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NARVAL >> NL_V: Vision > NL_V_ContourCorners

NL_V_ContourCorners

Extract the corners of an obstacle contour.

Calling Sequence

[X,Y,D,N] = NL_V_ContourCorners(C)

Arguments

C :

Contour matrix.

X :

X-coordinates of corners.

Y :

Y-coordinates of corners.

D :

Direction vector.

N :

Length vector.

Description

NL_V_ContourCorners extracts the corners of the obstacle contour C. Their coordinates are stored in [X,Y]. d gives the direction vector ([1 2 3 4 5 6 7 8]) of each corner found in each object. N provides the numbers of corners for each object.

Examples

dt=getdate();
seed=dt(10);
rand('seed',seed);//initialization of the random values generator
no=4;//quantity of obstacles (rectangle)
L=1000;//squared area side
hm=100;//minimal height
hM=250;//maximal height
wm=100;//minimal width
wM=250;//maximal width
Al=[0 %pi/2 %pi -%pi/2];//available angles for obstacles
[Xs,Ys,X,Y,H,W,A]=NL_V_RectanglesCorners(no,L,hm,hM,wm,wM);//generation of obstacles
[P]=NL_V_PotentialRectangles(X,Y,H,W,A,L);//generation of obstacle matrix
z=10;//zoom factor
o=2;// 1=mean, 2=max, 3=min, 4=median
Pz=NL_V_MRA(P,z,o);//scale modification
[Pzx,Pzy]=size(Pz);//image size
w1=1;//window index
w2=2;//window index
scf(w1);
clf(w1);
grayplot(1:Pzx,1:Pzy,Pz);//graph visualization
xset("colormap",graycolormap(128));
scf(w2);
clf(w2);
[PEz]=NL_V_Erosion(Pz);//contour performance
Cont=Pz-PEz;//contour 1
[Contx,Conty]=size(Cont);//image size
grayplot(1:Contx,1:Conty,Cont);//graph visualization
xset("colormap",graycolormap(128));
[x,y,direction,n]=NL_V_ContourCorners(Cont)//application of NL_V_ContourCorners

Dependency

NL_V_PixelNeighborCont, NL_F_RemoveFirstOcc

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