Functions
void	CalculateEdgeImageFromImageAndDisparity (CByteImage pImageGray, CByteImage pDisparity, CByteImage *pEdgeImage)

void	CalculateForegroundRatioOfHypothesis (const CObjectHypothesis pHypothesis, const CByteImage pForegroundImage, const CCalibration *calibration, float &fForegroundRatio, int &nNumForegroundPixels)

bool	CheckIfPointIsAlreadyInHypothesis (const Vec3d vPoint, const CObjectHypothesis *pHypothesis)

void	ClusterXMeans (const std::vector< CHypothesisPoint * > &aPoints, const int nMinNumClusters, const int nMaxNumClusters, const float fBICFactor, std::vector< std::vector< CHypothesisPoint * > > &aaPointClusters)

void	ClusterXMeans (const std::vector< Vec3d > &aPoints, const int nMinNumClusters, const int nMaxNumClusters, const float fBICFactor, std::vector< std::vector< Vec3d > > &aaPointClusters, std::vector< std::vector< int > > &aaOldIndices)

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	ConfirmedPointsToPCL (const CObjectHypothesis *pHypothesis)

void	ConvertRGB2HSV (const unsigned char r, const unsigned char g, const unsigned char b, unsigned char &h, unsigned char &s, unsigned char &v)

int	CountForegroundPixelsInRectangle (const Vec2d vMiddleMin, const Vec2d vMinMiddle, const Vec2d vMaxMiddle, const Vec2d vMiddleMax, const CByteImage *pForegroundImage)

void	CreateHueAndSaturationHistogram (const CObjectHypothesis *pHypothesis, std::vector< float > &aHueHistogram, std::vector< float > &aSaturationHistogram)

void	CreateHueAndSaturationHistogramInWindow (const CByteImage *pHSVImage, const int nMinX, const int nMinY, const int nMaxX, const int nMaxY, std::vector< float > &aHueHistogram, std::vector< float > &aSaturationHistogram)

void	CreateObjectSegmentationMask (const CObjectHypothesis pHypothesis, const CCalibration calibration, CByteImage *&pForegroundImage)

void	CreateSegmentationProbabilityMap (const CObjectHypothesis pHypothesis, const CCalibration calibration, CByteImage *&pProbabilityImage)

void	DrawCross (CByteImage *pColorImage, int x, int y, int r, int g, int b)

void	DrawCross (CByteImage *pGreyImage, int x, int y, int nBrightness)

void	DrawFatCross (CByteImage *pColorImage, int x, int y, int r, int g, int b)

void	DrawHypothesis (CObjectHypothesis pHypothesis, const CCalibration calibration, CByteImage *pImage, const int nNumFusedHypotheses)

void	FillHolesGray (const CByteImage pInputImage, CByteImage pOutputImage, const int nRadius)

void	FillHolesRGB (const CByteImage pInputImage, CByteImage pOutputImage, const int nRadius)

void	FilterForegroundPoints (const std::vector< CHypothesisPoint * > &aAllPoints, const CByteImage pForegroundImage, const CCalibration calibration, std::vector< CHypothesisPoint * > &aForegroundPoints)

void	GetEnclosingRectangle (const Vec2d *pPoints, const int nNumPoints, const bool bUseSecondMaxPoints, Vec2d &p1, Vec2d &p2, Vec2d &p3, Vec2d &p4, bool &bRotated)

float	GetHistogramDistanceL1 (const std::vector< float > &aHistogram1, const std::vector< float > &aHistogram2)

float	GetHistogramDistanceL2 (const std::vector< float > &aHistogram1, const std::vector< float > &aHistogram2)

float	GetHistogramDistanceX2 (const std::vector< float > &aHistogram1, const std::vector< float > &aHistogram2)

float	GetHypothesesIntersectionRatio (const CObjectHypothesis pHypothesis1, const CObjectHypothesis pHypothesis2, const CCalibration *calibration)

void	GetMeanAndVariance (const std::vector< CHypothesisPoint * > &pHypothesisPoints, Vec3d &vMean, float &fVariance)

void	GetMeanAndVariance (const std::vector< Vec3d > &aPoints, Vec3d &vMean, float &fVariance)

void	InterpolateRotation (const Mat3d m1, const Mat3d m2, const float fWeight, Mat3d &mResult)

