outlet_model.cpp File Reference

#include <vector>
#include <map>
#include <string>
#include <algorithm>
#include <cv.h>
#include <highgui.h>
#include <ml.h>
#include "outlet_pose_estimation/detail/outlet_model.h"
#include "outlet_pose_estimation/detail/learning.h"
#include "outlet_pose_estimation/detail/planar.h"
#include "outlet_pose_estimation/detail/outlet_tuple.h"

Include dependency graph for outlet_model.cpp:

Go to the source code of this file.

Functions
float	avgLine (IplImage *grey, cv::Point2f *line_ends)
void	calc_contrast_factor (IplImage *grey, CvRect rect, float &contrast, float &variation)
void	calc_labels (const vector< CvRect > &rects, const vector< outlet_feature_t > &keypts, vector< int > &labels)
int	calc_outlet_coords (vector< outlet_t > &outlets, CvMat *map_matrix, CvPoint3D32f origin, CvPoint2D32f scale, CvMat *rotation_vector, CvMat *translation_vector, CvMat *inv_map_matrix)
void	calc_outlet_coords (vector< outlet_t > &outlets, const outlet_template_t &outlet_template, CvMat *intrinsic_matrix, CvMat *distortion_params)
void	calc_outlet_coords (CvMat *rotation_vector, CvMat *translation_vector, const vector< cv::Point3f > &object_points, vector< outlet_t > &outlets)
void	calc_outlet_coords_ground (vector< outlet_t > &outlets, const outlet_template_t &outlet_template, CvMat *intrinsic_matrix, CvMat *distortion_params)
void	calc_outlet_dist_stat (const vector< outlet_t > &outlets, float &mean, float &stddev)
void	calc_outlet_tuple_dist_stat (const vector< outlet_t > &outlets, float &ground_dist_x1, float &ground_dist_x2, float &ground_dist_y)
IplImage *	calc_tuple_distance_map (IplImage *tuple_mask)
void	detect_outlets (IplImage *src, vector< outlet_feature_t > &features, vector< outlet_t > &outlets, outlet_tuple_t *outlet_tuple, const char *output_path, const char *filename)
void	draw_outlets (IplImage *temp, const vector< outlet_t > &outlets)
void	DrawKeypoints (IplImage *img, std::vector< outlet_feature_t > keypts)
void	estimateCameraPosition (const vector< cv::Point2f > &image_points, const vector< cv::Point3f > &object_points, CvMat *intrinsic_matrix, CvMat *distortion_params, CvMat *rotation_vector, CvMat *translation_vector)
void	extract_intensity_features (IplImage *grey, const vector< outlet_feature_t > &keypts, CvMat **mat, int equalize_hist, const vector< int > &labels, const char *buf)
void	filter_canny (IplImage *grey, vector< outlet_feature_t > &features)
void	filter_features_distance_mask (vector< outlet_feature_t > &features, IplImage *distance_map)
void	filter_features_mask (vector< outlet_feature_t > &features, IplImage *mask)
void	filter_negative_samples (const vector< CvRect > &rects, vector< outlet_feature_t > &keypts, float fraction)
void	filter_outlets (IplImage *grey, vector< outlet_t > &outlets, CvRTrees *rtrees)
void	filter_outlets_mask (vector< outlet_t > &outlets, IplImage *mask)
void	filter_outlets_size (vector< outlet_t > &outlets)
int	filter_outlets_templ (vector< outlet_t > &outlets, const char *filename)
void	filter_outlets_templ_ex (vector< outlet_t > &outlets, CvMat *map_matrix, IplImage *mask)
int	filter_outlets_templmatch (IplImage *src, vector< outlet_t > &outlets, IplImage *templ, const char *output_path, const char *filename, CvMat **homography, CvPoint3D32f *origin, CvPoint2D32f *scale)
void	filter_outlets_tuple (vector< outlet_t > &outlets, IplImage *tuple_mask, CvPoint2D32f hor_dir)
void	FilterPoints (IplImage *grey, vector< outlet_feature_t > &keypts, const CvRTrees *rtrees)
vector< outlet_feature_t > ::const_iterator	find_fartherst_hole (const vector< vector< outlet_feature_t >::const_iterator > &candidates, outlet_feature_t feature)
