StraightEdgeFinder.H

00001 #include "Component/ModelManager.H"
00002 #include "Component/OptionManager.H"
00003 
00004 #include "Component/ModelComponent.H"
00005 #include "Component/ModelParam.H"
00006 #include "Media/FrameSeries.H"
00007 #include "Transport/FrameInfo.H"
00008 #include "Raster/GenericFrame.H"
00009 #include "Image/Image.H"
00010 #include "GUI/XWinManaged.H"
00011 #include "GUI/ImageDisplayStream.H"
00012 #include "Image/Image.H"
00013 #include "Image/Pixels.H"
00014 #include "Robots/SeaBeeIII/VisionBrainComponentI.H"
00015 
00016 #include "Ice/RobotBrainObjects.ice.H"
00017 #include "Ice/RobotSimEvents.ice.H"
00018 #include "Ice/IceImageUtils.H"
00019 #include <opencv/cv.h>
00020 #include <IceUtil/Thread.h>
00021 
00022 #include "Image/Point2D.H"
00023 #include "MBARI/Geometry2D.H"
00024 #include "VFAT/segmentImageTrackMC.H"
00025 
00026 #ifndef STRAIGHT_EDGE_FINDER_H
00027 #define STRAIGHT_EDGE_FINDER_H
00028 
00029 
00030 class StraightEdgeFinder : public VisionBrainComponentI
00031 {
00032 public:
00033 
00034   StraightEdgeFinder(OptionManager& mgr,
00035       const std::string& descrName = "StraightEdgeFinder",
00036       const std::string& tagName = "StraightEdgeFinder");
00037 
00038   ~StraightEdgeFinder();
00039 
00040   virtual void updateFrame(Image<PixRGB<byte> > img, std::string cameraId);
00041 
00042   virtual void registerTopics();
00043 
00044   enum PipeRecognizeMethod { HOUGH, LINE_BEST_FIT, CONTOUR };
00045 
00046 private:
00047 
00048   std::vector<LineSegment2D> getPipeLocation
00049   (rutz::shared_ptr<Image<byte> > colorSegmentedImage,
00050    rutz::shared_ptr<Image<PixRGB <byte> > > outputImage,
00051    PipeRecognizeMethod method);
00052 
00053   std::vector<LineSegment2D> calculateHoughTransform
00054   (Image<byte>& colorSegmentedImage,
00055    rutz::shared_ptr<Image<PixRGB<byte> > > outputImage);
00056 
00057   uint calculateLineBestFit
00058   (Image<byte>  &colorSegmentedImage,
00059    Image<PixRGB <byte> >  &outputImage,
00060    Point2D<int> &pipeCenter,
00061    double &pipeAngle);
00062 
00063   uint calculateContours
00064   (Image<byte>  &colorSegmentedImage,
00065    Image<PixRGB <byte> >  &outputImage,
00066    Point2D<int> &pipeCenter,
00067    double &pipeAngle);
00068 
00069   std::vector<LineSegment2D> getHoughLines
00070   ( IplImage cannyImage );
00071 
00072   IplImage getCannyImage
00073   ( Image<byte> colorSegmentedImage );
00074 
00075   std::vector<LineSegment2D> pruneHoughLines
00076   (const std::vector<LineSegment2D> lineSegments);
00077 
00078   float isolateOrange3
00079   (Image< PixRGB<byte> > &inputImage,  Image<byte> &outputImage);
00080 
00081   float isolateOrange4
00082   (Image< PixRGB<byte> > &inputImage,  Image<byte> &outputImage);
00083 
00084   float isolateOrange5
00085   (Image< PixRGB<byte> > &inputImage,  Image<byte> &outputImage);
00086 
00087   float normalizeAngle(float angleInRads);
00088 
00089   Image<PixRGB<byte> > itsCurrentImg;
00090   bool itsCurrentImgFwdCam;
00091 
00092   //  segmentImageTrackMC<float,unsigned int,4> *segmenter;
00093 
00094 
00095 
00096   Image<PixRGB<byte> >            itsDispImg;       // display image
00097   uint itsWidth;
00098   uint itsHeight;
00099 };
00100 
00101 #endif