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89 lines
2.2 KiB
C
89 lines
2.2 KiB
C
5 years ago
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#ifndef OnlineCornerDetector_h__
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#define OnlineCornerDetector_h__
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#include <vector>
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#include <deque>
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#include <opencv2/opencv.hpp>
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using std::vector;
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using std::deque;
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using namespace cv;
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namespace pagic
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{
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class D2CornerDetector;
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class CornerInfo;
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class OnlinePathSmoother;
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class OnlineCornerDetector
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{
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public:
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OnlineCornerDetector();
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CornerInfo* addSample(Point2d pos);
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void addSamples(const vector<Point2d>& posVec);
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void detectCorners(const vector<Point2d>& posVec, vector<CornerInfo*>& corners);
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double getSegmentMaxLength() const { return m_segmentMaxLength; }
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void setSegmentMaxLength(double val) { m_segmentMaxLength = val; }
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deque<Point2d> getPosSegment() const { return m_posSegment; }
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deque<CornerInfo*> getCifVec() const { return m_cifVec; }
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Point2d getReversePos(int i) { return *(m_posSegment.rbegin() + i); }
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Point2d getCurCornerPos() const;
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int getWin() ;
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int getSmoothRadius();
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bool isEnableSmoother() const { return m_enableSmoother; }
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void enableSmoother(bool val) { m_enableSmoother = val; }
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int getStartSampleIdx() const { return m_startSampleIdx; }
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void setStartSampleIdx(int val) { m_startSampleIdx = val; }
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vector<CornerInfo> getRsltCorners() const { return m_rsltCorners; }
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void setRsltCorners(vector<CornerInfo> val) { m_rsltCorners = val; }
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D2CornerDetector* getDet() { return m_pCornerDetector; }
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void clear();
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protected:
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int m_addingCount;
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int m_startSampleIdx;
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D2CornerDetector* m_pCornerDetector;
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bool m_enableSmoother;
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OnlinePathSmoother* m_pSmoother;
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double m_curSegmentLength;
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double m_segmentMaxLength;
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int m_segmentSampleNum;
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double m_segmentStepLength;
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vector<CornerInfo> m_curCorners; //buffer saving currently detected corners
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vector<CornerInfo> m_rsltCorners;
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void addCurCorner(CornerInfo* pCif);
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CornerInfo* getCurCorner();
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CornerInfo* findBestCorner(vector<CornerInfo>& vec);
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deque<Point2d> m_posSegment;
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void addToPosSegment(const Point2d& pos);
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deque<CornerInfo*> m_cifVec;
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deque<double> m_dVec;
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int m_startIdx;
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vector<CornerInfo*> m_DetectedCornerBuf;
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void addResampledPos(Point2d pos, double maxLength);
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public:
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static bool pagicTest();
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};
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}
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#endif // OnlineCornerDetector_h__
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