void	find_hole_candidates (IplImage *grey, IplImage *mask, CvSeq *socket, float hole_contrast, vector< CvSeq * > &holes)
void	find_holes (const vector< outlet_feature_t > &holes, vector< outlet_t > &outlets, IplImage *grey, IplImage *mask, IplImage *img)
int	find_origin_chessboard (IplImage *src, CvMat *map_matrix, CvPoint3D32f &origin, float bar_length)
void	find_outlet_features (IplImage *src, vector< outlet_feature_t > &features, const char *filename)
void	find_outlet_features_fast (IplImage *src, vector< outlet_feature_t > &features, float hole_contrast, const char *output_path, const char *filename)
int	find_outlet_position (outlet_t outlet, IplImage *tuple_mask)
void	findPreciseGroundHoleLocation (IplImage *grey, cv::Point2f center, cv::Point2f &hole)
void	findPreciseOutletLocations (IplImage *grey, const outlet_template_t &outlet_template, vector< outlet_t > &outlets)
void	findPreciseOutletLocationsAvg (IplImage *grey, const outlet_template_t &outlet_template, vector< outlet_t > &outlets)
void	findPrecisePowerHoleLocation (IplImage *grey, cv::Point2f center, cv::Point2f dir, cv::Point2f dir_perp, cv::Point2f &hole)
void	flipOutlet (std::vector< outlet_t > &outlets)
cv::Point3f	flipVector (cv::Point3f vec, cv::Point3f center)
int	generate_outlet_samples (IplImage *grey, outlet_t outlet, int count, CvMat **predictors, const char *filename)
void	get_outlet_coordinates (const outlet_t &outlet, CvPoint3D32f *points)
void	getImagePoints (const std::vector< outlet_t > &outlets, std::vector< cv::Point2f > &image_points, std::vector< bool > &is_detected)
CvRect	getOutletROI (const vector< outlet_t > &outlets)
int	is_outlet_inside_roi (const outlet_roi_t &outlet_roi, outlet_t outlet, string img_name)
int	is_point_incenter_roi (const vector< CvRect > &rects, CvPoint point)
int	is_point_inside_roi (const outlet_roi_t &outlet_roi, CvPoint point, string img_name)
int	is_point_inside_roi (const vector< CvRect > &rects, CvPoint point)
int	is_rect_inside_rect (CvRect large, CvRect smaller)
int	load_homography_map (const char *filename, CvMat **map_matrix)
IplImage *	load_match_template_mask (const char *filename)
CvPoint3D32f	map_point_rt (CvPoint3D32f point, CvMat *rotation_mat, CvMat *translation_vector)
void	move_features (vector< outlet_feature_t > &features, CvPoint origin)
bool	outlet_orient_pred_dist_greater (outlet_t outlet1, outlet_t outlet2)
bool	outlet_orient_pred_greater (outlet_t outlet1, outlet_t outlet2)
CvRect	outlet_rect (outlet_t outlet)
float	outlet_size (outlet_t outlet)
void	read_outlet_roi (const char *filename, outlet_roi_t &outlet_roi)
void	select_central_outlets (vector< outlet_t > &outlets, int count)
void	select_orient_outlets (CvPoint2D32f orientation, vector< outlet_t > &outlets, int count)
int	select_orient_outlets_ex (IplImage *grey, vector< outlet_t > &outlets, const char *filename)
int	test_adjacency (const vector< outlet_feature_t > &features, outlet_feature_t f)
void	train_outlet_model (const char *path, const char *config_filename, const char *roi_filename, const char *forest_filename)
CvMat *	vector2mat (const vector< int > &vec)
void	write_pr (const char *pr_filename, const char *image_filename, const outlet_roi_t &outlet_roi, const vector< outlet_t > &outlets)
Variables
const int	feature_count = xsize*ysize
const int	xsize = 11
const int	ysize = 11

---

Function Documentation

float avgLine	(	IplImage *	grey,
		cv::Point2f *	line_ends
	)

Definition at line 2191 of file outlet_model.cpp.

void calc_contrast_factor	(	IplImage *	grey,
		CvRect	rect,
		float &	contrast,
		float &	variation
	)

