#include <ImageProcessing.hpp>

Public Member Functions
	BVImageProcessor ()
TrackedFeature	getTracklet ()
bool	isTracking ()
bool	processROI (TrackerROI &roi)
void	setPosition (const SonarHead &cnt)
void	setTarget (const SonarHead &cnt)
	~BVImageProcessor ()
Private Member Functions
void	_update (const SonarHead &head)
cv::Mat	adjust (cv::Mat &original)
bool	associate (boost::shared_ptr< std::vector< TrackedFeature > > features)
std::pair< double, double >	deg2meter (double difflat, double difflon, double lat)
cv::Mat	histthresh (const cv::Mat &img, float min, float max, uchar max_val)
boost::shared_ptr< std::vector < TrackedFeature > >	label (cv::Mat &binary)
void	llz2xy (const SonarHead &head, TrackedFeature &tracklet)
std::pair< double, double >	meter2deg (double x, double y, double lat)
void	meter2pixel (TrackerROI &roi, TrackedFeature &tracklet)
void	pixel2meter (TrackerROI &roi, TrackedFeature &tracklet)
cv::Mat	threshold (cv::Mat &adjusted)
void	xy2llz (const SonarHead &head, TrackedFeature &tracklet)
Private Attributes
bool	foundVehicle
bool	hasTarget
bool	hasVehicle
cv::Mat	R
double	resolution
double	roi_len
cv::Mat	roiImg
cv::Point	roiOffset
TrackedFeature	target
TrackedFeature	tracklet

Detailed Description

The class incorporates the image processing for the NURC BlueView tracking system.

Definition at line 46 of file ImageProcessing.hpp.

Constructor & Destructor Documentation

BVImageProcessor::BVImageProcessor ( )

Generic constructor.

Definition at line 46 of file ImageProcessing.cpp.

BVImageProcessor::~BVImageProcessor ( )

Generic destructor.

Definition at line 53 of file ImageProcessing.cpp.

Member Function Documentation

void BVImageProcessor::_update ( const SonarHead & head ) [private]

This method updates the rotation matrix NED->XYZ conversion

Definition at line 443 of file ImageProcessing.cpp.

cv::Mat BVImageProcessor::adjust ( cv::Mat & original ) [private]

This method does the prefiltering

Definition at line 146 of file ImageProcessing.cpp.

bool BVImageProcessor::associate ( boost::shared_ptr< std::vector< TrackedFeature > > features ) [private]

Associate detections with one or more targets

Parameters:

features Features found in the image

Definition at line 246 of file ImageProcessing.cpp.

std::pair< double, double > BVImageProcessor::deg2meter	(	double	difflat,
		double	difflon,
		double	lat
	)		`[private]`

Degree to meter conversion.

Parameters:

difflat	North distance in degree
difflon	East distance in degree
lat	Latitude position in decimal degrees

Returns:: Returns pair of lat,lon degrees

These conversion where taken of Wikipedia :) http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 497 of file ImageProcessing.cpp.

TrackedFeature labust::blueview::BVImageProcessor::getTracklet ( ) [inline]

Return the info about the tracked feature

Definition at line 87 of file ImageProcessing.hpp.

cv::Mat BVImageProcessor::histthresh	(	const cv::Mat &	img,
		float	min,
		float	max,
		uchar	max_val
	)		`[private]`

Hysteresis threshold

Parameters:

img	Image to be processed
min	Minimum threshold
max	Maximum threshold
max_val	Value to assign

Definition at line 166 of file ImageProcessing.cpp.

bool labust::blueview::BVImageProcessor::isTracking ( ) [inline]

Checks if the tracker has found the vehicle

Definition at line 82 of file ImageProcessing.hpp.

boost::shared_ptr< std::vector< TrackedFeature > > BVImageProcessor::label ( cv::Mat & binary ) [private]

This method does the analysis

Definition at line 215 of file ImageProcessing.cpp.

void BVImageProcessor::llz2xy	(	const SonarHead &	head,
		TrackedFeature &	tracklet
	)		`[private]`

This method converts the estimated world lat-lon-z feature coordinates to the in x-y coordianates in the sonar head.

