Clause getBoxCoverageRequirement(ViewType& view, size_t boxSize, CellType reqCellType) {
Clause req;
for (int row = view.height()-boxSize; row < view.height(); row++) {
for (int col = view.width()-boxSize; col < view.width(); col++) {
req |= view[row][col] == reqCellType;
}
}
return req;
}
void draw_v_disparity_line(ViewType &view, PixelType &color, const GroundPlaneEstimator::line_t &v_disparity_line)
{
const int x1 = 0, y1 = v_disparity_line.origin()(0);
const int x2 = view.width(),
y2 = v_disparity_line.origin()(0) + x2*v_disparity_line.direction()(0);
draw_line(view, color, x1, y1, x2, y2);
// printf("draw_v_disparity_line (origin, direction) == (%.2f, %.2f) -> (x2, y2) == (%i, %i)\n",
// v_disparity_line.origin()(0), v_disparity_line.direction()(0),
// x2, y2);
return;
}
inline bool isInside(const ViewType& v, const CoordType i, const CoordType j)
{
return i>=0 && j>=0 && i<v.width() && j<v.height();
}