BlobDetector Class Reference

Detect blobs in image (specialized for dynamic obstacles in the costmap) More...

#include <blob_detector.h>

Inheritance diagram for BlobDetector:

Classes
struct	Center

Public Member Functions
	BlobDetector (const cv::SimpleBlobDetector::Params &parameters=cv::SimpleBlobDetector::Params())
	Default constructor which optionally accepts custom parameters. More...
virtual void	detect (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, const cv::Mat &mask=cv::Mat())
	Detects keypoints in an image and extracts contours. More...
const std::vector< std::vector< cv::Point > > &	getContours ()
	Access contours extracted during detection stage. More...
void	updateParameters (const cv::SimpleBlobDetector::Params &parameters)
	Update internal parameters. More...

Static Public Member Functions
static cv::Ptr< BlobDetector >	create (const BlobDetector::Params &params)
	Create shared instance of the blob detector with given parameters. More...

Protected Member Functions
virtual void	findBlobs (const cv::Mat &image, const cv::Mat &binary_image, std::vector< Center > &centers, std::vector< std::vector< cv::Point >> &cur_contours) const

Protected Attributes
std::vector< std::vector< cv::Point > >	contours_
Params	params_

Detailed Description

Detect blobs in image (specialized for dynamic obstacles in the costmap)

This class is based on OpenCV's blob detector cv::SimpleBlobDetector. It has been modified and specialized for dynamic obstacle tracking in the costmap: -> The modified version also returns contours of the blob.

See http://docs.opencv.org/trunk/d0/d7a/classcv_1_1SimpleBlobDetector.html for the original class.

Definition at line 60 of file blob_detector.h.

Constructor & Destructor Documentation

BlobDetector::BlobDetector

(

const cv::SimpleBlobDetector::Params &

parameters = cv::SimpleBlobDetector::Params()

)

Default constructor which optionally accepts custom parameters.

Definition at line 5 of file blob_detector.cpp.

Member Function Documentation

cv::Ptr< BlobDetector > BlobDetector::create ( const BlobDetector::Params &  params )

static

Create shared instance of the blob detector with given parameters.

Definition at line 7 of file blob_detector.cpp.

void BlobDetector::detect ( const cv::Mat &  image, std::vector< cv::KeyPoint > &  keypoints, const cv::Mat &  mask = cv::Mat()  )

virtual

Detects keypoints in an image and extracts contours.

In contrast to the original detect method, this extended version also extracts contours. Contours can be accessed by getContours() after invoking this method.

Todo:

The mask option is currently not implemented.

Parameters

image	image
keypoints	The detected keypoints.
mask	Mask specifying where to look for keypoints (optional). It must be a 8-bit integer matrix with non-zero values in the region of interest.

Definition at line 13 of file blob_detector.cpp.

void BlobDetector::findBlobs ( const cv::Mat &  image, const cv::Mat &  binary_image, std::vector< Center > &  centers, std::vector< std::vector< cv::Point >> &  cur_contours  ) const

protectedvirtual

Definition at line 93 of file blob_detector.cpp.

const std::vector<std::vector<cv::Point> >& BlobDetector::getContours ( )

inline

Access contours extracted during detection stage.

Returns

Read-only reference to the contours set of the previous detect() run

Definition at line 90 of file blob_detector.h.

void BlobDetector::updateParameters

(

const cv::SimpleBlobDetector::Params &

parameters

)

Update internal parameters.

Definition at line 190 of file blob_detector.cpp.

Member Data Documentation

std::vector<std::vector<cv::Point> > BlobDetector::contours_

protected

Definition at line 106 of file blob_detector.h.

Params BlobDetector::params_

protected

Definition at line 108 of file blob_detector.h.

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

• blob_detector.h
• blob_detector.cpp