Program Listing for File linesegment2d_detector.hpp

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#ifndef TUW_GEOMETRY__LINEFILTER_HPP
#define TUW_GEOMETRY__LINEFILTER_HPP

#include <memory>

#include "tuw_geometry/linesegment2d.hpp"

namespace tuw
{

class LineSegment2DDetectorParameter;
using LineSegment2DDetectorParameterPtr = std::shared_ptr<LineSegment2DDetectorParameter>;
using LineSegment2DDetectorParameterConstPtr =
  std::shared_ptr<LineSegment2DDetectorParameter const>;
class LineSegment2DDetectorParameter
{
public:
  LineSegment2DDetectorParameter()
  : threshold_split_neighbor(true),
    threshold_split(.05),
    min_length(.1),
    min_points_per_line(20),
    min_points_per_unit(10)
  {
  }
  bool threshold_split_neighbor;
  double threshold_split;
  double min_length;
  int min_points_per_line;
  int min_points_per_unit;
};

class LineSegment2DDetector;
using LineSegment2DDetectorPtr = std::shared_ptr<LineSegment2DDetector>;
using LineSegment2DDetectorConstPtr = std::shared_ptr<LineSegment2DDetector const>;
class LineSegment2DDetector
{
public:
  class LineSegment : public LineSegment2D
  {
public:
    LineSegment()
    : LineSegment2D(), id_(0) {}
    void set(unsigned int idx0, unsigned int idx1, const std::vector<Point2D> & points);
    void updatePoints(const std::vector<Point2D> & points);
    bool isSupportPoint(int idx);
    unsigned int nrSupportPoint();
    unsigned int id_;
    unsigned int idx0_, idx1_;
    std::vector<Point2D> points_;
  };
  LineSegment2DDetector();
  void start(const std::vector<Point2D> & points);
  std::vector<LineSegment2D> & start(
    const std::vector<Point2D> & points, std::vector<LineSegment2D> & detected_segments);
  const std::vector<LineSegment> & result();
  LineSegment2DDetectorParameter config_;

private:
  void split(LineSegment & line, const std::vector<Point2D> & points);
  std::vector<std::pair<unsigned int, unsigned int>> connected_measurments_;
  std::vector<LineSegment> segments_;
};

}  // namespace tuw
#endif  // TUW_GEOMETRY__LINE2DFILTER_HPP