/*------------------------------------------------------------------------ Parameters: Description: Return Values: nothing. ------------------------------------------------------------------------*/ int QuadEqual(double a1, double a2) { a1 = normAngle(a1) ; a2 = normAngle(a2) ; if (fabs(a1 - a2) < RADIANS(90.0)) return(1) ; else return(0) ; }
Descriptor* ShapeContextGenerator::describe(const OrientedPoint2D& point, const LaserReading& reading){ unsigned int accumulator = 0; ShapeContext * shape = new ShapeContext(); shape->getHistogram().resize(m_phiEdges.size() - 1, std::vector<double>(m_rhoEdges.size() - 1, 0.)); for(unsigned int i = 0; i < reading.getWorldCartesian().size(); i++){ Point2D difference = reading.getWorldCartesian()[i] - point; double distance = hypot(difference.x, difference.y); if ((distance >= m_rhoEdges[0] && distance < m_rhoEdges[m_rhoEdges.size() - 1])){ for(unsigned int rho = 0; rho < m_rhoEdges.size() - 1; rho++){ if((distance < m_rhoEdges[rho + 1] && distance >= m_rhoEdges[rho])){ double angle = atan2(difference.y, difference.x); angle = normAngle(angle - point.theta, -M_PI); for(unsigned int phi = 0; phi < m_phiEdges.size() - 1; phi++){ if(angle < m_phiEdges[phi + 1] && angle >= m_phiEdges[phi]){ shape->getHistogram()[phi][rho] += 1.; accumulator += 1; } } } } } } int size = shape->getHistogram().size() * shape->getHistogram().front().size(); for(unsigned int i = 0; i < shape->getHistogram().size(); i++){ for(unsigned int j = 0; j < shape->getHistogram()[i].size(); j++){ shape->getHistogram()[i][j] = accumulator ? shape->getHistogram()[i][j]/double(accumulator) : 1./double(size); } } shape->setDistanceFunction(m_distanceFunction); return shape; }
unsigned int NormalDetector::computeInterestPoints(const LaserReading& reading, const std::vector<double>& signal, std::vector<InterestPoint*>& point, std::vector< std::vector<unsigned int> >& indexes, std::vector<unsigned int>& maxRangeMapping) const { point.clear(); point.reserve(reading.getRho().size()); const std::vector<Point2D>& worldPoints = reading.getWorldCartesian(); for(unsigned int i = 0; i < indexes.size(); i++){ for(unsigned int j = 0; j < indexes[i].size(); j++){ OrientedPoint2D pose; unsigned int pointIndex = maxRangeMapping[indexes[i][j]]; // Reomoving the detection in the background and pushing it to the foreground double rangeBefore = (pointIndex > 1)? reading.getRho()[pointIndex - 1] : reading.getMaxRange(); double rangeAfter = (pointIndex < worldPoints.size() - 1)? reading.getRho()[pointIndex + 1] : reading.getMaxRange(); double rangeCurrent = reading.getRho()[pointIndex]; if(rangeBefore < rangeAfter){ if(rangeBefore < rangeCurrent){ pointIndex = pointIndex - 1; } } else if(rangeAfter < rangeCurrent){ pointIndex = pointIndex + 1; } // Removing max range reading if(reading.getRho()[pointIndex] >= reading.getMaxRange()){ continue; } pose.x = (reading.getWorldCartesian()[pointIndex]).x; pose.y = (reading.getWorldCartesian()[pointIndex]).y; pose.theta = normAngle(signal[indexes[i][j]], -M_PI); bool exists = false; for(unsigned int k = 0; !exists && k < point.size(); k++){ exists = exists || (fabs(pose.x - point[k]->getPosition().x) <= 0.2 && fabs(pose.y - point[k]->getPosition().y) <= 0.2); } if(exists) continue; unsigned int first = indexes[i][j] - floor((int)m_filterBank[i].size()/2.0); unsigned int last = indexes[i][j] + floor((int)m_filterBank[i].size()/2.0); std::vector<Point2D> support(last - first + 1); for(unsigned int p = 0; p < support.size(); p++) { support[p] = Point2D(worldPoints[maxRangeMapping[p + first]]); } double maxDistance = -1e20; for(unsigned int k = 0; k < support.size(); k++){ double distance = sqrt((pose.x - support[k].x)*(pose.x - support[k].x) + (pose.y - support[k].y)*(pose.y - support[k].y)); maxDistance = maxDistance < distance ? distance : maxDistance; } InterestPoint *interest = new InterestPoint(pose, maxDistance); // InterestPoint *interest = new InterestPoint(pose, m_scales[i]); interest->setSupport(support); interest->setScaleLevel(i); point.push_back(interest); } } return point.size(); }
QVec Plane::coefficientsToRotation(const QVec &planeVector, const QVec &initialRots) { QVec v = planeVector; // Compute R_x float RX = normAngle(atan2(v(1), -v(2))); if (abs(RX-initialRots(0)) >= M_PIl) { if (RX > 0) RX -= M_PIl; else RX += M_PIl; } // Compute R_y QMat m = Rot3D(-RX, 0, 0); v = m * v; const float RY = normAngle(-atan2(v(0), -v(2))); return QVec::vec3(RX, RY, initialRots(2)); }
