| #ifndef _Y2019_VISION_TARGET_FINDER_H_ |
| #define _Y2019_VISION_TARGET_FINDER_H_ |
| |
| #include "aos/vision/blob/region_alloc.h" |
| #include "aos/vision/blob/threshold.h" |
| #include "aos/vision/blob/transpose.h" |
| #include "aos/vision/debug/overlay.h" |
| #include "aos/vision/math/vector.h" |
| #include "y2019/vision/target_types.h" |
| |
| namespace y2019 { |
| namespace vision { |
| |
| using aos::vision::ImageRange; |
| using aos::vision::RangeImage; |
| using aos::vision::BlobList; |
| using aos::vision::Vector; |
| |
| class TargetFinder { |
| public: |
| TargetFinder(); |
| // Turn a raw image into blob range image. |
| aos::vision::RangeImage Threshold(aos::vision::ImagePtr image); |
| |
| // Value against which we threshold. |
| uint8_t GetThresholdValue() { return 120; } |
| |
| // filter out obvious or durranged blobs. |
| void PreFilter(BlobList *imgs); |
| |
| // Turn a blob into a polgygon. |
| std::vector<aos::vision::Segment<2>> FillPolygon(const RangeImage &blob, |
| bool verbose); |
| |
| // Turn a bloblist into components of a target. |
| std::vector<TargetComponent> FillTargetComponentList( |
| const std::vector<std::vector<aos::vision::Segment<2>>> &seg_list); |
| |
| // Piece the compenents together into a target. |
| std::vector<Target> FindTargetsFromComponents( |
| const std::vector<TargetComponent> component_list, bool verbose); |
| |
| // Given a target solve for the transformation of the template target. |
| IntermediateResult ProcessTargetToResult(const Target &target, bool verbose); |
| |
| std::vector<IntermediateResult> FilterResults( |
| const std::vector<IntermediateResult> &results); |
| |
| // Get the local overlay for debug if we are doing that. |
| aos::vision::PixelLinesOverlay *GetOverlay() { return &overlay_; } |
| |
| // Convert target location into meters and radians. |
| void GetAngleDist(const aos::vision::Vector<2> &target, double down_angle, |
| double *dist, double *angle); |
| |
| // Return the template target in a normalized space. |
| const Target &GetTemplateTarget() { return target_template_; } |
| |
| const IntrinsicParams &intrinsics() const { return intrinsics_; } |
| |
| private: |
| // Find a loosly connected target. |
| double DetectConnectedTarget(const RangeImage &img); |
| |
| aos::vision::PixelLinesOverlay overlay_; |
| |
| aos::vision::AnalysisAllocator alloc_; |
| |
| // The template for the default target in the standard space. |
| Target target_template_; |
| |
| IntrinsicParams intrinsics_; |
| |
| ExtrinsicParams default_extrinsics_; |
| }; |
| |
| } // namespace vision |
| } // namespace y2019 |
| |
| #endif |