Parameters:

head	The sonar head information
tracklet	The tracked feature information

Definition at line 335 of file ImageProcessing.cpp.

std::pair< double, double > BVImageProcessor::meter2deg	(	double	x,
		double	y,
		double	lat
	)		`[private]`

Meters to degree conversion.

Parameters:

x	North distance in meters
y	East distance in meters
lat	Latitude position in decimal degrees

Returns:: Returns pair of lat,lon degrees

These conversion where taken of Wikipedia :) http://en.wikipedia.org/wiki/Geographic_coordinate_system#Cartesian_coordinates

Definition at line 483 of file ImageProcessing.cpp.

void BVImageProcessor::meter2pixel	(	TrackerROI &	roi,
		TrackedFeature &	tracklet
	)		`[inline, private]`

Caluclate the pixel position based on ROI information and sonar head X-Y position

Definition at line 415 of file ImageProcessing.cpp.

void BVImageProcessor::pixel2meter	(	TrackerROI &	roi,
		TrackedFeature &	tracklet
	)		`[inline, private]`

Caluclate the pixel position back to sonar head X-Y position

Definition at line 430 of file ImageProcessing.cpp.

bool BVImageProcessor::processROI ( TrackerROI & roi )

Main method for processing an ROI. Currently no automatic detection is supported. You need to set the initial vehicle position.

Parameters:

roi	The ROI object.

Definition at line 56 of file ImageProcessing.cpp.

void BVImageProcessor::setPosition ( const SonarHead & cnt )

Set manually the inital vehicle contact.

Parameters:

cnt	Conntact information in the SonarHead structure

Definition at line 297 of file ImageProcessing.cpp.

void BVImageProcessor::setTarget ( const SonarHead & cnt )

Set manually the inital vehicle contact.

Parameters:

cnt	Conntact information in the SonarHead structure

Definition at line 316 of file ImageProcessing.cpp.

cv::Mat BVImageProcessor::threshold ( cv::Mat & adjusted ) [private]

This method does the thresholding

Definition at line 156 of file ImageProcessing.cpp.

void BVImageProcessor::xy2llz	(	const SonarHead &	head,
		TrackedFeature &	tracklet
	)		`[private]`

This method converts the features x-y coordinates in the sonar head to the world lat-lon-z.

Parameters:

head	The sonar head information
tracklet	The tracked feature information

Definition at line 389 of file ImageProcessing.cpp.

Member Data Documentation

bool labust::blueview::BVImageProcessor::foundVehicle [private]

Flag to indicate processing found the vehicle

Definition at line 202 of file ImageProcessing.hpp.

bool labust::blueview::BVImageProcessor::hasTarget [private]

Target found indicator.

Definition at line 206 of file ImageProcessing.hpp.

bool labust::blueview::BVImageProcessor::hasVehicle [private]

Flag to indicate vehicle set point

Definition at line 198 of file ImageProcessing.hpp.

cv::Mat labust::blueview::BVImageProcessor::R [private]

Rotation matrix NED->XYZ

Definition at line 194 of file ImageProcessing.hpp.

double labust::blueview::BVImageProcessor::resolution [private]

Meter resolution

Definition at line 190 of file ImageProcessing.hpp.

double labust::blueview::BVImageProcessor::roi_len [private]

Size of the region of interest

Definition at line 186 of file ImageProcessing.hpp.

cv::Mat labust::blueview::BVImageProcessor::roiImg [private]

Internal roi

Definition at line 178 of file ImageProcessing.hpp.

cv::Point labust::blueview::BVImageProcessor::roiOffset [private]

Internal roi offset

Definition at line 182 of file ImageProcessing.hpp.

TrackedFeature labust::blueview::BVImageProcessor::target [private]

Target feature information

Definition at line 174 of file ImageProcessing.hpp.

TrackedFeature labust::blueview::BVImageProcessor::tracklet [private]

Tracked feature information

Definition at line 170 of file ImageProcessing.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation