verbesserte Linienerkennung

Utils/utils.cpp

@@ -50,12 +50,53 @@ VectorOfLines::VectorOfLines()
 {
 }
 
-float VectorOfLines::calcGradient(Point p0, Point p1)
+VectorOfLines::~VectorOfLines()
 {
-    return (p1.y - p0.y)/(p1.x - p0.x);
+}
+
+double VectorOfLines::calcGradient(Point p0, Point p1)
+{
+    double gradient = (p1.y - p0.y)/(p1.x - p0.x + 1e-10);
+    return p1.x > p0.x ? gradient : - gradient;
 }
     
 float VectorOfLines::calcZeroPoint(cv::Point x, float m)
 {
+    return 0.0;
+}
+
+double VectorOfLines::calcDistance(Point p0, Point p1)
+{
+    return sqrt(pow(p1.y - p0.y, 2) + pow(p1.x - p0.x, 2));
+}
+
+vector<Vec4i> VectorOfLines::findMiddleLine(vector<Vec4i> &lines){
+    Point point11;
+    Point point12;
+    Point point21;
+    Point point22;
+    vector<Vec4i> middleLines;
+    for( size_t i = 0; i < (lines.size() - 1); i++ )
+    {
+        point11 = Point(lines[i][0], lines[i][1]);
+        point12 = Point( lines[i][2], lines[i][3]);
+        double gradient1 = VectorOfLines::calcGradient(point11, point12);
+
+        //Compare every Line with the other
+        for( size_t j = 0; j < (lines.size()); j++ )
+        {
+            if(j != i)
+            {
+                point21 = Point(lines[j][0], lines[j][1]);
+                point22 = Point(lines[j][2], lines[j][3]);
+                double gradient2 = VectorOfLines::calcGradient(point21, point22);
+                if(norm(gradient1 - gradient2) < 0.15)
+                {
+                    middleLines.push_back(Vec4i((point11.x+point21.x)/2, (point11.y+point21.y)/2, (point12.x+point22.x)/2, (point12.y+point22.y)/2));   
+                }
+            }
+        }
     
+    }
+    return middleLines;
 }

Utils/utils.h

@@ -55,8 +55,9 @@ class VectorOfLines{
     float zeroPoint;
     VectorOfLines();
     ~VectorOfLines();
-    static float calcGradient(Point x, Point y);
+    static double calcGradient(Point x, Point y);
     float calcZeroPoint(cv::Point x, float m);
-
+    static double calcDistance(Point p0, Point p1);
+    vector<Vec4i> findMiddleLine(vector<Vec4i> &lines);
 
 };