void NormalDetector::computeSignal(const LaserReading& reading, std::vector<double>& signal, std::vector<unsigned int>& maxRangeMapping) const{ // const std::vector<Point2D>& points = reading.getCartesian(); std::vector<double> ranges; ranges.reserve(reading.getRho().size()); maxRangeMapping.reserve(reading.getRho().size()); for(unsigned int i = 0; i < reading.getRho().size(); i++){ if(reading.getRho()[i] < reading.getMaxRange()){ ranges.push_back(reading.getRho()[i]); maxRangeMapping.push_back(i); } else if (m_useMaxRange){ ranges.push_back(reading.getMaxRange()); maxRangeMapping.push_back(i); } } int offsetRange = floor((int)m_filterBank[0].size()/2.0); const std::vector<double>& rangeData = convolve1D(ranges, m_filterBank[0], -offsetRange); const std::vector<double>& phiData = reading.getPhi(); std::vector<Point2D> points(rangeData.size()); for(unsigned int i = 0; i < rangeData.size(); i++){ if(rangeData[i]<reading.getMaxRange()){ points[i].x = cos(phiData[maxRangeMapping[i]])*rangeData[i]; points[i].y = sin(phiData[maxRangeMapping[i]])*rangeData[i]; } else { points[i].x = cos(phiData[maxRangeMapping[i]])*reading.getMaxRange(); points[i].y = sin(phiData[maxRangeMapping[i]])*reading.getMaxRange(); } } signal.resize(points.size()); unsigned int offset = floor((double)m_windowSize * 0.5); std::vector<Point2D>::const_iterator first = points.begin(); std::vector<Point2D>::const_iterator last = first + m_windowSize; double oldangle = 0; for(unsigned int i = offset; i < signal.size() - offset; i++){ LineParameters param = computeNormals(std::vector<Point2D>(first,last)); signal[i] = normAngle(param.alpha, oldangle - M_PI); oldangle = signal[i]; first++; last++; } for(unsigned int i = 0; i < offset; i++){ signal[i] = signal[offset]; } for(unsigned int i = signal.size() - offset; i < signal.size(); i++){ signal[i] = signal[signal.size() - offset - 1]; } }
unsigned int CurvatureDetector::computeInterestPoints(const LaserReading& reading, const std::vector< std::vector<Point2D> >& operatorA, std::vector<InterestPoint*>& point, const std::vector< std::vector<unsigned int> >& indexes, std::vector<unsigned int>& maxRangeMapping) const { point.clear(); point.reserve(reading.getRho().size()); const std::vector<Point2D>& worldPoints = reading.getWorldCartesian(); for(unsigned int i = 0; i < indexes.size(); i++){ for(unsigned int j = 0; j < indexes[i].size(); j++){ OrientedPoint2D pose; unsigned int pointIndex = maxRangeMapping[indexes[i][j]]; // Reomoving the detection in the background and pushing it to the foreground double rangeBefore = (pointIndex > 1)? reading.getRho()[pointIndex - 1] : reading.getMaxRange(); double rangeAfter = (pointIndex < worldPoints.size() - 1)? reading.getRho()[pointIndex + 1] : reading.getMaxRange(); double rangeCurrent = reading.getRho()[pointIndex]; if(rangeBefore < rangeAfter){ if(rangeBefore < rangeCurrent){ pointIndex = pointIndex - 1; } } else if(rangeAfter < rangeCurrent){ pointIndex = pointIndex + 1; } // Removing max range reading if(reading.getRho()[pointIndex] >= reading.getMaxRange()){ continue; } pose.x = (worldPoints[pointIndex]).x; pose.y = (worldPoints[pointIndex]).y; Point2D difference = operatorA[i][indexes[i][j]] - worldPoints[pointIndex]; pose.theta = atan2(difference.y, difference.x); bool exists = false; for(unsigned int k = 0; !exists && k < point.size(); k++){ exists = exists || (fabs(pose.x - point[k]->getPosition().x) <= 0.2 && fabs(pose.y - point[k]->getPosition().y) <= 0.2); } if(exists) continue; double distance = 2. * m_scales[i]; Point2D diffStart = pose - worldPoints.front(); Point2D diffEnd = pose - worldPoints.back(); if(hypot(diffStart.x, diffStart.y) < distance || hypot(diffEnd.x, diffEnd.y) < distance){ continue; } std::vector<Point2D> support; for(unsigned int k = 0; k < worldPoints.size(); k++){ Point2D diff2 = pose - worldPoints[k]; if(hypot(diff2.x, diff2.y) < distance) support.push_back(worldPoints[k]); } LineParameters param = computeNormals(support); pose.theta = normAngle(param.alpha, - M_PI); InterestPoint *interest = new InterestPoint(pose, distance); // InterestPoint *interest = new InterestPoint(pose, m_scales[i]); interest->setSupport(support); interest->setScaleLevel(i); point.push_back(interest); } } return point.size(); }