SimpleHoughClusterer.h

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/*******************************************************************************
 *  SimpleHoughClusterer.h
 *
 *  (C) 2007 AG Aktives Sehen <agas@uni-koblenz.de>
 *           Universitaet Koblenz-Landau
 *
 *  Additional information:
 *  $Id: $
 *******************************************************************************/

#ifndef SimpleHoughClusterer_H
#define SimpleHoughClusterer_H

#include <vector>
#include <deque>
#include <sstream>
#include <list>

#include "Workers/KeyPointExtraction/KeyPoint.h"
#include "Workers/KeyPointExtraction/KeyPointMatch.h"

#include "Workers/Math/Math.h"
#include "Workers/Math/Box2D.h"

class SimpleHoughClusterer
{
  public:

    SimpleHoughClusterer(  std::vector< KeyPoint >* keyPoints1,  std::vector< KeyPoint >* keyPoints2, std::list< KeyPointMatch >& matches );

    ~SimpleHoughClusterer();

    void eliminateByOrientation( );

    void eliminateByScale( );

    void eliminateByPosition( float maxDistance );

    std::list< KeyPointMatch > getMatches() { return m_Matches; }

    std::string getLog();

  private:

    //detect maxima & return a map of which bins need to be deleted
    std::vector<bool> computeDeleteMap( std::vector<double> hist, int numBins, int windowSize );

    void eraseMatches( std::list<unsigned>& indices );

    float getMeanTurnAngle() const;
    float getMeanScaleQuotient() const;

    void getCenters ( Point2D& centerA, Point2D& centerB );

    inline int deg( float rad ) { return int( rad/Math::Pi*180.0 ); }

    //scenePoints
    std::vector< KeyPoint >* m_KeyPoints1;
    std::vector< KeyPoint >* m_KeyPoints2;

    std::list< KeyPointMatch > m_Matches;

    std::ostringstream m_Log;

};

#endif