#include <assert.h>
#include <sys/time.h>
#include "CRC.hpp"
#include "CV.hpp"
#include "File.hpp"
#include "FEC.hpp"
#include "String.hpp"
#include "Location.hpp"

Include dependency graph for Fiducials.hpp:

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Go to the source code of this file.

Classes
struct	Fiducials__Struct

struct	Fiducials_Create__Struct

struct	Fiducials_Results__Struct

Typedefs
typedef struct Fiducials__Struct *	Fiducials

typedef struct Fiducials_Create__Struct *	Fiducials_Create

typedef void(*	Fiducials_Fiducial_Announce_Routine) (void *announce_object, int id, int direction, double world_diagonal, double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4)

typedef struct Fiducials_Results__Struct *	Fiducials_Results

typedef bool	Mapping[64]

typedef struct timeval *	Time_Value

Functions
Fiducials	Fiducials__create (CV_Image original_image, Fiducials_Create fiducials_create)
	Create and return a Fiducials object. More...

void	Fiducials__free (Fiducials fiduicals)
	will release the storage associated with fiducials. More...

void	Fiducials__image_set (Fiducials fiducials, CV_Image image)
	Sets the original image for *fiducials. More...

void	Fiducials__image_show (Fiducials fiducials, bool show)
	Is a HighGUI interface to show the current image. More...

int	Fiducials__point_sample (Fiducials fiducials, CV_Point2D32F point)
	Helper routine to sample a point from the image in fiducials. More...

int	Fiducials__points_maximum (Fiducials fiducials, CV_Point2D32F_Vector points, unsigned int start_index, unsigned int end_index)
	Return the maximum value of the points in points. More...

int	Fiducials__points_minimum (Fiducials fiducials, CV_Point2D32F_Vector points, unsigned int start_index, unsigned int end_index)
	Return the minimum value of the points in points. More...

Fiducials_Results	Fiducials__process (Fiducials fiducials)
	Process the current image associated with fiducials. More...

CV_Point2D32F_Vector	Fiducials__references_compute (Fiducials fiducials, CV_Point2D32F_Vector corners)
	Return 8 sample locations to determine if a quadralateral is worth testing for quadralateral'ness. More...

void	Fiducials__sample_points_compute (CV_Point2D32F_Vector corners, CV_Point2D32F_Vector sample_points)
	Compute the fiducial locations to sample using corners More...

void	Fiducials__sample_points_helper (String_Const label, CV_Point2D32F corner, CV_Point2D32F sample_point)

Fiducials_Create	Fiducials_Create__one_and_only (void)
	Returns the one and only Fiducials_Create object. More...

Typedef Documentation

typedef struct Fiducials__Struct* Fiducials

Definition at line 6 of file Fiducials.hpp.

typedef struct Fiducials_Create__Struct* Fiducials_Create

Definition at line 7 of file Fiducials.hpp.

typedef void(* Fiducials_Fiducial_Announce_Routine) (void *announce_object, int id, int direction, double world_diagonal, double x1, double y1, double x2, double y2, double x3, double y3, double x4, double y4)

Definition at line 13 of file Fiducials.hpp.

typedef struct Fiducials_Results__Struct* Fiducials_Results

Definition at line 8 of file Fiducials.hpp.

typedef bool Mapping[64]

Definition at line 27 of file Fiducials.hpp.

typedef struct timeval* Time_Value

Definition at line 30 of file Fiducials.hpp.

Function Documentation

Fiducials Fiducials__create	(	CV_Image	original_image,
		Fiducials_Create	fiducials_create
	)

Create and return a Fiducials object.

Parameters

original_image	is the image to start with.
fiducials_create	is a Fiducials_Create object that specifies the various features to enable or disable.

Fiducials__create() creates and returns a Fiducials object using the values in fiduicials_create.

Definition at line 556 of file Fiducials.cpp.

void Fiducials__free ( Fiducials fiducials )

will release the storage associated with fiducials.

Parameters

fiducials is the Fiducials object to release.

Fiducials__free() releases the storage associated with fiducials.

Definition at line 713 of file Fiducials.cpp.

void Fiducials__image_set	(	Fiducials	fiducials,
		CV_Image	image
	)

Sets the original image for *fiducials.

Parameters

fiducials	is the Fiducials object to use.
image	is the new image to use as the original image.

Fiducials__image_set() will set the original image for fiducials to image.

Definition at line 427 of file Fiducials.cpp.

void Fiducials__image_show	(	Fiducials	fiducials,
		bool	show
	)

Is a HighGUI interface to show the current image.

Parameters

fiducials	is the Fiducials object that contains the image.
show	is true to force the HighGUI interface to activate.

