#include <v4r_ellipses.h>

Inheritance diagram for V4R::EllipsesDetection:

Classes
class	Ellipse
class	Marker
class	ObliqueCone
struct	Parameters
Public Types
enum	DetectionState { VALID = 0, NA = 1, INVALID_CONTOUR_POINTS, INVALID_CONTOUR_CONVEX, INVALID_ROTATED_RECT_RATIO, INVALID_CONTOUR_MEAN, INVALID_MIN_RAIDUS, INVALID_MAX_RAIDUS, INVALID_NO_RING, INVALID_IS_INNER_RING, INVALID_ELLIPSE }
enum	EdgeDetection { EDGE_DETECTION_THRESHOLD = 0, EDGE_DETECTION_CANNY = 1 }
enum	EdgeLinking { EDGE_LINKING_OPENCV_APPROX_NONE = 0, EDGE_LINKING_OPENCV_APPROX_SIMPLE = 1, EDGE_LINKING_V4R_SIMPLE = 2, EDGE_LINKING_V4R_COMPLEX = 3, EDGE_LINKING_V4R_CONTOUR = 4 }
enum	PoseEstimation { POSE_ESTIMATION_OFF = 0, POSE_ESTIMATION_SOLVEPNP = 1, POSE_ESTIMATION_FROM_ELLIPSE = 2 }
Public Member Functions
	EllipsesDetection (Parameters *parm)
	~EllipsesDetection ()
Protected Member Functions
void	contour_detection ()
void	createEllipseCanditates ()
void	createRings ()
void	draw_ellipses (cv::Mat &m)
void	edge_detection (const cv::Mat &m)
DetectionState	EllipseRedefinement (Ellipse &ellipse)
void	estimatePoses ()
DetectionState	filterContour (Ellipse &ellipse)
DetectionState	filterContourMean (Ellipse &ellipse)
DetectionState	filterEllipse (Ellipse &ellipse)
void	filterShapes ()
void	fit_ellipses_opencv (const cv::Mat &m, const cv::Mat cameraMatrix, const cv::Mat distCoeffs, const cv::Mat projectionMatrix, const boost::posix_time::ptime &tstamp)
void	next ()
Protected Attributes
V4R::Camera	camera_
V4R::Contour	contour_detector_
std::vector< std::vector < cv::Point > >	contours_
std::vector< Ellipse >	ellipses_
cv::Mat	imgBlured_
cv::Mat	imgDirection_
cv::Mat	imgEdges_
cv::Mat	imgGradient_
cv::Mat	imgGray_
cv::Mat	imgSobelDx_
cv::Mat	imgSobelDy_
cv::Mat_< cv::Point2f >	lookupUndistor_
unsigned long	loop_count
std::list< Marker >	markers_
Parameters *	param_
boost::posix_time::ptime	tstamp_
boost::posix_time::ptime	tstampLast_

Detailed Description

Definition at line 36 of file v4r_ellipses.h.

Member Enumeration Documentation

enum V4R::EllipsesDetection::DetectionState

Enumerator:

VALID
NA
INVALID_CONTOUR_POINTS
INVALID_CONTOUR_CONVEX
INVALID_ROTATED_RECT_RATIO
INVALID_CONTOUR_MEAN
INVALID_MIN_RAIDUS
INVALID_MAX_RAIDUS
INVALID_NO_RING
INVALID_IS_INNER_RING
INVALID_ELLIPSE

Definition at line 38 of file v4r_ellipses.h.

enum V4R::EllipsesDetection::EdgeDetection

Enumerator:

EDGE_DETECTION_THRESHOLD
EDGE_DETECTION_CANNY

Definition at line 56 of file v4r_ellipses.h.

enum V4R::EllipsesDetection::EdgeLinking

Enumerator:

EDGE_LINKING_OPENCV_APPROX_NONE
EDGE_LINKING_OPENCV_APPROX_SIMPLE
EDGE_LINKING_V4R_SIMPLE
EDGE_LINKING_V4R_COMPLEX
EDGE_LINKING_V4R_CONTOUR

Definition at line 60 of file v4r_ellipses.h.

enum V4R::EllipsesDetection::PoseEstimation

Enumerator:

POSE_ESTIMATION_OFF
POSE_ESTIMATION_SOLVEPNP
POSE_ESTIMATION_FROM_ELLIPSE

Definition at line 51 of file v4r_ellipses.h.

Constructor & Destructor Documentation

EllipsesDetection::EllipsesDetection ( Parameters * parm )

Definition at line 38 of file v4r_ellipses.cpp.

EllipsesDetection::~EllipsesDetection ( )

Definition at line 33 of file v4r_ellipses.cpp.

Member Function Documentation

void EllipsesDetection::contour_detection ( ) [protected]

Definition at line 94 of file v4r_ellipses.cpp.

void EllipsesDetection::createEllipseCanditates ( ) [protected]

Definition at line 42 of file v4r_ellipses.cpp.

void EllipsesDetection::createRings ( ) [protected]

Definition at line 190 of file v4r_ellipses.cpp.

void EllipsesDetection::draw_ellipses ( cv::Mat & m ) [protected]

Matlab Debug output

Definition at line 29 of file v4r_ellipses_draw.cpp.

void EllipsesDetection::edge_detection ( const cv::Mat & m ) [protected]

Definition at line 81 of file v4r_ellipses.cpp.

EllipsesDetection::DetectionState EllipsesDetection::EllipseRedefinement ( Ellipse & ellipse ) [protected]

Definition at line 169 of file v4r_ellipses.cpp.

void EllipsesDetection::estimatePoses ( ) [protected]

Definition at line 253 of file v4r_ellipses.cpp.

EllipsesDetection::DetectionState EllipsesDetection::filterContour ( Ellipse & ellipse ) [protected]

Definition at line 69 of file v4r_ellipses.cpp.

EllipsesDetection::DetectionState EllipsesDetection::filterContourMean ( Ellipse & ellipse ) [protected]

Definition at line 224 of file v4r_ellipses.cpp.

EllipsesDetection::DetectionState EllipsesDetection::filterEllipse ( Ellipse & ellipse ) [protected]

Definition at line 180 of file v4r_ellipses.cpp.

void V4R::EllipsesDetection::filterShapes ( ) [protected]

void EllipsesDetection::fit_ellipses_opencv	(	const cv::Mat &	m,
		const cv::Mat	cameraMatrix,
		const cv::Mat	distCoeffs,
		const cv::Mat	projectionMatrix,
		const boost::posix_time::ptime &	tstamp
	)		`[protected]`