HTWKVision/line_detector.h at master · NaoHTWK/HTWKVision · GitHub

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#ifndef __LINE_DETECTOR_H__
#define __LINE_DETECTOR_H__

#include <cstdint>
#include <cstdlib>
#include <optional>
#include <vector>

#include "base_detector.h"
#include "color.h"
#include "linecross.h"
#include "lineedge.h"
#include "linegroup.h"
#include "linesegment.h"
#include "point_2d.h"
#include "range_check.h"

namespace htwk {

class LineDetector : protected BaseDetector {
public:
    std::vector<LineEdge *> linesTmp;
    std::vector<LineEdge *> lineEdges;
    std::vector<LineGroup> linesList;
    std::vector<LineCross> crossings;
    color white{200, 128, 128};

    LineDetector(const int8_t *lutCb, const int8_t *lutCr, HtwkVisionConfig &config);
    ~LineDetector();

    bool isStraight(LineEdge *line) __attribute__((nonnull));
    static float getError(LineSegment *le1, LineSegment *le2) __attribute__((nonnull));
    static float getError2(LineSegment *le1, LineSegment *le2) __attribute__((nonnull));

    void proceed(uint8_t *img, std::vector<LineSegment *> lineSegments, int q) __attribute__((nonnull));
    std::optional<point_2d> getIntersection(float px1, float py1, float vx1, float vy1, float px2,
                                                          float py2, float vx2, float vy2);
    LineEdge createLineEdge(std::vector<LineSegment *> segments);
    void updateWhiteColor(std::vector<LineSegment *> lineSegments, uint8_t *img) __attribute__((nonnull));
    void findLineGroups();
    std::vector<LineGroup> &getLineGroups();

private:
    int minSegmentCnt = 3;
    float maxError = 0.7;
    float isStraightThreshold = 0.999;
    int detectedLineCrossings = 0;
};

}  // namespace htwk

#endif  // __LINE_DETECTOR_H__