Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 #ifndef HYDROLFEXTRACT_LINEEXTRACTOR__H
00011 #define HYDROLFEXTRACT_LINEEXTRACTOR__H
00012 
00013 #include <hydrofeatureobs/features.h>
00014 #include <hydrolaserfeatureextract/scanutil.h>
00015 #include <hydrolaserfeatureextract/annotatedlines.h>
00016 #include <hydroutil/context.h>
00017 #include <assert.h>
00018 
00019 namespace hydrolfextract {
00020 
00022 
00028 class LineExtractor
00029 {
00030 
00031 public: 
00032 
00033     struct Config {
00034         Config( const ScannerConfig &scannerCfg )
00035             : scannerConfig(scannerCfg),
00036               maxDeltaRangeInCluster(0.5),
00037               maxDeltaInLine(0.2),
00038               minPointsInLine(6),
00039               minLineLengthForVisibleEndpoints(0.5)
00040             {}
00041 
00042         ScannerConfig scannerConfig;
00043 
00044         // config
00045         double maxDeltaRangeInCluster;
00046         double maxDeltaInLine;
00047         int    minPointsInLine;
00048         double minLineLengthForVisibleEndpoints;
00049 
00050         bool isSane() const;
00051     };
00052 
00054 
00055     LineExtractor( const Config &config,
00056                    const hydroutil::Context &context )
00057         : config_(config),
00058           context_(context)
00059         { assert( config.isSane() ); }
00060 
00061     AnnotatedLines extractLines( const std::vector<float> &ranges ) const;
00062 
00063     const Config &config() const { return config_; }
00064 
00065 private:
00066 
00067     Config             config_;
00068     hydroutil::Context context_;
00069 };
00070 
00072 
00073 class LineFeatureExtractor {
00074 public:
00075 
00076     LineFeatureExtractor( double minLineLength,
00077                           double rangeSd,
00078                           double bearingSd,
00079                           double pFalsePositive,
00080                           double pTruePositive )
00081         : minLineLength_(minLineLength),
00082           rangeSd_(rangeSd),
00083           bearingSd_(bearingSd),
00084           pFalsePositive_(pFalsePositive),
00085           pTruePositive_(pTruePositive)
00086         {}
00087 
00088     std::vector<hydrofeatureobs::LineFeatureObs*> extractFeatures( const AnnotatedLines &annLines ) const;
00089 
00090 private:
00091 
00092     double minLineLength_;
00093     double rangeSd_;
00094     double bearingSd_;
00095     double pFalsePositive_;
00096     double pTruePositive_;
00097 };
00098 
00099 class CornerFeatureExtractor {
00100 public:
00101 
00102     CornerFeatureExtractor( double rangeSd,
00103                             double bearingSd,
00104                             double pFalsePositive,
00105                             double pTruePositive )
00106         : rangeSd_(rangeSd),
00107           bearingSd_(bearingSd),
00108           pFalsePositive_(pFalsePositive),
00109           pTruePositive_(pTruePositive)
00110         {}
00111 
00112     std::vector<hydrofeatureobs::PointFeatureObs*> extractFeatures( const AnnotatedLines &annLines ) const;
00113 
00114 private:
00115 
00116     double rangeSd_;
00117     double bearingSd_;
00118     double pFalsePositive_;
00119     double pTruePositive_;
00120 };
00121 }
00122 
00123 #endif
lineextractor.h
