#include <vector>
#include <map>
#include <cv.h>
#include <ml.h>
#include "outlet_pose_estimation/detail/outlet_tuple.h"

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Classes
struct	outlet_feature_t
struct	outlet_t
Defines
#define	__max MAX
#define	__min MIN
Typedefs
typedef std::map< std::string, std::vector< CvRect > >	outlet_roi_t
Functions
void	calc_contrast_factor (IplImage *grey, CvRect rect, float &contrast, float &variation)
CvMat *	calc_image_homography (IplImage *src)
void	calc_labels (const std::vector< CvRect > &rects, const std::vector< outlet_feature_t > &keypts, std::vector< int > &labels)
int	calc_outlet_coords (std::vector< outlet_t > &outlets, CvMat map_matrix, CvPoint3D32f origin, CvPoint2D32f scale, CvMat rotation_vector, CvMat translation_vector, CvMat inv_map_matrix=0)
void	calc_outlet_coords (std::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 std::vector< cv::Point3f > &object_points, std::vector< outlet_t > &outlets)
void	calc_outlet_coords_ground (std::vector< outlet_t > &outlets, const outlet_template_t &outlet_template, CvMat intrinsic_matrix, CvMat distortion_params)
void	calc_outlet_dist_stat (const std::vector< outlet_t > &outlets, float &mean, float &stddev)
void	calc_outlet_tuple_dist_stat (const std::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	cvRectangle (IplImage *img, CvRect rect, CvScalar color, int thickness)
void	detect_outlets (IplImage src, std::vector< outlet_feature_t > &features, std::vector< outlet_t > &outlets, outlet_tuple_t outlet_tuple, const char output_path=0, const char filename=0)
CvRect	double_rect (CvRect small_rect)
void	draw_outlets (IplImage *temp, const std::vector< outlet_t > &outlets)
void	DrawKeypoints (IplImage *img, std::vector< outlet_feature_t > features)
void	estimateCameraPosition (const std::vector< KeyPointEx > &image_points, const std::vector< cv::Point3f > &object_points, CvMat intrinsic_matrix, CvMat distortion_params, CvMat rotation_vector, CvMat translation_vector)
void	extract_intensity_features (IplImage grey, const std::vector< outlet_feature_t > &keypts, CvMat mat, int equalize_hist=0, const std::vector< int > &labels=std::vector< int >(), const char buf=0)
CvPoint	feature_center (outlet_feature_t feature)
void	filter_canny (IplImage *grey, std::vector< outlet_feature_t > &features)
void	filter_features_distance_mask (std::vector< outlet_feature_t > &features, IplImage *distance_map)
void	filter_features_mask (std::vector< outlet_feature_t > &features, IplImage *mask)
void	filter_negative_samples (const std::vector< CvRect > &rects, std::vector< outlet_feature_t > &keypts, float fraction)
void	filter_outlets (IplImage grey, std::vector< outlet_t > &outlets, CvRTrees rtrees)
void	filter_outlets_mask (std::vector< outlet_t > &outlets, IplImage *mask)
void	filter_outlets_size (std::vector< outlet_t > &outlets)
int	filter_outlets_templ (std::vector< outlet_t > &outlets, const char *filename)
void	filter_outlets_templ_ex (std::vector< outlet_t > &outlets, CvMat map_matrix, IplImage mask)
int	filter_outlets_templmatch (IplImage src, std::vector< outlet_t > &outlets, IplImage templ, const char output_path, const char filename=0, CvMat *homography=0, CvPoint3D32f origin=0, CvPoint2D32f *scale=0)
void	filter_outlets_tuple (std::vector< outlet_t > &outlets, IplImage *tuple_mask, CvPoint2D32f hor_dir)
void	FilterPoints (IplImage grey, std::vector< outlet_feature_t > &keypts, const CvRTrees rtrees)
int	find_origin_chessboard (IplImage src, CvMat map_matrix, CvPoint3D32f &origin, float bar_length)
void	find_outlet_features (IplImage src, std::vector< outlet_feature_t > &features, const char filename)
void	find_outlet_features_fast (IplImage src, std::vector< outlet_feature_t > &features, float hole_contrast, const char output_path, const char *filename)
void	findPreciseGroundHoleLocation (IplImage *grey, cv::Point2f center, cv::Point2f &hole)
void	findPreciseOutletLocations (IplImage *grey, const outlet_template_t &outlet_template, std::vector< outlet_t > &outlets)
void	findPreciseOutletLocationsAvg (IplImage *grey, const outlet_template_t &outlet_template, std::vector< outlet_t > &outlets)
void	findPrecisePowerHoleLocation (IplImage *grey, cv::Point2f center, cv::Point2f dir, cv::Point2f dir_perp, cv::Point2f &hole)
CvRect	fit_rect (CvRect rect, IplImage *img)
CvRect	fit_rect_roi (CvRect rect, CvRect roi)
void	flipOutlet (std::vector< outlet_t > &outlets)
int	generate_outlet_samples (IplImage grey, outlet_t outlet, int count, CvMat predictors, const char filename=0)
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 std::vector< outlet_t > &outlets)
int	is_point_incenter_roi (const std::vector< CvRect > &rects, CvPoint point)
int	is_point_inside_rect (CvRect rect, CvPoint point)
int	load_homography_map (const char filename, CvMat *map_matrix)
IplImage *	load_match_template_mask (const char *filename)
void	move_features (std::vector< outlet_feature_t > &features, CvPoint origin)
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 (std::vector< outlet_t > &outlets, int count)
void	select_orient_outlets (CvPoint2D32f orientation, std::vector< outlet_t > &outlets, int count=0)
int	select_orient_outlets_ex (IplImage grey, std::vector< outlet_t > &outlets, const char filename=0)
void	train_outlet_model (const char path, const char config_filename, const char roi_filename, const char forest_filename)
CvMat *	vector2mat (const std::vector< int > &vec)
void	write_pr (const char pr_filename, const char image_filename, const outlet_roi_t &outlet_roi, const std::vector< outlet_t > &outlets)

