maxima_extraction_plugin Class Reference

Class for extracting local maxima. More...

#include <maxima_extraction_plugin.hh>

Inheritance diagram for maxima_extraction_plugin:

[legend]Collaboration diagram for maxima_extraction_plugin:

[legend]List of all members.

Public Member Functions
	maxima_extraction_plugin (const calibration_ptr &_calib, const mimas::mm_xml_reference< XalanElement > &configuration, bool _verbose)
	Constructor.
virtual std::vector< match >	recognise (const mimas::mm_image< unsigned char > &image, double timestamp, mi_scene_ptr scene) const
	Interpret maxima as micro-objects.
Protected Member Functions
mi_pose	pose3d (const mi_pose &pose) const
	Convert 2D-transform to 3D-transform.
Protected Attributes
std::set< std::string >	models
	Micro-object types being recognised using this vision-method.
int	threshold
	Threshold for filtered images.
double	sigma
	Sigma of gauss-filter.

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Detailed Description

Class for extracting local maxima.

The input-images are gauss-filtered and thresholded. Afterwards the maxima are returned.

This simple algorithm is used for recognition of the solder-spheres, which are located on a black back-ground.

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Constructor & Destructor Documentation

maxima_extraction_plugin::maxima_extraction_plugin (  const calibration_ptr &  _calib, const mimas::mm_xml_reference< XalanElement > &  configuration, bool  _verbose )

Constructor. Parameters: _calib  Calibration data. configuration  Access to XML-document. _verbose  Set to true, if you want to get verbose information from the vision-algorithms.

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Member Function Documentation

mi_pose maxima_extraction_plugin::pose3d (  const mi_pose &  pose  )  const [protected]

Convert 2D-transform to 3D-transform. Parameters: pose  2D-pose.

virtual std::vector< match > maxima_extraction_plugin::recognise (  const mimas::mm_image< unsigned char > &  image, double  timestamp, mi_scene_ptr  scene )  const [virtual]

Interpret maxima as micro-objects. Parameters: image  Image to recognise objects in. timestamp  Timestamp for image scene  Scene information. Implements recognition_method.

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

• maxima_extraction_plugin.hh

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