Target Class Reference

Provide tools to track the presence of a target. More...

#include <target.h>

List of all members.

Public Member Functions
bool	detect (cv::Mat cam_descriptors, std::vector< cv::KeyPoint > &cam_keypoints, std::vector< cv::DMatch > &good_matches, std::vector< int > &idxs_to_remove, std::vector< cv::Point2f > &target_coord)
void	draw (cv::Mat cam_img, std::vector< cv::KeyPoint > cam_keypoints, std::vector< cv::DMatch > good_matches, cv::Mat &img_matches)
bool	init (const std::string relative_path)
	initializer
void	position (std::vector< cv::KeyPoint > cam_keypoints, std::vector< cv::DMatch > good_matches, std::vector< cv::Point2f > &coord)
	This method computes the position of the target on the camera image.
	Target ()
	Constructor.
	~Target ()
	Destructor.
Private Attributes
std::vector< cv::Point2f >	centerAndCorners
	target keypoints descriptors
cv::Mat	descriptors
	keypoints detected on the target picture
cv::Mat	image
std::vector< cv::KeyPoint >	keypoints
	Picture of the target as read at $TARGET_RELPATH$.
cv::FlannBasedMatcher	matcher

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Detailed Description

Provide tools to track the presence of a target.

Definition at line 30 of file target.h.

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Constructor & Destructor Documentation

Target::Target

(

)

Constructor.

wrapper object to the FLANN library to perform matching with the video pictures

Definition at line 19 of file target.cpp.

Target::~Target

(

)

Destructor.

Definition at line 26 of file target.cpp.

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Member Function Documentation

bool Target::detect	(	cv::Mat	cam_descriptors,
		std::vector< cv::KeyPoint > &	cam_keypoints,
		std::vector< cv::DMatch > &	good_matches,
		std::vector< int > &	idxs_to_remove,
		std::vector< cv::Point2f > &	target_coord
	)

This method detects the target in a given picture

Parameters:

[in]	cam_descriptors	The desciptors of keypoints in camera picture
[in]	cam_keypoints	The coordinates of keypoints in camera picture
[out]	good_matches	The good matches between the target picture and the camera picture, in OpenCV format
[out]	idxs_to_remove	A list of indexes of keypoints on the target
[out]	target_coord	The coordinates if the target is detected
[in]	pose	(#ifdef DEBUG_PROJECTION) Pose of the drone estimated with
[in]	image_cam	(#ifdef DEBUG_TARGET) image matrix (OpenCV format)

Returns:

true if the target is detected

Definition at line 75 of file target.cpp.

void Target::draw	(	cv::Mat	cam_img,
		std::vector< cv::KeyPoint >	cam_keypoints,
		std::vector< cv::DMatch >	good_matches,
		cv::Mat &	img_matches
	)

This method draws a green frame to indicate the detected target

Parameters:

[in]

cam_img

image matrix (OpenCV format)

Definition at line 230 of file target.cpp.

bool Target::init

(

const std::string

relative_path

)

initializer

Definition at line 30 of file target.cpp.

void Target::position	(	std::vector< cv::KeyPoint >	cam_keypoints,
		std::vector< cv::DMatch >	good_matches,
		std::vector< cv::Point2f > &	coord
	)

This method computes the position of the target on the camera image.

Definition at line 273 of file target.cpp.

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Member Data Documentation

std::vector< cv::Point2f > Target::centerAndCorners [private]

target keypoints descriptors

Definition at line 36 of file target.h.

cv::Mat Target::descriptors [private]

keypoints detected on the target picture

Definition at line 35 of file target.h.

cv::Mat Target::image [private]

Definition at line 33 of file target.h.

std::vector< cv::KeyPoint > Target::keypoints [private]

Picture of the target as read at $TARGET_RELPATH$.

Definition at line 34 of file target.h.

cv::FlannBasedMatcher Target::matcher [private]

position of the center and the corners of the target

Definition at line 38 of file target.h.

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The documentation for this class was generated from the following files:

• target.h
• target.cpp