std::vector< std::vector< Point > > Hough::getPoints(){ //to find the points on lines in the image
std::vector< std::vector< Point > > edgePoints;
//save the accumulator
FILE *fp = fopen("accumulator.raw", "wb");
if (fp) {
fwrite(acc, (180) * (r_size*2), 1, fp);
fclose(fp);
std::cout<<"Accumulator saved"<<std::endl;
}
else{
std::cout<<"Could not save file"<<std::endl;
}
polarPoints = threshAcc(200);//threshold and get polar coords
for(int i = 0; i < polarPoints.size(); i++){
Point p1, p2, p3, p4; //Where the lines cross points where x = 0, x = width, y = 0, y = height
//x = r - y.sin(theta) / cos(theta) y = r - x.cos(theta) / sin(theta)
p1.x = 0;
p1.y = (polarPoints[i].y - p1.x * cos(polarPoints[i].x*(PI/180))) /sin(polarPoints[i].x*(PI/180));
p2.x = xSize - 1;
p2.y = (polarPoints[i].y - p2.x * cos(polarPoints[i].x*(PI/180))) /sin(polarPoints[i].x*(PI/180));
p3.y = 0;
p3.x = (polarPoints[i].y - p3.y * sin(polarPoints[i].x*(PI/180))) /cos(polarPoints[i].x*(PI/180));
p4.y = ySize - 1;
p4.x = (polarPoints[i].y - p4.y * sin(polarPoints[i].x*(PI/180))) /cos(polarPoints[i].x*(PI/180));
std::vector< Point > temp_vec;
//if the points are in the image save the points
if(PointInImage(p1, xSize, ySize)){
temp_vec.push_back(p1);
}
if(PointInImage(p2, xSize, ySize)){
temp_vec.push_back(p2);
}
if(PointInImage(p3, xSize, ySize)){
temp_vec.push_back(p3);
}
if(PointInImage(p4, xSize, ySize)){
temp_vec.push_back(p4);
}
if(temp_vec.size() != 0) {
edgePoints.push_back(temp_vec);
}
}
return edgePoints;
}
bool CameraIntrinsics::DirectionToImage(double u_normalized,
double v_normalized,
double *u_distorted,
double *v_distorted) const {
CHECK_NOTNULL(u_distorted);
CHECK_NOTNULL(v_distorted);
// Distort the normalized direction vector;
double u = 0.0, v = 0.0;
Distort(u_normalized, v_normalized, &u, &v);
// Make a homogeneous vector from the output.
Vector3d p;
p << u, v, 1.0;
// Multiply the distorted direction vector by camera intrinsic matrix to get
// the image space point.
const Vector3d p_out = CameraIntrinsics::K() * p;
*u_distorted = p_out(0);
*v_distorted = p_out(1);
// Make sure that the resulting point is in the image.
return PointInImage(*u_distorted, *v_distorted);
}