ObjectFinderStereo.h
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36 // Filename: ObjectFinderStereo.h
37 // Author: Pedram Azad
38 // Date: 2005
39 // ****************************************************************************
40 
41 
42 #ifndef _OBJECT_FINDER_STEREO_H_
43 #define _OBJECT_FINDER_STEREO_H_
44 
45 
46 // ****************************************************************************
47 // Necessary includes
48 // ****************************************************************************
49 
51 #include <string>
52 
53 
54 // ****************************************************************************
55 // Forward declarations
56 // ****************************************************************************
57 
61 class CObjectFinder;
62 class CByteImage;
63 class CCalibration;
64 class CStereoCalibration;
65 class CColorParameterSet;
66 
67 
68 
69 // ****************************************************************************
70 // CObjectFinderStereo
71 // ****************************************************************************
72 
74 {
75 public:
76  // constructor
78 
79  // destructor
81 
82 
83  // public methods
84  bool Init(const char *pCameraParameterFileName);
85  void Init(CStereoCalibration* pStereoCalibration);
86 
87  void SetColorParameterSet(const CColorParameterSet *pColorParameterSet);
88 
89  // first call this method for each new image
90  void PrepareImages(const CByteImage * const *ppImages, float fROIFactor = -1, bool bCalculateHSVImage = true);
91 
92  // then for each color call one of the FindObjects-methods
93  void FindObjects(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, bool bShowSegmentedImage);
94  void FindObjects(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, CByteImage **ppResultSegmentedImages);
95  void FindObjects(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor colorName, int hue, int hue_tol, int min_sat, int max_sat, int min_v, int max_v, int nMinPointsPerRegion, bool bShowSegmentedImage);
96  void FindObjectsInSegmentedImage(const CByteImage * const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, bool bShowSegmentedImage);
97 
98  // finally call this method
99  int Finalize(float dMinZDistance, float fMaxZDistance, bool bInputImagesAreRectified, ObjectColor finalizeColor = eNone, float fMaxEpipolarDistance = 10, bool bUseDistortionParameters = true);
100 
101  // member access
105 
106  // use these methods for setting a region/entry filter
107  void SetRegionFilter(CRegionFilterInterface *pRegionFilter);
108  void SetObjectEntryFilter(CObjectEntryFilterInterface *pObjectEntryFilter) { m_pObjectEntryFilter = pObjectEntryFilter; }
109 
110  // use these methods for manipulating the internal object list
112  void ClearObjectList();
113  void AddObject(const Object3DEntry &entry);
114 
115  // use these methods for adding classifiers (mostly not used)
116  void AddObjectClassifier(CObjectClassifierInterface *pObjectClassifier);
117  void RemoveObjectClassifier(CObjectClassifierInterface *pObjectClassifier);
119 
120  // public attributes
122 
123 
124 protected:
125  // protected methods
126  void UpdateObjectFinderLists(Object2DList &resultListLeft, Object2DList &resultListRight);
127  int DetermineMatches(Object2DList &resultListLeft, Object2DList &resultListRight, float fMinZDistance, float fMaxZDistance, bool bInputImagesAreRectified, bool bUseDistortionParameters, ObjectColor finalizeColor, float fMaxYDiff);
128 
129  // protected attributes
133 
134 private:
135  // private attributes
136  std::vector<CObjectClassifierInterface*> m_objectClassifierList;
139 };
140 
141 
142 
143 #endif /* _OBJECT_FINDER_STEREO_H_ */
void PrepareImages(const CByteImage *const *ppImages, float fROIFactor=-1, bool bCalculateHSVImage=true)
std::vector< CObjectClassifierInterface * > m_objectClassifierList
int Finalize(float dMinZDistance, float fMaxZDistance, bool bInputImagesAreRectified, ObjectColor finalizeColor=eNone, float fMaxEpipolarDistance=10, bool bUseDistortionParameters=true)
CByteImage * GetRightSegmentationResult()
void AddObject(const Object3DEntry &entry)
const CStereoCalibration * GetStereoCalibration()
CByteImage * GetLeftSegmentationResult()
Data structure for the representation of 8-bit grayscale images and 24-bit RGB (or HSV) color images ...
Definition: ByteImage.h:80
void RemoveObjectClassifier(CObjectClassifierInterface *pObjectClassifier)
void SetRegionFilter(CRegionFilterInterface *pRegionFilter)
CObjectEntryFilterInterface * m_pObjectEntryFilter
void FindObjects(const CByteImage *const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, bool bShowSegmentedImage)
void SetColorParameterSet(const CColorParameterSet *pColorParameterSet)
CObjectFinder * m_pObjectFinderRight
std::vector< Object2DEntry > Object2DList
Camera model and functions for a stereo camera system.
const Object3DList & GetObject3DList()
void SetObjectEntryFilter(CObjectEntryFilterInterface *pObjectEntryFilter)
CStereoCalibration * m_pStereoCalibration
void FindObjectsInSegmentedImage(const CByteImage *const *ppImages, CByteImage **ppResultImages, ObjectColor color, int nMinPointsPerRegion, bool bShowSegmentedImage)
int DetermineMatches(Object2DList &resultListLeft, Object2DList &resultListRight, float fMinZDistance, float fMaxZDistance, bool bInputImagesAreRectified, bool bUseDistortionParameters, ObjectColor finalizeColor, float fMaxYDiff)
void AddObjectClassifier(CObjectClassifierInterface *pObjectClassifier)
bool Init(const char *pCameraParameterFileName)
Camera model parameters and functions for a single camera.
Definition: Calibration.h:125
std::vector< Object3DEntry > Object3DList
void UpdateObjectFinderLists(Object2DList &resultListLeft, Object2DList &resultListRight)
CObjectFinder * m_pObjectFinderLeft
ObjectColor


asr_ivt
Author(s): Allgeyer Tobias, Hutmacher Robin, Kleinert Daniel, Meißner Pascal, Scholz Jonas, Stöckle Patrick
autogenerated on Mon Dec 2 2019 03:47:28