void	InterpolateTransformation (const Mat3d m1, const Vec3d v1, const Mat3d m2, const Vec3d v2, const float fWeight, Mat3d &mResult, Vec3d &vResult)

void	NormalizeHistogram (std::vector< float > &aHistogram)

bool	PointIsInForeground (const CHypothesisPoint pPoint, const CByteImage pForegroundImage, const CCalibration *calibration)

bool	PointIsInForeground (const Vec3d vPoint, const CByteImage pForegroundImage, const CCalibration calibration)

void	RemoveOutliers (std::vector< CHypothesisPoint * > &aPoints, const float fStdDevFactor)

void	RemoveOutliers (std::vector< Vec3d > &aPoints, const float fStdDevFactor, std::vector< int > *pOldIndices)

void	SetNumberInFileName (std::string &sFileName, int nNumber, int nNumDigits)

void	SmoothHistogram (std::vector< float > &aHistogram)

void	SortByPositionZ (std::vector< CHypothesisPoint * > &aHypothesisPoints)

void	SortByPositionZ (std::vector< CHypothesisPoint * > &aHypothesisPoints, const int nLeftLimit, const int nRightLimit)

Function Documentation

◆ CalculateEdgeImageFromImageAndDisparity()

void CalculateEdgeImageFromImageAndDisparity	(	CByteImage *	pImageGray,
		CByteImage *	pDisparity,
		CByteImage *	pEdgeImage )

Definition at line 1726 of file OLPTools.cpp.

◆ CalculateForegroundRatioOfHypothesis()

void CalculateForegroundRatioOfHypothesis	(	const CObjectHypothesis *	pHypothesis,
		const CByteImage *	pForegroundImage,
		const CCalibration *	calibration,
		float &	fForegroundRatio,
		int &	nNumForegroundPixels )

Definition at line 383 of file OLPTools.cpp.

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◆ CheckIfPointIsAlreadyInHypothesis()

bool CheckIfPointIsAlreadyInHypothesis	(	const Vec3d	vPoint,
		const CObjectHypothesis *	pHypothesis )

Definition at line 950 of file OLPTools.cpp.

◆ ClusterXMeans() [1/2]

void ClusterXMeans	(	const std::vector< CHypothesisPoint * > &	aPoints,
		const int	nMinNumClusters,
		const int	nMaxNumClusters,
		const float	fBICFactor,
		std::vector< std::vector< CHypothesisPoint * > > &	aaPointClusters )

Definition at line 78 of file OLPTools.cpp.

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◆ ClusterXMeans() [2/2]

void ClusterXMeans	(	const std::vector< Vec3d > &	aPoints,
		const int	nMinNumClusters,
		const int	nMaxNumClusters,
		const float	fBICFactor,
		std::vector< std::vector< Vec3d > > &	aaPointClusters,
		std::vector< std::vector< int > > &	aaOldIndices )

Definition at line 122 of file OLPTools.cpp.

◆ ConfirmedPointsToPCL()

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr ConfirmedPointsToPCL ( const CObjectHypothesis * pHypothesis )

Definition at line 979 of file OLPTools.cpp.

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◆ ConvertRGB2HSV()

void ConvertRGB2HSV	(	const unsigned char	r,
		const unsigned char	g,
		const unsigned char	b,
		unsigned char &	h,
		unsigned char &	s,
		unsigned char &	v )

Definition at line 1031 of file OLPTools.cpp.

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◆ CountForegroundPixelsInRectangle()

int CountForegroundPixelsInRectangle	(	const Vec2d	vMiddleMin,
		const Vec2d	vMinMiddle,
		const Vec2d	vMaxMiddle,
		const Vec2d	vMiddleMax,
		const CByteImage *	pForegroundImage )

Definition at line 692 of file OLPTools.cpp.

◆ CreateHueAndSaturationHistogram()

void CreateHueAndSaturationHistogram	(	const CObjectHypothesis *	pHypothesis,
		std::vector< float > &	aHueHistogram,
		std::vector< float > &	aSaturationHistogram )

Definition at line 1071 of file OLPTools.cpp.

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◆ CreateHueAndSaturationHistogramInWindow()

void CreateHueAndSaturationHistogramInWindow	(	const CByteImage *	pHSVImage,
		const int	nMinX,
		const int	nMinY,
		const int	nMaxX,
		const int	nMaxY,
		std::vector< float > &	aHueHistogram,
		std::vector< float > &	aSaturationHistogram )

Definition at line 1132 of file OLPTools.cpp.

