HoughAttribue - Extended-Object-Detection-ROS/wiki_english GitHub Wiki
An attribute that implements recognition by the Hough transform. At the moment recognition of line and circle.
Modes | Accuracy assessment | 3D-translation | 3D-rotation | Contour extraction | Additional info |
---|---|---|---|---|---|
D | - | ❌ | ❌ | ❌ | - |
Finds areas with lines or circles.
Not implemented
Not implemented
- Name (string, must be set) attribute unique name
- Type (string, must be "Hough") attribute type
- Weight (double, default: 1) attribute weight
- Probability (double, default: 0.75) not used in that attribute
- Contour (bool, default: true) not used in that attribute
- HoughType (int, default: 0) Hough transform type, 0 for circles and 1 for lines.
- dp (double, default: 1) Special settings for circle recognition. See below.
- md (double, default: 10) Special settings for circle recognition. See below.
- p1 (double, default: 200) Special settings for circle recognition. See below.
- p2 (double, default: 100) Special settings for circle recognition. See below.
- mr (double, default: 0) Special settings for circle recognition. See below.
- Mr (double, default: 0) Special settings for circle recognition. See below.
To obtain special parameters for circle recognition, it is recommended to use the utility hough_circle_params_collector.
<AttributeLib>
<Attribute Name="HoughCircle" Type="Hough" HoughType="0" dp="1" md="10" p1="142" p2="30" mr="0" Mr="0"/>
</AttributeLib>
<SimpleObjectBase>
<SimpleObject Name="Circle" ID="20">
<Attribute Type="Detect">HoughCircle</Attribute>
</SimpleObject>
</SimpleObjectBase>
Unfortunately, the Hough transform is difficult to tweak so that it does not give false positives.