Definition at line 1397 of file outlet_model.cpp.

void calc_labels	(	const vector< CvRect > &	rects,
		const vector< outlet_feature_t > &	keypts,
		vector< int > &	labels
	)

Definition at line 853 of file outlet_model.cpp.

int calc_outlet_coords	(	vector< outlet_t > &	outlets,
		CvMat *	map_matrix,
		CvPoint3D32f	origin,
		CvPoint2D32f	scale,
		CvMat *	rotation_vector,
		CvMat *	translation_vector,
		CvMat *	inv_map_matrix
	)

Definition at line 1859 of file outlet_model.cpp.

void calc_outlet_coords	(	vector< outlet_t > &	outlets,
		const outlet_template_t &	outlet_template,
		CvMat *	intrinsic_matrix,
		CvMat *	distortion_params
	)

Definition at line 1757 of file outlet_model.cpp.

void calc_outlet_coords	(	CvMat *	rotation_vector,
		CvMat *	translation_vector,
		const vector< cv::Point3f > &	object_points,
		vector< outlet_t > &	outlets
	)

Definition at line 1742 of file outlet_model.cpp.

void calc_outlet_coords_ground	(	vector< outlet_t > &	outlets,
		const outlet_template_t &	outlet_template,
		CvMat *	intrinsic_matrix,
		CvMat *	distortion_params
	)

Definition at line 1810 of file outlet_model.cpp.

void calc_outlet_dist_stat	(	const vector< outlet_t > &	outlets,
		float &	mean,
		float &	stddev
	)

Definition at line 1910 of file outlet_model.cpp.

void calc_outlet_tuple_dist_stat	(	const vector< outlet_t > &	outlets,
		float &	ground_dist_x1,
		float &	ground_dist_x2,
		float &	ground_dist_y
	)

Definition at line 1925 of file outlet_model.cpp.

IplImage* calc_tuple_distance_map

(

IplImage *

tuple_mask

)

Definition at line 2001 of file outlet_model.cpp.

void detect_outlets	(	IplImage *	src,
		vector< outlet_feature_t > &	features,
		vector< outlet_t > &	outlets,
		outlet_tuple_t *	outlet_tuple,
		const char *	output_path,
		const char *	filename
	)

Definition at line 631 of file outlet_model.cpp.

void draw_outlets	(	IplImage *	temp,
		const vector< outlet_t > &	outlets
	)

Definition at line 1527 of file outlet_model.cpp.

void DrawKeypoints	(	IplImage *	img,
		std::vector< outlet_feature_t >	keypts
	)

Definition at line 27 of file outlet_model.cpp.

void estimateCameraPosition	(	const vector< cv::Point2f > &	image_points,
		const vector< cv::Point3f > &	object_points,
		CvMat *	intrinsic_matrix,
		CvMat *	distortion_params,
		CvMat *	rotation_vector,
		CvMat *	translation_vector
	)

Definition at line 1717 of file outlet_model.cpp.

void extract_intensity_features	(	IplImage *	grey,
		const vector< outlet_feature_t > &	keypts,
		CvMat **	mat,
		int	equalize_hist,
		const vector< int > &	labels,
		const char *	buf
	)

Definition at line 867 of file outlet_model.cpp.

void filter_canny	(	IplImage *	grey,
		vector< outlet_feature_t > &	features
	)

Definition at line 1546 of file outlet_model.cpp.

void filter_features_distance_mask	(	vector< outlet_feature_t > &	features,
		IplImage *	distance_map
	)

Definition at line 2021 of file outlet_model.cpp.

void filter_features_mask	(	vector< outlet_feature_t > &	features,
		IplImage *	mask
	)

Definition at line 1986 of file outlet_model.cpp.

void filter_negative_samples	(	const vector< CvRect > &	rects,
		vector< outlet_feature_t > &	keypts,
		float	fraction
	)

Definition at line 1380 of file outlet_model.cpp.

void filter_outlets	(	IplImage *	grey,
		vector< outlet_t > &	outlets,
		CvRTrees *	rtrees
	)

Definition at line 1000 of file outlet_model.cpp.

void filter_outlets_mask	(	vector< outlet_t > &	outlets,
		IplImage *	mask
	)

