#include <ellipses_detection.h>

Inheritance diagram for tuw::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_TUW_SIMPLE = 2, EDGE_LINKING_TUW_COMPLEX = 3, EDGE_LINKING_TUW_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
tuw::Camera	camera_

tuw::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 ellipses_detection.h.

Member Enumeration Documentation

enum tuw::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 ellipses_detection.h.

enum tuw::EllipsesDetection::EdgeDetection

Enumerator
EDGE_DETECTION_THRESHOLD
EDGE_DETECTION_CANNY

Definition at line 56 of file ellipses_detection.h.

enum tuw::EllipsesDetection::EdgeLinking

Enumerator
EDGE_LINKING_OPENCV_APPROX_NONE
EDGE_LINKING_OPENCV_APPROX_SIMPLE
EDGE_LINKING_TUW_SIMPLE
EDGE_LINKING_TUW_COMPLEX
EDGE_LINKING_TUW_CONTOUR

Definition at line 60 of file ellipses_detection.h.

enum tuw::EllipsesDetection::PoseEstimation

Enumerator
POSE_ESTIMATION_OFF
POSE_ESTIMATION_SOLVEPNP
POSE_ESTIMATION_FROM_ELLIPSE

Definition at line 51 of file ellipses_detection.h.

Constructor & Destructor Documentation

EllipsesDetection::EllipsesDetection ( Parameters * parm )

Definition at line 38 of file ellipses_detection.cpp.

EllipsesDetection::~EllipsesDetection ( )

Definition at line 33 of file ellipses_detection.cpp.

Member Function Documentation

void EllipsesDetection::contour_detection ( )

protected

Definition at line 94 of file ellipses_detection.cpp.

void EllipsesDetection::createEllipseCanditates ( )

protected

Definition at line 42 of file ellipses_detection.cpp.

void EllipsesDetection::createRings ( )

protected

Definition at line 190 of file ellipses_detection.cpp.

void EllipsesDetection::draw_ellipses ( cv::Mat & m )

protected

Matlab Debug output

Definition at line 30 of file ellipses_draw.cpp.

void EllipsesDetection::edge_detection ( const cv::Mat & m )

protected

Definition at line 81 of file ellipses_detection.cpp.

EllipsesDetection::DetectionState EllipsesDetection::EllipseRedefinement ( Ellipse & ellipse )

protected

Definition at line 169 of file ellipses_detection.cpp.

void EllipsesDetection::estimatePoses ( )

protected

Definition at line 253 of file ellipses_detection.cpp.

EllipsesDetection::DetectionState EllipsesDetection::filterContour ( Ellipse & ellipse )

protected

Definition at line 69 of file ellipses_detection.cpp.

EllipsesDetection::DetectionState EllipsesDetection::filterContourMean ( Ellipse & ellipse )

protected

Definition at line 224 of file ellipses_detection.cpp.

EllipsesDetection::DetectionState EllipsesDetection::filterEllipse ( Ellipse & ellipse )

protected

Definition at line 180 of file ellipses_detection.cpp.

void tuw::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

Definition at line 123 of file ellipses_detection.cpp.

void EllipsesDetection::next ( )

protected

Definition at line 218 of file ellipses_detection.cpp.

Member Data Documentation

tuw::Camera tuw::EllipsesDetection::camera_

protected

Definition at line 186 of file ellipses_detection.h.

tuw::Contour tuw::EllipsesDetection::contour_detector_

protected

Definition at line 185 of file ellipses_detection.h.

std::vector< std::vector<cv::Point> > tuw::EllipsesDetection::contours_

protected

Definition at line 173 of file ellipses_detection.h.

std::vector<Ellipse> tuw::EllipsesDetection::ellipses_

protected

Definition at line 174 of file ellipses_detection.h.

cv::Mat tuw::EllipsesDetection::imgBlured_

protected

Definition at line 176 of file ellipses_detection.h.

cv::Mat tuw::EllipsesDetection::imgDirection_

protected

Definition at line 179 of file ellipses_detection.h.

cv::Mat tuw::EllipsesDetection::imgEdges_

protected

Definition at line 177 of file ellipses_detection.h.

cv::Mat tuw::EllipsesDetection::imgGradient_

protected

Definition at line 178 of file ellipses_detection.h.

cv::Mat tuw::EllipsesDetection::imgGray_

protected

Definition at line 175 of file ellipses_detection.h.

cv::Mat tuw::EllipsesDetection::imgSobelDx_

protected

Definition at line 180 of file ellipses_detection.h.

cv::Mat tuw::EllipsesDetection::imgSobelDy_

protected

Definition at line 181 of file ellipses_detection.h.

cv::Mat_<cv::Point2f> tuw::EllipsesDetection::lookupUndistor_

protected

Definition at line 182 of file ellipses_detection.h.

unsigned long tuw::EllipsesDetection::loop_count

protected

Definition at line 184 of file ellipses_detection.h.

std::list<Marker> tuw::EllipsesDetection::markers_

protected

Definition at line 183 of file ellipses_detection.h.

Parameters* tuw::EllipsesDetection::param_

protected

Definition at line 159 of file ellipses_detection.h.

boost::posix_time::ptime tuw::EllipsesDetection::tstamp_

protected

Definition at line 187 of file ellipses_detection.h.

boost::posix_time::ptime tuw::EllipsesDetection::tstampLast_

protected

Definition at line 188 of file ellipses_detection.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation