/Point.h>
#include <ICLUtils/Point32f.h>
#include <ICLMath/DynMatrix.h>
#include <ICLMath/StraightLine2D.h>
#include <ICLCore/Img.h>
#include <ICLUtils/Uncopyable.h>

namespace icl{
  namespace cv{
    
    class ICLCV_API HoughLineDetector : public utils::Uncopyable{
      public:
  

      HoughLineDetector(float dRho=0.1, float dR=10, 
                        const utils::Range32f &rRange=utils::Range32f(0,::sqrt(640*640+480*480)), 
                        float rInhibitionRange=10, 
                        float rhoInhibitionRange=0.3,
                        bool gaussianInhibition=true,
                        bool blurHoughSpace=true,
                        bool dilateEntries=true,
                        bool blurredSampling=false);
  
      void init(float dRho, float dR, const utils::Range32f &rRange, 
                float rInhibitionRange, float rhoInhibitionRange,
                bool gaussianInhibition=true,
                bool blurHoughSpace=true,
                bool dilateEntries=true,
                bool blurredSampling=false);
      
      inline void add(const utils::Point &p){ 
        add_intern(p.x,p.y); 
      }
  
      inline void add(const std::vector<utils::Point> &ps){
        for(unsigned int i=0;i<ps.size();++i) add(ps[i]);
      }
      
      inline void add(const utils::Point32f &p){ 
        add_intern(p.x,p.y); 
      }
  
      inline void add(const std::vector<utils::Point32f> &ps){
        for(unsigned int i=0;i<ps.size();++i) add(ps[i]);
      }
  
      template<class T>
      inline void add(const math::FixedColVector<T,2> &p){ 
        add_intern(p[0],p[1]); 
      }    
      
      template<class T>
      inline void add(const std::vector<const math::FixedColVector<T,2> > &ps){
        for(unsigned int i=0;i<ps.size();++i) add(ps[i]);
      }
  
      void add(const core::Img8u &binaryImage);
  
      const core::Img32s &getImage() const { return m_image; }
  
      const core::Img32f &getInhibitionMap() const { return m_inhibitImage; }
  
      void clear();
      
      std::vector<math::StraightLine2D> getLines(int max);
  

      std::vector<math::StraightLine2D> getLines(int max, std::vector<float> &significances);
      
      private:
  
      inline float r(float rho, float x, float y) const{ 
        return x*cos(rho) + y*sin(rho);
      }
      inline int getX(float rho) const {
        return round(rho * m_mrho);
      }
      inline int getY(float r) const {
        return round(m_mr * r + m_br); 
      }
      inline float getRho(int x) const{
        return x/m_mrho;
      }
      inline float getR(int y) const{
        return (y-m_br)/m_mr;
      }
      inline void incLut(float rho, float r){
        int x = getX(rho);
        int y = getY(r);
        if(y >= 0 && y < m_h){
          m_lut(x,y)++;
        }
      }
      inline void incLutBlurred(float rho, float r){
        int x = getX(rho);
        int y = getY(r);
        if(y >= 0 && y < m_h){
          if(y>0) m_lut(x,y-1)++;
          m_lut(x,y)+=2;
          if(y<m_w-1) m_lut(x,y+1)++;
        }
      }
      inline int &cyclicLUT(int x, int y){
        static int _null = 0;
        if(y<0||y>=m_h) return _null;
        int dx = x<0 ? m_w : x>=m_w ? -m_w : 0;
        if(!m_image.getImageRect().contains(x+dx,y)){
          ERROR_LOG("tryed to access " << x+dx << "," << y);
          return _null;
        }
        return m_lut(x+dx,y);
      }
    
      void apply_inhibition(const utils::Point &p);
  
      void add_intern(float x, float y);
  
      void add_intern2(float x, float y);
  
      void blur_hough_space_if_necessary();
      
  
      float m_dRho;
      utils::Range32f m_rRange;
      int m_w;
      int m_h;
  
      float m_mr;
      float m_br;
      float m_mrho;
  
      float m_rInhib;
      float m_rhoInhib;
  
      bool m_gaussianInhibition;
      bool m_blurHoughSpace;
      bool m_dilateEntries;
      bool m_blurredSampling;
      
      core::Channel32s m_lut;
      core::Img32s m_image;
      core::Img32f m_inhibitImage;
    };
    
  } // namespace cv
}