Definition at line 1970 of file outlet_model.cpp.

void filter_outlets_size

(

vector< outlet_t > &

outlets

)

Definition at line 2113 of file outlet_model.cpp.

int filter_outlets_templ	(	vector< outlet_t > &	outlets,
		const char *	filename
	)

Definition at line 1651 of file outlet_model.cpp.

void filter_outlets_templ_ex	(	vector< outlet_t > &	outlets,
		CvMat *	map_matrix,
		IplImage *	mask
	)

Definition at line 1618 of file outlet_model.cpp.

int filter_outlets_templmatch	(	IplImage *	src,
		vector< outlet_t > &	outlets,
		IplImage *	templ,
		const char *	output_path,
		const char *	filename,
		CvMat **	homography,
		CvPoint3D32f *	origin,
		CvPoint2D32f *	scale
	)

Definition at line 736 of file outlet_model.cpp.

void filter_outlets_tuple	(	vector< outlet_t > &	outlets,
		IplImage *	tuple_mask,
		CvPoint2D32f	hor_dir
	)

Definition at line 2067 of file outlet_model.cpp.

void FilterPoints	(	IplImage *	grey,
		vector< outlet_feature_t > &	keypts,
		const CvRTrees *	rtrees
	)

Definition at line 964 of file outlet_model.cpp.

vector<outlet_feature_t>::const_iterator find_fartherst_hole	(	const vector< vector< outlet_feature_t >::const_iterator > &	candidates,
		outlet_feature_t	feature
	)

Definition at line 173 of file outlet_model.cpp.

void find_hole_candidates	(	IplImage *	grey,
		IplImage *	mask,
		CvSeq *	socket,
		float	hole_contrast,
		vector< CvSeq * > &	holes
	)

Definition at line 37 of file outlet_model.cpp.

void find_holes	(	const vector< outlet_feature_t > &	holes,
		vector< outlet_t > &	outlets,
		IplImage *	grey,
		IplImage *	mask,
		IplImage *	img
	)

Definition at line 193 of file outlet_model.cpp.

int find_origin_chessboard	(	IplImage *	src,
		CvMat *	map_matrix,
		CvPoint3D32f &	origin,
		float	bar_length
	)

Definition at line 1944 of file outlet_model.cpp.

void find_outlet_features	(	IplImage *	src,
		vector< outlet_feature_t > &	features,
		const char *	filename
	)

Definition at line 445 of file outlet_model.cpp.

void find_outlet_features_fast	(	IplImage *	src,
		vector< outlet_feature_t > &	features,
		float	hole_contrast,
		const char *	output_path,
		const char *	filename
	)

Definition at line 1041 of file outlet_model.cpp.

int find_outlet_position	(	outlet_t	outlet,
		IplImage *	tuple_mask
	)

Definition at line 2052 of file outlet_model.cpp.

void findPreciseGroundHoleLocation	(	IplImage *	grey,
		cv::Point2f	center,
		cv::Point2f &	hole
	)

Definition at line 2232 of file outlet_model.cpp.

void findPreciseOutletLocations	(	IplImage *	grey,
		const outlet_template_t &	outlet_template,
		vector< outlet_t > &	outlets
	)

Definition at line 2153 of file outlet_model.cpp.

void findPreciseOutletLocationsAvg	(	IplImage *	grey,
		const outlet_template_t &	outlet_template,
		vector< outlet_t > &	outlets
	)

Definition at line 2250 of file outlet_model.cpp.

void findPrecisePowerHoleLocation	(	IplImage *	grey,
		cv::Point2f	center,
		cv::Point2f	dir,
		cv::Point2f	dir_perp,
		cv::Point2f &	hole
	)

Definition at line 2206 of file outlet_model.cpp.

void flipOutlet

(

std::vector< outlet_t > &

outlets

)

Definition at line 2303 of file outlet_model.cpp.

cv::Point3f flipVector	(	cv::Point3f	vec,
		cv::Point3f	center
	)

Definition at line 2296 of file outlet_model.cpp.

int generate_outlet_samples	(	IplImage *	grey,
		outlet_t	outlet,
		int	count,
		CvMat **	predictors,
		const char *	filename
	)

Definition at line 1249 of file outlet_model.cpp.

void get_outlet_coordinates	(	const outlet_t &	outlet,
		CvPoint3D32f *	points
	)

Definition at line 2106 of file outlet_model.cpp.

void getImagePoints	(	const std::vector< outlet_t > &	outlets,
		std::vector< cv::Point2f > &	image_points,
		std::vector< bool > &	is_detected
	)

Definition at line 1698 of file outlet_model.cpp.