Define Documentation

#define __max MAX

Definition at line 64 of file outlet_model.h.

#define __min MIN

Definition at line 65 of file outlet_model.h.

Typedef Documentation

typedef std::map<std::string, std::vector<CvRect> > outlet_roi_t

Definition at line 129 of file outlet_model.h.

Function Documentation

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

Definition at line 1397 of file outlet_model.cpp.

CvMat* calc_image_homography ( IplImage * src )

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

int calc_outlet_coords	(	std::vector< outlet_t > &	outlets,
		CvMat *	map_matrix,
		CvPoint3D32f	origin,
		CvPoint2D32f	scale,
		CvMat *	rotation_vector,
		CvMat *	translation_vector,
		CvMat *	inv_map_matrix = `0`
	)

void calc_outlet_coords	(	std::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 std::vector< cv::Point3f > &	object_points,
		std::vector< outlet_t > &	outlets
	)

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

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

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

IplImage* calc_tuple_distance_map ( IplImage * tuple_mask )

Definition at line 2001 of file outlet_model.cpp.

void cvRectangle	(	IplImage *	img,
		CvRect	rect,
		CvScalar	color,
		int	thickness
	)		`[inline]`

Definition at line 79 of file outlet_model.h.

void detect_outlets	(	IplImage *	src,
		std::vector< outlet_feature_t > &	features,
		std::vector< outlet_t > &	outlets,
		outlet_tuple_t *	outlet_tuple,
		const char *	output_path = `0`,
		const char *	filename = `0`
	)

CvRect double_rect ( CvRect small_rect ) [inline]

Definition at line 103 of file outlet_model.h.

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

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

Definition at line 27 of file outlet_model.cpp.

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

void extract_intensity_features	(	IplImage *	grey,
		const std::vector< outlet_feature_t > &	keypts,
		CvMat **	mat,
		int	equalize_hist = `0`,
		const std::vector< int > &	labels = `std::vector< int >()`,
		const char *	buf = `0`
	)

CvPoint feature_center ( outlet_feature_t feature ) [inline]

Definition at line 31 of file outlet_model.h.

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

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

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

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

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

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

void filter_outlets_size ( std::vector< outlet_t > & outlets )

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

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

int filter_outlets_templmatch	(	IplImage *	src,
		std::vector< outlet_t > &	outlets,
		IplImage *	templ,
		const char *	output_path,
		const char *	filename = `0`,
		CvMat **	homography = `0`,
		CvPoint3D32f *	origin = `0`,
		CvPoint2D32f *	scale = `0`
	)

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

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

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,
		std::vector< outlet_feature_t > &	features,
		const char *	filename
	)

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

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,
		std::vector< outlet_t > &	outlets
	)

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

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.

CvRect fit_rect	(	CvRect	rect,
		IplImage *	img
	)		`[inline]`

Definition at line 97 of file outlet_model.h.

CvRect fit_rect_roi	(	CvRect	rect,
		CvRect	roi
	)		`[inline]`

Definition at line 85 of file outlet_model.h.

void flipOutlet ( std::vector< outlet_t > & outlets )

Definition at line 2303 of file outlet_model.cpp.

int generate_outlet_samples	(	IplImage *	grey,
		outlet_t	outlet,
		int	count,
		CvMat **	predictors,
		const char *	filename = `0`
	)

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 std::vector< outlet_t > & outlets )

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

int is_point_inside_rect	(	CvRect	rect,
		CvPoint	point
	)		`[inline]`

Definition at line 109 of file outlet_model.h.

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.

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

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	(	std::vector< outlet_t > &	outlets,
		int	count
	)

void select_orient_outlets	(	CvPoint2D32f	orientation,
		std::vector< outlet_t > &	outlets,
		int	count = `0`
	)

int select_orient_outlets_ex	(	IplImage *	grey,
		std::vector< outlet_t > &	outlets,
		const char *	filename = `0`
	)

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 std::vector< int > & vec )

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

Classes

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Typedefs

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Define Documentation

Typedef Documentation

Function Documentation