1 files changed, 37 insertions, 0 deletions
diff --git a/horizon_steerer.h b/horizon_steerer.h
new file mode 100644
index 0000000..fba4209
--- /dev/null
+++ b/horizon_steerer.h
@@ -0,0 +1,37 @@
+#ifndef __HORIZON_STEERER_H__
+#define __HORIZON_STEERER_H__
+
+#include <opencv2/opencv.hpp>
+#include "steer_interface.h"
+
+using namespace cv;
+
+class HorizonSteerer : SteerIface
+{
+public:
+	HorizonSteerer(int xlen_, int ylen_);
+	virtual ~HorizonSteerer();
+	int find_ideal_line(vector<Point>& contour, Point origin_point, int** contour_map, int bestquality_j);
+
+private:
+	int find_intersection_index(int x0, int y0, int x1, int y1, int** contour_map, bool stop_at_endpoint=true);
+	int annotate_regions(Mat img);
+	Mat nicely_draw_regions(Mat annotated, int* area_cnt, int total_area_cnt, int largest_region);
+	double only_retain_largest_region(Mat img, int* size);
+	vector<Point>& prepare_and_get_contour(vector< vector<Point> >& contours, const vector<Vec4i>& hierarchy,
+	                                       int* low_y, int* low_idx, int* high_y, int* first_nonbottom_idx);
+	void init_contour_map(const vector<Point>& contour, int** contour_map);
+	double* calc_contour_angles(const vector<Point>& contour, int first_nonbottom_idx, int smoothen_middle, int smoothen_bottom);
+	double* calc_angle_deriv(double* angles, int first_nonbottom_idx, int size, int ang_smooth);
+	int find_bestquality_index(const vector<Point>& contour, double* angle_derivative, int high_y, int first_nonbottom_idx, Mat& drawing,
+	                           int* bestquality_j_out, int* bestquality_width_out, int* bestquality_out, int* bestquality_max_out);
+	void draw_it_all(Mat drawing, vector< vector<Point> >& contours, const vector<Vec4i>& hierarchy, int first_nonbottom_idx, vector<Point>& contour,
+	                 double* angles, double* angle_derivative, int bestquality_j, int bestquality_width, int bestquality,
+	                 int steering_point, Point origin_point);
+	int find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat& drawing, double* confidence);
+
+	int xlen;
+	int ylen;
+};
+
+#endif