#include "opencv2/core.hpp"
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include "detector_common.h"
#include <cctype>
#include <stdio.h>
#include <string>
#include <sstream>
#include <math.h>
#include <iostream>
#include <fstream>

Include dependency graph for detector_color.h:

Functions
void	det_col::convert_image (InputArray image, OutputArray hsv)
	Converts an RGB image to an HSV image, ready to be used by det_col::scan_image. More...

void	det_col::scan_image (det_com::Config &config, InputArray image, InputOutputArray debug_image, vector< det_com::Block > &blocks)
	Scans an image and extracts the detected blocks using color markers. More...

void	det_col::equalize (InputArray input, OutputArray output)
	Equalize the Value channel of an image using CLAHE. More...

void	det_col::threshold (InputArray input, OutputArray output, Scalar lower, Scalar upper)
	Thresholds the image. More...

void	det_col::morphological (InputArray input, OutputArray output)
	Applies a morphological opening and closing to the black-and-white. More...

void	det_col::detect_blobs (det_com::Config &config, InputArray input, vector< KeyPoint > &keypoints)
	Extracts blobs of pixels out of a black-and-white image. More...

void	det_col::threshold_and_detect_blobs (det_com::Config &config, InputArray hsv, vector< Scalar > &colors, vector< Mat > &thresholded_images, vector< vector< KeyPoint > > &keypoints_per_color)
	Thresholds and extracts blobs out of an HSV image. More...

void	det_col::find_lines (det_com::Config &config, unsigned long count_points, vector< vector< KeyPoint > > &keypoints_per_color, InputOutputArray debug_image, vector< det_com::Line > &lines)
	Finds lines of `n` color markers. More...

void	det_col::match_lines (det_com::Config &config, unsigned long count_points, vector< vector< KeyPoint > > &keypoints_per_color, vector< det_com::Line > lines, InputOutputArray result_image, vector< det_com::Block > &blocks)
	Tries to match pair of lines (of `n` points) of parallel equidistant lines, producing blocks. More...

Function Documentation

void det_col::convert_image	(	InputArray	image,
		OutputArray	hsv
	)

Converts an RGB image to an HSV image, ready to be used by det_col::scan_image.

Parameters

image	Image to be converted
hsv	Image converted

void det_col::detect_blobs	(	det_com::Config &	config,
		InputArray	input,
		vector< KeyPoint > &	keypoints
	)

Extracts blobs of pixels out of a black-and-white image.

Warning: input should be a black-and-awhite image, such as the one outputed by mask::threshold or mask::morphological

Parameters

	config	Config to be used
	input	Image from where to extract blobs
[out]	keypoints	Empty that will contain the detected blobs

void det_col::equalize	(	InputArray	input,
		OutputArray	output
	)

Equalize the Value channel of an image using CLAHE.

Parameters

	input	Image to equalize
[out]	output	Equalized image

void det_col::find_lines	(	det_com::Config &	config,
		unsigned long	count_points,
		vector< vector< KeyPoint > > &	keypoints_per_color,
		InputOutputArray	debug_image,
		vector< det_com::Line > &	lines
	)

Finds lines of n color markers.

Parameters

config	Config to be used
count_points	`n`
keypoints_per_color	Vector of size `n` containing, for each color, a vector of detected keypoints of this color

void det_col::match_lines	(	det_com::Config &	config,
		unsigned long	count_points,
		vector< vector< KeyPoint > > &	keypoints_per_color,
		vector< det_com::Line >	lines,
		InputOutputArray	result_image,
		vector< det_com::Block > &	blocks
	)

Tries to match pair of lines (of n points) of parallel equidistant lines, producing blocks.

Parameters

config	Config to be used
count_points	`n`
keypoints_per_color	Vector of size `n` containing, for each color, a vector of detected keypoints of this color
lines	Vector containing the lines

void det_col::morphological	(	InputArray	input,
		OutputArray	output
	)

Applies a morphological opening and closing to the black-and-white.

Warning: input should be a black-and-white image, such as the one outputed by mask::threshold

Parameters

	input	Black-and-white to process
[out]	output	Black-and-white image after the processing

void det_col::scan_image	(	det_com::Config &	config,
		InputArray	image,
		InputOutputArray	debug_image,
		vector< det_com::Block > &	blocks
	)

Scans an image and extracts the detected blocks using color markers.

Warning: image should be properly converted with convert_image

Parameters

config	Config struct containing the configuration
image	Image to be scanned

void det_col::threshold	(	InputArray	input,
		OutputArray	output,
		Scalar	lower,
		Scalar	upper
	)

Thresholds the image.

Note: Hue wraps around 180. Thus, if the hue in lower is higher than the hue in upper, the threshold interval will catch any hue in [lower, 180] and [0, upper]

Parameters

	input	Image to be thresholded
[out]	output	Black-and-White image where white pixels are the ones in the interval
	lower	3-component vector corresponding to the minimum hue, saturation and value values
	upper	3-component vector corresponding to the maximum hue, saturation and value values

void det_col::threshold_and_detect_blobs	(	det_com::Config &	config,
		InputArray	hsv,
		vector< Scalar > &	colors,
		vector< Mat > &	thresholded_images,
		vector< vector< KeyPoint > > &	keypoints_per_color
	)

Thresholds and extracts blobs out of an HSV image.

Parameters

	config	Config to be used
	hsv	Image to threshold and from which to extract blobs
	colors	Vector of size `2*n` containing the interval for the different colors
[out]	thresholded_images	Empty vector that will contain the thresholded images, for debugging purposed
[out]	keypoints_per_color	Empty vector that will contain, for each color, the list of detected color marks

Functions

Function Documentation