Fiducials__image_show() will cause an image to be shown with at each of the various stages of the recognition cycle. This only occurs if show is true.

The character commands are:

'/033' – Escape from program.
'+' – View next stage in processing pipeline.
'-' – View previous stage in processing pipeline.
'<' – Goto beginning of processing pipeline.
'b' – Toggle image blur.
'f' – Flip fiducials allong X axis

Definition at line 451 of file Fiducials.cpp.

int Fiducials__point_sample	(	Fiducials	fiducials,
		CV_Point2D32F	point
	)

Helper routine to sample a point from the image in fiducials.

Parameters

fiducials	is the Fiducials object that contains the image.
point	is the point location to sample.

Returns: weighted sample value.

Fiducials__point_sample() will return a weighted sample value for point in the image associated with fiducials. The weight algorithm is controlled by the weights_index field of fiducials. The returned value is between 0 (black) to 255 (white).

Definition at line 1145 of file Fiducials.cpp.

int Fiducials__points_maximum	(	Fiducials	fiducials,
		CV_Point2D32F_Vector	points,
		unsigned int	start_index,
		unsigned int	end_index
	)

Return the maximum value of the points in points.

Parameters

fiducials	is the Fiducials object that contains the image.
points	is the vector of points to sample.
start_index	is the first index to start with.
end_index	is the last index to end with.

Returns: the maximum sampled value.

Fiducials__points_maximum() will sweep from start_index to end_index through points. Using each selected point in points}, the corresponding value in image is sampled. The minimum of the sampled point is returned.

Definition at line 1386 of file Fiducials.cpp.

int Fiducials__points_minimum	(	Fiducials	fiducials,
		CV_Point2D32F_Vector	points,
		unsigned int	start_index,
		unsigned int	end_index
	)

Return the minimum value of the points in points.

Parameters

fiducials	is the Fiducials object that contains the image.
points	is the vector of points to sample.
start_index	is the first index to start with.
end_index	is the last index to end with.

Returns: the minimum sampled value.

Fiducials__points_minimum() will sweep from start_index to end_index through points. Using each selected point in points}, the corresponding value in image is sampled. The minimum of the sampled point is returned.

Definition at line 1418 of file Fiducials.cpp.

Fiducials_Results Fiducials__process ( Fiducials fiducials )

Process the current image associated with fiducials.

Parameters

fiducials is the Fiducials object to use.

Returns: a Fiducials_Results that contains information about how the processing worked.

Fiducials__process() will process fiducials to determine the robot location.

Definition at line 748 of file Fiducials.cpp.

CV_Point2D32F_Vector Fiducials__references_compute	(	Fiducials	fiducials,
		CV_Point2D32F_Vector	corners
	)

Return 8 sample locations to determine if a quadralateral is worth testing for quadralateral'ness.

Parameters

fiducials	is the Fiducals object that contains the image.
corners	is the 4 potential fiducial corners.

Returns: a vector 8 places to test for ficial'ness.

Fiducials__references_compute() 4 corner points in corners to compute 8 reference points that are returned. The first 4 reference points will be just outside of the quadrateral formed by corners (i.e. the white bounding box) and the last 4 reference points are on the inside (i.e. the black bounding box). The returned vector is perminately allocated in fiducials, so it does not need to have it storage released.

Definition at line 1295 of file Fiducials.cpp.

void Fiducials__sample_points_compute	(	CV_Point2D32F_Vector	corners,
		CV_Point2D32F_Vector	sample_points
	)

Compute the fiducial locations to sample using corners

Parameters

corners	is the the 4 of the fiducials.
sample_points	is the 64 vector of points that are computed.

Fiducials__sample_points_compute() will use the 4 corners in corners as a quadralateral to compute an 8 by 8 grid of tag bit sample points and store the results into the the 64 preallocated CV_Point2D32F objects in sample_points. The quadralateral must be convex and in the counter-clockwise direction. Bit 0 will be closest to corners[1], bit 7 will be closest to corners[0], bit 56 closest to corners[2] and bit 63 closest to corners[3].

Definition at line 1452 of file Fiducials.cpp.

void Fiducials__sample_points_helper	(	String_Const	label,
		CV_Point2D32F	corner,
		CV_Point2D32F	sample_point
	)

Fiducials_Create Fiducials_Create__one_and_only ( void )

Returns the one and only Fiducials_Create object.

Returns: the one and only Fiducials_Create object.

Fiducials_Create__one_and_only() will return the one and only Fiducials_Create object. This object needs to be initalized prior to calling Fiduciasl__create().

Definition at line 1572 of file Fiducials.cpp.

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation