blob_detector.h
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00005  *  Copyright (c) 2017
00006  *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00036  * Notes:
00037  * The following code makes use of the OpenCV library.
00038  * OpenCV is licensed under the terms of the 3-clause BSD License.
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00040  * Authors: Franz Albers, Christoph Rösmann
00041  *********************************************************************/
00042 
00043 #ifndef BLOBDETECTOR_H_
00044 #define BLOBDETECTOR_H_
00045 
00046 // Basically the OpenCV SimpleBlobDetector, extended with getContours()
00047 
00048 #include <opencv2/features2d/features2d.hpp>
00049 
00060 class BlobDetector : public cv::SimpleBlobDetector
00061 {
00062 public:
00064   BlobDetector(const cv::SimpleBlobDetector::Params& parameters = cv::SimpleBlobDetector::Params());
00065 
00067   static cv::Ptr<BlobDetector> create(const BlobDetector::Params& params);
00068 
00083   virtual void detect(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints,
00084                       const cv::Mat& mask = cv::Mat());
00085 
00090   const std::vector<std::vector<cv::Point>>& getContours() { return contours_; }
00091 
00093   void updateParameters(const cv::SimpleBlobDetector::Params& parameters);
00094 
00095 protected:
00096   struct Center
00097   {
00098     cv::Point2d location;
00099     double radius;
00100     double confidence;
00101   };
00102 
00103   virtual void findBlobs(const cv::Mat& image, const cv::Mat& binary_image, std::vector<Center>& centers,
00104                          std::vector<std::vector<cv::Point>>& cur_contours) const;
00105 
00106   std::vector<std::vector<cv::Point>> contours_;
00107 
00108   Params params_;
00109 };
00110 
00111 #endif // BLOBDETECTOR_H_


costmap_converter
Author(s): Christoph Rösmann , Franz Albers , Otniel Rinaldo
autogenerated on Sat Jun 8 2019 20:53:15