parameters.py

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import numpy as np
import rospy
# -------------------------------
# faces ("celle" ) classification_method choice (2 is older version)
metodo_classificazione_celle = 1
# metodo_classificazione_celle = 2
# -------------------------------
 
 
class PathObj:
    def __init__(self):
        self.name_folder_input = ''
        self.path_folder_input = ''
        self.path_folder_output = ''
        self.path_log_folder = ''
        # name of image
        self.metric_map_name = ''
        self.metric_map_path = ''
        self.path_xml = ''
        self.filepath = ''
        self.path_orebro = ''
        self.orebro_img = ''
        self.gt_color = ''
 
 
class ParameterObj:
    def __init__(self):
 
        self.bormann = False
 
        # Thresholding parameters
        self.cv2thresh = 150
 
        # Hough parameters
        self.rho = 1
        self.theta = np.pi / 180
        self.thresholdHough = 25
        self.minLineLength = 10
        self.maxLineGap = 5
 
        # Offset for x_min,x_max,y_min,y_max
        self.offset = 20
 
        # Angular Clusters parameters, mean-shift parameters
        # diagonals. if there is some obliques lines set diagonals=False
        self.diagonals = False
        self.h = 0.023
        self.minOffset = 0.00001
 
        # Spatial cluster parameters
        self.spatialClusteringLineSegmentsThreshold = 5 #si
 
        # Extended lines parameters
        self.th1 = 0.1 #original = 0.1 #SI
        self.distance_extended_segment = 20 #original= 20 #SI
 
        # Edges parameters
        self.threshold_edges = 0.1 #original = 0.1 #SI
 
        # Matrix parameters
        # parameter to check the weight of an edge for clustering of faces
        self.sigma = 0.125
 
        # DBSCAN parameters
        self.eps = 0.85  # 0.85#1.5#0.85
        self.minPts = 1
 
        # Cells classification parameters
        self.division_threshold = 5
 
        # rose parameters
        self.filter_level = 0.18 #si
 
        # post processing parameters
        self.th_post = 750
 
 
        # integration from rose (main directions)
        self.comp = None
 
        # voronoi parameters
        self.voronoi_closeness = 10 #si
        self.blur = 8 #si
        self.iterations = 5 #si
 
    def set_threshold_hough(self, value):
        self.thresholdHough = value
 
    def set_sigma(self, value):
        self.sigma = value
 
    def set_eps(self, value):
        self.eps = value
 
    def set_filter_level(self, value):
        self.filter_level = value
 
    def set_th1(self, value):
        self.th1 = value
 
    def set_distance_extended_segment(self, value):
        self.distance_extended_segment = value
 
 
class ParameterDraw:
    def __init__(self):
        self.map = True
        self.canny = False
        self.hough = True
        self.walls = True
        self.contour = False
        self.angular_cluster = True
        self.representative_segments = True
        self.spatial_wall_cluster = True
        self.spatial_cluster = True
        self.extended_lines = True
        self.edges = True
        self.dbscan = True
        self.cells_in_out = True
        self.rooms = True
        self.rooms_on_map = True
        self.rooms_on_map_prediction = True
        self.rooms_on_map_lines = True
        self.sides = False
        self.complete = True