tVoid DriverFilter::getManeuverFromString(const cString &name, Maneuver &maneuver)
{
if (name.Compare("left") == 0)
{
maneuver = MANEUVER_LEFT;
}
else if (name.Compare("right") == 0)
{
maneuver = MANEUVER_RIGHT;
}
else if (name.Compare("straight") == 0)
{
maneuver = MANEUVER_STRAIGHT;
}
else if (name.Compare("parallel_parking") == 0)
{
maneuver = MANEUVER_PARALLEL_PARKING;
}
else if (name.Compare("cross_parking") == 0)
{
maneuver = MANEUVER_CROSS_PARKING;
}
else if (name.Compare("pull_out_right") == 0)
{
maneuver = MANEUVER_PULL_OUT_RIGHT;
}
else if (name.Compare("pull_out_left") == 0)
{
maneuver = MANEUVER_PULL_OUT_LEFT;
}
else
{
LOG_INFO(cString::Format("Unbekannter Befehl: %s", name.GetPtr()));
}
}
cRoadSigns::cRoadSigns(cString filename,RoadSign enumGiven , tInt minHessian, tInt shapeIdentifier) : m_detector(minHessian,20) //setting parameters of detector minHessian and nOctaves
{
//m_image = imread(filename, CV_LOAD_IMAGE_GRAYSCALE );
m_enumSign = enumGiven;
m_shapeIdentifier = shapeIdentifier;
if (std::ifstream(filename.GetPtr()))
{
m_image = imread(filename.GetPtr(), CV_LOAD_IMAGE_COLOR);
//blur(m_image,m_image,cvSize(9,9));
m_minHessian = minHessian;
#if defined(WIN32)
//setting parameters of detector
m_detector.set("hessianThreshold",minHessian);
m_detector.set("nOctaves",20);
#endif
m_detector.detect( m_image, m_keypoints );
if (m_keypoints.size() == 0)
{
m_state=tFalse;
return;
}
//remove keypoints which are near to border
tInt borderSize = m_image.cols/4;
m_keypoints.erase( remove_if(m_keypoints.begin(), m_keypoints.end(),
RoiPredicatePic((tFloat32)borderSize, (tFloat32)borderSize,
(tFloat32)(m_image.cols - borderSize),
(tFloat32)(m_image.rows - borderSize))),
m_keypoints.end() );
m_extractor.compute( m_image, m_keypoints, m_descriptors );
if (m_descriptors.total() == 0)
{
m_state=tFalse;
return;
}
//drawKeypoints( m_image, m_keypoints, m_image, Scalar::all(-1), DrawMatchesFlags::DEFAULT );
m_state = tTrue;
}
else
m_state=tFalse;
}
