outlet_pose_estimation: outlet_detector.h Source File

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00001 /*
00002  *  outlet_detector.h
00003  *  outlet_sample
00004  *
00005  *  Created by Victor  Eruhimov on 2/19/09.
00006  *  Copyright 2009 Argus Corp. All rights reserved.
00007  *
00008  */
00009 
00010 #if !defined(_OUTLET_DETECTOR_H)
00011 #define _OUTLET_DETECTOR_H
00012 
00013 #include <vector>
00014 
00015 #include "outlet_pose_estimation/detail/outlet_model.h"
00016 
00017 
00018 // detect_outlet_tuple: high-level function for detecting 4 orange outlets
00019 // Input parameters:
00020 //      src: input color image
00021 //      intrinsic_matrix: camera matrix of intrinsic parameters
00022 //      distortion_params: vector of distortion parameters
00023 //      outlets: output vector of outlets
00024 //  outlet_templ: a geometrical template for an array of outlets
00025 //      output_path, filename: optional path and filename for logging the results
00026 // Return value: 1 in case of success (found 4 outlets), 0 otherwise.
00027 int detect_outlet_tuple(IplImage* src, CvMat* intrinsic_matrix, CvMat* distortion_params,
00028         std::vector<outlet_t>& outlets, const outlet_template_t& outlet_templ = outlet_template_t(),
00029         const char* output_path = 0, const char* filename = 0, float* scale_ranges = 0);
00030 
00031 int detect_outlet_tuple_2x2_orange(IplImage* src, CvMat* intrinsic_matrix, CvMat* distortion_params,
00032                                    std::vector<outlet_t>& outlets, const outlet_template_t& outlet_templ,
00033                                    const char* output_path, const char* filename);
00034 
00035 int detect_outlet_tuple_2x1(IplImage* src, CvMat* intrinsic_matrix, CvMat* distortion_params,
00036                                    std::vector<outlet_t>& outlets, const outlet_template_t& outlet_templ,
00037                                    const char* output_path, const char* filename);
00038 
00039 int detect_outlet_tuple_2x1_orange(IplImage* src, CvMat* intrinsic_matrix, CvMat* distortion_params,
00040                                    std::vector<outlet_t>& outlets, const outlet_template_t& outlet_templ,
00041                                    const char* output_path, const char* filename);
00042 
00043 void features2outlets_2x1(const std::vector<feature_t>& features, std::vector<outlet_t>& outlets);
00044 
00045 void calc_outlet_3d_coord_2x2(CvMat* intrinsic_matrix, const outlet_template_t& outlet_templ, std::vector<outlet_t>& outlets);
00046 
00047 
00048 #endif //_OUTLET_DETECTOR_H