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◆ CreateObjectSegmentationMask()

void CreateObjectSegmentationMask	(	const CObjectHypothesis *	pHypothesis,
		const CCalibration *	calibration,
		CByteImage *&	pForegroundImage )

Definition at line 1323 of file OLPTools.cpp.

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◆ CreateSegmentationProbabilityMap()

void CreateSegmentationProbabilityMap	(	const CObjectHypothesis *	pHypothesis,
		const CCalibration *	calibration,
		CByteImage *&	pProbabilityImage )

Definition at line 1402 of file OLPTools.cpp.

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◆ DrawCross() [1/2]

void DrawCross	(	CByteImage *	pColorImage,
		int	x,
		int	y,
		int	r,
		int	g,
		int	b )

Definition at line 1278 of file OLPTools.cpp.

◆ DrawCross() [2/2]

void DrawCross	(	CByteImage *	pGreyImage,
		int	x,
		int	y,
		int	nBrightness )

Definition at line 1265 of file OLPTools.cpp.

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◆ DrawFatCross()

void DrawFatCross	(	CByteImage *	pColorImage,
		int	x,
		int	y,
		int	r,
		int	g,
		int	b )

Definition at line 1296 of file OLPTools.cpp.

◆ DrawHypothesis()

void DrawHypothesis	(	CObjectHypothesis *	pHypothesis,
		const CCalibration *	calibration,
		CByteImage *	pImage,
		const int	nNumFusedHypotheses )

Definition at line 1516 of file OLPTools.cpp.

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◆ FillHolesGray()

void FillHolesGray	(	const CByteImage *	pInputImage,
		CByteImage *	pOutputImage,
		const int	nRadius )

Definition at line 1634 of file OLPTools.cpp.

◆ FillHolesRGB()

void FillHolesRGB	(	const CByteImage *	pInputImage,
		CByteImage *	pOutputImage,
		const int	nRadius )

Definition at line 1583 of file OLPTools.cpp.

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◆ FilterForegroundPoints()

void FilterForegroundPoints	(	const std::vector< CHypothesisPoint * > &	aAllPoints,
		const CByteImage *	pForegroundImage,
		const CCalibration *	calibration,
		std::vector< CHypothesisPoint * > &	aForegroundPoints )

Definition at line 333 of file OLPTools.cpp.

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◆ GetEnclosingRectangle()

void GetEnclosingRectangle	(	const Vec2d *	pPoints,
		const int	nNumPoints,
		const bool	bUseSecondMaxPoints,
		Vec2d &	p1,
		Vec2d &	p2,
		Vec2d &	p3,
		Vec2d &	p4,
		bool &	bRotated )

Definition at line 505 of file OLPTools.cpp.

◆ GetHistogramDistanceL1()

float GetHistogramDistanceL1	(	const std::vector< float > &	aHistogram1,
		const std::vector< float > &	aHistogram2 )

Definition at line 1214 of file OLPTools.cpp.

◆ GetHistogramDistanceL2()

float GetHistogramDistanceL2	(	const std::vector< float > &	aHistogram1,
		const std::vector< float > &	aHistogram2 )

Definition at line 1230 of file OLPTools.cpp.

◆ GetHistogramDistanceX2()

float GetHistogramDistanceX2	(	const std::vector< float > &	aHistogram1,
		const std::vector< float > &	aHistogram2 )

Definition at line 1247 of file OLPTools.cpp.

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◆ GetHypothesesIntersectionRatio()

float GetHypothesesIntersectionRatio	(	const CObjectHypothesis *	pHypothesis1,
		const CObjectHypothesis *	pHypothesis2,
		const CCalibration *	calibration )

Definition at line 1480 of file OLPTools.cpp.

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◆ GetMeanAndVariance() [1/2]

void GetMeanAndVariance	(	const std::vector< CHypothesisPoint * > &	pHypothesisPoints,
		Vec3d &	vMean,
		float &	fVariance )

Definition at line 772 of file OLPTools.cpp.

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◆ GetMeanAndVariance() [2/2]

void GetMeanAndVariance	(	const std::vector< Vec3d > &	aPoints,
		Vec3d &	vMean,
		float &	fVariance )

Definition at line 787 of file OLPTools.cpp.

