std::vector<ParametricLine> LineHoughTransform::detectLines()
{
std::vector<ParametricLine> lines;
// Populate the accumulator.
for(int i = 0; i < rows_; ++i)
{
for(int j = 0; j < cols_; ++j)
{
if(edges_[i * cols_ + j] >= getGradientThreshold())
{
pointToCurve(j, i - (rows_-1)/2);
}
}
}
// Determine the intersection of curves in Hough space
// corresponding to lines in the image.
for(int d = 0; d < maxDistance_; ++d)
{
for(int t = 0; t < 91; ++t)
{
if(accumulator_[d*91+t] >= getVoteThreshold())
{
lines.push_back(ParametricLine(d, static_cast<float>(t)*(M_PI/90.0f) - M_PI_2));
}
}
}
return lines;
}
ParametricLine LineFuncs::ToParametricLine(const Line& line) {
TIMETHISFUNCTION;
const RPolynomial t = RPolynomial::MakeT();
// TODO: Clean this shit up
return ParametricLine(
t * line.Direction().X() + line.Start().X(),
t * line.Direction().Y() + line.Start().Y(),
t * line.Direction().Z() + line.Start().Z()
);
}
