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vDisparity.h
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vDisparity.h
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/**
This file is part of show_stixels. (https://github.com/dhernandez0/show_stixels).
Copyright (c) 2016 Daniel Hernandez Juarez.
show_stixels 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.
show_stixels 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 show_stixels. If not, see <http://www.gnu.org/licenses/>.
**/
#ifndef _VDISPARITY_
#define _VDISPARITY_
#include <vector>
#include <opencv2/opencv.hpp>
class CStereoImage;
class CvDisparity
{
public:
CvDisparity ();
~CvDisparity ();
void Initialize(const float camera_center_y, const float baseline, const float focal, const int max_dis);
void Finish ();
bool Compute(const float *im, const int rows, const int cols);
float GetCameraHeight() {return m_cameraHeight;};
float GetPitch() {return m_pitch;};
float GetSlope() {return m_slope;};
int GetHorizonPoint() {return m_horizonPoint;};
private:
CvDisparity(const CvDisparity& other);
CvDisparity& operator=(const CvDisparity& other);
void ComputeHistogram(const float *im, const int rows, const int cols);
void ComputeCameraProperties(const float rho, const float theta, float& horizonPoint, float& pitch,
float& cameraHeight, float& slope) const;
bool ComputeHough (float& rho, float& theta, float& horizonPoint, float& pitch,
float& cameraHeight, float& slope);
private:
bool m_showHoughTransform;
int m_rangeAngleX; ///< Angle interval to discard horizontal planes
int m_rangeAngleY; ///< Angle interval to discard vertical planes
int m_HoughAccumThr; ///< Threshold of the min number of points to form a line
float m_binThr; ///< Threshold to binarize vDisparity histogram
float m_maxPitch; ///< Angle elevation maximun of camera
float m_minPitch; ///< Angle elevation minimum of camera
float m_maxCameraHeight; ///< Height maximun of camera
float m_minCameraHeight; ///< Height minimun of camera
int m_max_dis;
// Member objects
cv::Mat m_vDisp; ///< Vertical disparity histogram
float m_rho; ///< Line in polar (Distance from (0,0) to the line)
float m_theta; ///< Line in polar (Angle of the line with x axis)
// Auxiliar variables
int m_horizonPoint; ///< Horizon point of v-disparity histogram
float m_pitch; ///< Camera pitch
float m_cameraHeight; ///< Camera height
float m_cy; ///< Image center from stereo camera
float m_b; ///< Stereo camera baseline
float m_focal; ///< Stereo camera focal length
float m_slope;
};
#endif // _VDISPARITY_