The Travis class implements all the algorithms on a single image.

#include <TravisLib.hpp>

Public Member Functions
	Travis (bool quiet=true, bool overwrite=true)

bool	setCvMat (const cv::Mat &image)

bool	setBinCvMat (const cv::Mat &image)

bool	binarize (const char *algorithm)

bool	binarize (const char *algorithm, const double &threshold)

bool	binarize (const char *algorithm, const double &min, const double &max)

void	morphClosing (const int &closure)

void	morphOpening (const int &opening)

int	blobize (const int &maxNumBlobs)

void	pushContour (const std::vector< cv::Point > &contour)

bool	getBlobsXY (std::vector< cv::Point2d > &locations)

bool	getBlobsArea (std::vector< double > &areas)

bool	getBlobsSolidity (std::vector< double > &solidities)

bool	getBlobsRect (std::vector< cv::Rect > &rects)

bool	getBlobsAngle (const int &method, std::vector< double > &angles)

bool	getBlobsAspectRatio (std::vector< double > &aspectRatios, std::vector< double > &axisFirsts, std::vector< double > &axisSeconds)

bool	getBlobsPerimeter (std::vector< double > &perimeters)

bool	getBlobsRectangularity (std::vector< double > &rectangularities)

bool	getBlobsHSV (std::vector< double > &hues, std::vector< double > &vals, std::vector< double > &sats, std::vector< double > &hueStdDevs, std::vector< double > &valStdDevs, std::vector< double > &satStdDevs)

cv::Mat &	getCvMat (const int &image, const int &vizualization)

void	release ()

Protected Attributes
bool	_quiet

bool	_overwrite

cv::Mat	_img

cv::Mat	_imgHsv

cv::Mat	_imgBin

cv::Mat	_imgBin3

std::vector< std::vector< cv::Point > >	_contours

std::vector< cv::RotatedRect >	_minRotatedRects

Constructor & Destructor Documentation

◆ Travis()

roboticslab::Travis::Travis	(	bool	quiet = `true`,
		bool	overwrite = `true`
	)

inline

Travis class constructor.

Parameters

quiet	suppress messages displayed upon success/failure.
overwrite	will not make a copy (faster, less memory), but will overwrite the image you pass.

Member Function Documentation

◆ binarize() [1/3]

bool roboticslab::Travis::binarize ( const char * algorithm )

Binarize the image.

Parameters

algorithm implemented: "redMinusGreen", "greenMinusRed".

◆ binarize() [2/3]

bool roboticslab::Travis::binarize	(	const char *	algorithm,
		const double &	min,
		const double &	max
	)

Binarize the image.

Parameters

algorithm	implemented: "redMinusGreen", "greenMinusRed".
min	i.e. 110.
max	i.e. 130.

◆ binarize() [3/3]

bool roboticslab::Travis::binarize	(	const char *	algorithm,
		const double &	threshold
	)

Binarize the image.

Parameters

algorithm	implemented: "redMinusGreen", "greenMinusRed".
threshold	i.e. 50.

◆ blobize()

int roboticslab::Travis::blobize ( const int & maxNumBlobs )

Use findContours to get what we use as blobs.

Parameters

maxNumBlobs the number of max blobs to keep, the rest get truncated.

Returns: number of blobs detected (can be 0), truncated by maxNumBlobs.

◆ getBlobsAngle()

bool roboticslab::Travis::getBlobsAngle	(	const int &	method,
		std::vector< double > &	angles
	)

This function calculates ALPHA, and _minRotatedRects as a side effect.

Parameters

method	0=box, 1=ellipse.
angles	returned.

◆ getBlobsArea()

bool roboticslab::Travis::getBlobsArea ( std::vector< double > & areas )

This function calculates the Area of the blobs (contours).

Parameters

areas returned.

◆ getBlobsAspectRatio()

bool roboticslab::Travis::getBlobsAspectRatio	(	std::vector< double > &	aspectRatios,
		std::vector< double > &	axisFirsts,
		std::vector< double > &	axisSeconds
	)

This function calculates the Aspect Ratios and Axes of the stored _minRotatedRects.

Parameters

aspectRatios	returned.
axisFirsts	returned.
axisSeconds	returned.