◆ InterpolateRotation()

void InterpolateRotation	(	const Mat3d	m1,
		const Mat3d	m2,
		const float	fWeight,
		Mat3d &	mResult )

Definition at line 43 of file OLPTools.cpp.

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◆ InterpolateTransformation()

void InterpolateTransformation	(	const Mat3d	m1,
		const Vec3d	v1,
		const Mat3d	m2,
		const Vec3d	v2,
		const float	fWeight,
		Mat3d &	mResult,
		Vec3d &	vResult )

Definition at line 64 of file OLPTools.cpp.

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◆ NormalizeHistogram()

void NormalizeHistogram ( std::vector< float > & aHistogram )

Definition at line 1196 of file OLPTools.cpp.

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◆ PointIsInForeground() [1/2]

bool PointIsInForeground	(	const CHypothesisPoint *	pPoint,
		const CByteImage *	pForegroundImage,
		const CCalibration *	calibration )

Definition at line 375 of file OLPTools.cpp.

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◆ PointIsInForeground() [2/2]

bool PointIsInForeground	(	const Vec3d	vPoint,
		const CByteImage *	pForegroundImage,
		const CCalibration *	calibration )

Definition at line 356 of file OLPTools.cpp.

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◆ RemoveOutliers() [1/2]

void RemoveOutliers	(	std::vector< CHypothesisPoint * > &	aPoints,
		const float	fStdDevFactor )

Definition at line 903 of file OLPTools.cpp.

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◆ RemoveOutliers() [2/2]

void RemoveOutliers	(	std::vector< Vec3d > &	aPoints,
		const float	fStdDevFactor,
		std::vector< int > *	pOldIndices )

Definition at line 829 of file OLPTools.cpp.

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◆ SetNumberInFileName()

void SetNumberInFileName	(	std::string &	sFileName,
		int	nNumber,
		int	nNumDigits )

Definition at line 1464 of file OLPTools.cpp.

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◆ SmoothHistogram()

void SmoothHistogram ( std::vector< float > & aHistogram )

Definition at line 1169 of file OLPTools.cpp.

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◆ SortByPositionZ() [1/2]

void SortByPositionZ ( std::vector< CHypothesisPoint * > & aHypothesisPoints )

Definition at line 1720 of file OLPTools.cpp.

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◆ SortByPositionZ() [2/2]

void SortByPositionZ	(	std::vector< CHypothesisPoint * > &	aHypothesisPoints,
		const int	nLeftLimit,
		const int	nRightLimit )

Definition at line 1677 of file OLPTools.cpp.

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Functions

Function Documentation

◆ CalculateEdgeImageFromImageAndDisparity()

◆ CalculateForegroundRatioOfHypothesis()

◆ CheckIfPointIsAlreadyInHypothesis()

◆ ClusterXMeans() [1/2]

◆ ClusterXMeans() [2/2]

◆ ConfirmedPointsToPCL()

◆ ConvertRGB2HSV()

◆ CountForegroundPixelsInRectangle()

◆ CreateHueAndSaturationHistogram()

◆ CreateHueAndSaturationHistogramInWindow()

◆ CreateObjectSegmentationMask()

◆ CreateSegmentationProbabilityMap()

◆ DrawCross() [1/2]

◆ DrawCross() [2/2]

◆ DrawFatCross()

◆ DrawHypothesis()

◆ FillHolesGray()

◆ FillHolesRGB()

◆ FilterForegroundPoints()

◆ GetEnclosingRectangle()

◆ GetHistogramDistanceL1()

◆ GetHistogramDistanceL2()

◆ GetHistogramDistanceX2()

◆ GetHypothesesIntersectionRatio()

◆ GetMeanAndVariance() [1/2]

◆ GetMeanAndVariance() [2/2]

◆ InterpolateRotation()

◆ InterpolateTransformation()

◆ NormalizeHistogram()

◆ PointIsInForeground() [1/2]

◆ PointIsInForeground() [2/2]

◆ RemoveOutliers() [1/2]

◆ RemoveOutliers() [2/2]

◆ SetNumberInFileName()

◆ SmoothHistogram()

◆ SortByPositionZ() [1/2]

◆ SortByPositionZ() [2/2]