CvRect getOutletROI

(

const vector< outlet_t > &

outlets

)

Definition at line 2132 of file outlet_model.cpp.

int is_outlet_inside_roi	(	const outlet_roi_t &	outlet_roi,
		outlet_t	outlet,
		string	img_name
	)

Definition at line 1234 of file outlet_model.cpp.

int is_point_incenter_roi	(	const vector< CvRect > &	rects,
		CvPoint	point
	)

Definition at line 812 of file outlet_model.cpp.

int is_point_inside_roi	(	const outlet_roi_t &	outlet_roi,
		CvPoint	point,
		string	img_name
	)

Definition at line 826 of file outlet_model.cpp.

int is_point_inside_roi	(	const vector< CvRect > &	rects,
		CvPoint	point
	)

Definition at line 799 of file outlet_model.cpp.

int is_rect_inside_rect	(	CvRect	large,
		CvRect	smaller
	)			[inline]

Definition at line 840 of file outlet_model.cpp.

int load_homography_map	(	const char *	filename,
		CvMat **	map_matrix
	)

Definition at line 1602 of file outlet_model.cpp.

IplImage* load_match_template_mask

(

const char *

filename

)

Definition at line 1593 of file outlet_model.cpp.

CvPoint3D32f map_point_rt	(	CvPoint3D32f	point,
		CvMat *	rotation_mat,
		CvMat *	translation_vector
	)

Definition at line 1679 of file outlet_model.cpp.

void move_features	(	vector< outlet_feature_t > &	features,
		CvPoint	origin
	)

Definition at line 622 of file outlet_model.cpp.

bool outlet_orient_pred_dist_greater	(	outlet_t	outlet1,
		outlet_t	outlet2
	)

Definition at line 1432 of file outlet_model.cpp.

bool outlet_orient_pred_greater	(	outlet_t	outlet1,
		outlet_t	outlet2
	)

Definition at line 1427 of file outlet_model.cpp.

CvRect outlet_rect

(

outlet_t

outlet

)

Definition at line 609 of file outlet_model.cpp.

float outlet_size

(

outlet_t

outlet

)

[inline]

Definition at line 603 of file outlet_model.cpp.

void read_outlet_roi	(	const char *	filename,
		outlet_roi_t &	outlet_roi
	)

Definition at line 783 of file outlet_model.cpp.

void select_central_outlets	(	vector< outlet_t > &	outlets,
		int	count
	)

Definition at line 1438 of file outlet_model.cpp.

void select_orient_outlets	(	CvPoint2D32f	orientation,
		vector< outlet_t > &	outlets,
		int	count
	)

Definition at line 1445 of file outlet_model.cpp.

int select_orient_outlets_ex	(	IplImage *	grey,
		vector< outlet_t > &	outlets,
		const char *	filename
	)

Definition at line 1481 of file outlet_model.cpp.

int test_adjacency	(	const vector< outlet_feature_t > &	features,
		outlet_feature_t	f
	)

Definition at line 426 of file outlet_model.cpp.

void train_outlet_model	(	const char *	path,
		const char *	config_filename,
		const char *	roi_filename,
		const char *	forest_filename
	)

Definition at line 1300 of file outlet_model.cpp.

CvMat* vector2mat

(

const vector< int > &

vec

)

Definition at line 953 of file outlet_model.cpp.

void write_pr	(	const char *	pr_filename,
		const char *	image_filename,
		const outlet_roi_t &	outlet_roi,
		const vector< outlet_t > &	outlets
	)

Definition at line 1363 of file outlet_model.cpp.

---

Variable Documentation

const int feature_count = xsize*ysize

Definition at line 25 of file outlet_model.cpp.

const int xsize = 11

Definition at line 23 of file outlet_model.cpp.

const int ysize = 11

Definition at line 24 of file outlet_model.cpp.