◆ getBlobsHSV()

bool roboticslab::Travis::getBlobsHSV	(	std::vector< double > &	hues,
		std::vector< double > &	vals,
		std::vector< double > &	sats,
		std::vector< double > &	hueStdDevs,
		std::vector< double > &	valStdDevs,
		std::vector< double > &	satStdDevs
	)

This function calculates HSV Means and Standard Deviations.

Parameters

hues	returned.
vals	returned.
sats	returned.
hueStdDevs	returned.
valStdDevs	returned.
satStdDevs	returned.

◆ getBlobsRectangularity()

bool roboticslab::Travis::getBlobsRectangularity ( std::vector< double > & rectangularities )

This function calculates the Rectangularities of the stored _minRotatedRects.

Parameters

rectangularities returned.

◆ getBlobsSolidity()

bool roboticslab::Travis::getBlobsSolidity ( std::vector< double > & solidities )

This function calculates the Solidity of the blobs (contours).

Parameters

solidities returned.

◆ getBlobsXY()

bool roboticslab::Travis::getBlobsXY ( std::vector< cv::Point2d > & locations )

This function calculates X and Y as moments directly extracted from the stored contours.

Parameters

locations returned.

◆ getCvMat()

cv::Mat & roboticslab::Travis::getCvMat	(	const int &	image,
		const int &	vizualization
	)

Get the image in cv::Mat format.

Parameters

image
vizualization	param, 0=None,1=Box,2=Contour,3=Both.

Returns: the image, in cv::Mat format.

◆ morphClosing()

void roboticslab::Travis::morphClosing ( const int & closure )

Morphologically closing the binarized image.

Parameters

closure i.e. 4 for a 100x100 image, 15 for higher resolution.

◆ morphOpening()

void roboticslab::Travis::morphOpening ( const int & opening )

Morphologically opening the binarized image.

Parameters

opening i.e. 4 for a 100x100 image, 15 for higher resolution.

◆ pushContour()

void roboticslab::Travis::pushContour ( const std::vector< cv::Point > & contour )

Push a contour.

Parameters

contour to be pushed on to the stack. Use with care.

◆ release()

void roboticslab::Travis::release ( )

Release _img and _imgBin3 to prevent memory leaks.

◆ setBinCvMat()

bool roboticslab::Travis::setBinCvMat ( const cv::Mat & image )

Set the image in cv::Mat format.

Parameters

image the image to set, in cv::Mat format.

Returns: true if the object was set successfully.

◆ setCvMat()

bool roboticslab::Travis::setCvMat ( const cv::Mat & image )

Set the image in cv::Mat format.

Parameters

image the image to set, in cv::Mat format.

Returns: true if the object was set successfully.

Member Data Documentation

◆ _contours

std::vector<std::vector<cv::Point> > roboticslab::Travis::_contours

protected

Store the contours (blob contours).

◆ _img

cv::Mat roboticslab::Travis::_img

protected

Store the image in cv::Mat format.

◆ _imgBin

cv::Mat roboticslab::Travis::_imgBin

protected

Store the binary image in cv::Mat format.

◆ _imgBin3

cv::Mat roboticslab::Travis::_imgBin3

protected

Store the binary image fit for 3 layer sending in cv::Mat format.

◆ _imgHsv

cv::Mat roboticslab::Travis::_imgHsv

protected

Store the hsv image in cv::Mat format.

◆ _minRotatedRects

std::vector<cv::RotatedRect> roboticslab::Travis::_minRotatedRects

protected

Store the box.

◆ _overwrite

bool roboticslab::Travis::_overwrite

protected

Store the overwrite parameter.

◆ _quiet

bool roboticslab::Travis::_quiet

protected

Store the verbosity level.

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

libraries/TravisLib/TravisLib.hpp
libraries/TravisLib/TravisLib.cpp

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ Travis()

Member Function Documentation

◆ binarize() [1/3]

◆ binarize() [2/3]

◆ binarize() [3/3]

◆ blobize()

◆ getBlobsAngle()

◆ getBlobsArea()

◆ getBlobsAspectRatio()

◆ getBlobsHSV()

◆ getBlobsRectangularity()

◆ getBlobsSolidity()

◆ getBlobsXY()

◆ getCvMat()

◆ morphClosing()

◆ morphOpening()

◆ pushContour()

◆ release()

◆ setBinCvMat()

◆ setCvMat()

Member Data Documentation

◆ _contours

◆ _img

◆ _imgBin

◆ _imgBin3

◆ _imgHsv

◆ _minRotatedRects

◆ _overwrite

◆ _quiet