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/*------------------------------------------------------------------------------------------*\
   This file contains material supporting chapter 6 of the cookbook:  
   Computer Vision Programming using the OpenCV Library. 
   by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify, 
   and distribute this source code, or portions thereof, for any purpose, without fee, 
   subject to the restriction that the copyright notice may not be removed 
   or altered from any source or altered source distribution. 
   The software is released on an as-is basis and without any warranties of any kind. 
   In particular, the software is not guaranteed to be fault-tolerant or free from failure. 
   The author disclaims all warranties with regard to this software, any use, 
   and any consequent failure, is purely the responsibility of the user.
 
   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/

#if !defined SOBELEDGES
#define SOBELEDGES

#define PI 3.1415926

#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
// #include <boost/shared_ptr.hpp>
// 
// class Lines
// {
//      public:
//              vector<Vec4i> end_points;
//              vector<double> rhos;
//              vector<double> thetas;
//      
//              void calculatePolarCoodinates(void)
//              {
//                      for(uint i=0;i<end_points.size();i++)
//                      {
//                              rhos[i]=0;
//                              thetas[i]=0;
//                              rhos[i]=0;
//                              
//                      }
//              }
//              
//              void extractInterval(double rho_max,double rho_min,double theta_max,double theta_min)
//              {
//                      vector<Vec4i> end_points_local;
//                      vector<double> rhos_local;
//                      vector<double> thetas_local;
//      
//                      
//                      for(uint i=0;i<end_points.size();i++)
//                      {
//                              if(rhos[i]>rho_min && rhos[i]<rho_max)
//                              {
//                                      if(thetas[i]>theta_min && thetas[i]<theta_max)
//                                      {
//                                              end_points_local.push_back(end_points[i]);
//                                              rhos_local.push_back(rhos[i])
//                                              thetas_local.push_back(thetas[i])
//                                      }
//                              }
//                      }
//                      
//                      end_points=end_points_local;
//                      rhos=rhos_local;
//                      thetas=thetas_local;
//              }
// };

class EdgeDetector {

  private:

          // original image
          cv::Mat img;

          // 16-bit signed int image
          cv::Mat sobel;

          // Aperture size of the Sobel kernel
          int aperture;

          // Sobel magnitude
          cv::Mat sobelMagnitude;

          // Sobel orientation
          cv::Mat sobelOrientation;

  public:

          EdgeDetector() : aperture(3) {}

          // Set the aperture size of the kernel
          void setAperture(int a) {

                  aperture= a;
          }

          // Get the aperture size of the kernel
          int getAperture() const {

                  return aperture;
          }

          // Compute the Sobel
          void computeSobel(const cv::Mat image, cv::Mat sobelX=cv::Mat(), cv::Mat sobelY=cv::Mat()) {

                  // Compute Sobel
                  cv::Sobel(image,sobelX,CV_32F,1,0,aperture);
                  cv::Sobel(image,sobelY,CV_32F,0,1,aperture);

                  // Compute magnitude and orientation
                  cv::cartToPolar(sobelX,sobelY,sobelMagnitude,sobelOrientation);
          }

          // Get Sobel magnitude
          // Make a copy if called more than once
          cv::Mat getMagnitude() {

                  return sobelMagnitude;
          }

          // Get Sobel orientation
          // Make a copy if called more than once
          cv::Mat getOrientation() {

                  return sobelOrientation;
          }

          // Get a thresholded binary map
          cv::Mat getBinaryMap(double threshold) {

                  cv::Mat bin;            
                  cv::threshold(sobelMagnitude,bin,threshold,255,cv::THRESH_BINARY_INV);

                  return bin;
          }

          // Get a CV_8U image of the Sobel
          cv::Mat getSobelImage() {

                  cv::Mat bin;

                  double minval, maxval;
                  cv::minMaxLoc(sobelMagnitude,&minval,&maxval);
                  sobelMagnitude.convertTo(bin,CV_8U,255/maxval);

                  return bin;
          }

          // Get a CV_8U image of the Sobel orientation
          // 1 gray-level = 2 degrees
          cv::Mat getSobelOrientationImage() {

                  cv::Mat bin;

                  sobelOrientation.convertTo(bin,CV_8U,90/PI);

                  return bin;
          }

};


#endif

---

road_recognition
Author(s): Morais
autogenerated on Wed Jul 23 04:35:03 2014