Added reST tutorials for Contours (6 in imgproc) and for Corner Detection (4 in features2D) + links in conf.py

doc/conf.py

@@ -329,7 +329,23 @@ extlinks = {'cvt_color': ('http://opencv.willowgarage.com/documentation/cpp/imgp
 	    'min_max_loc' : ('http://opencv.willowgarage.com/documentation/cpp/core_operations_on_arrays.html?#minMaxLoc%s', None),
 	    'mix_channels' : ( 'http://opencv.willowgarage.com/documentation/cpp/core_operations_on_arrays.html?#mixChannels%s', None),
 	    'calc_back_project' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_histograms.html?#calcBackProject%s', None),
-            'compare_hist' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_histograms.html?#compareHist%s', None)
+            'compare_hist' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_histograms.html?#compareHist%s', None),
+	    'corner_harris' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cornerHarris%s', None),
+	    'good_features_to_track' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cv-goodfeaturestotrack%s', None),
+	    'corner_min_eigenval' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cv-cornermineigenval%s', None), 
+	    'corner_eigenvals_and_vecs' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cv-cornereigenvalsandvecs%s', None), 
+	    'corner_sub_pix' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_feature_detection.html?#cv-cornersubpix%s', None),
+            'find_contours' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-findcontours%s', None), 
+	    'convex_hull' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-convexhull%s', None),
+            'draw_contours' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-drawcontours%s', None),
+            'bounding_rect' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-boundingrect%s', None),
+            'min_enclosing_circle' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-minenclosingcircle%s', None),
+	    'min_area_rect' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-minarearect%s', None),
+            'fit_ellipse' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-fitellipse%s', None),
+            'moments' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-moments%s', None),
+            'contour_area' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-contourarea%s', None),
+            'arc_length' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-arclength%s', None), 	
+	    'point_polygon_test' : ('http://opencv.willowgarage.com/documentation/cpp/imgproc_structural_analysis_and_shape_descriptors.html#cv-pointpolygontest%s', None)
            }
 
 

doc/tutorials/features2d/table_of_content_features2d/table_of_content_features2d.rst

@@ -5,4 +5,91 @@
 
 Learn about how to use the feature points  detectors, descriptors and matching framework found inside OpenCV.
 
-.. include:: ../../definitions/noContent.rst 
+.. include:: ../../definitions/tocDefinitions.rst 
+
++ 
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ===================== ==============================================
+   |Harris|             **Title:** :ref:`harris_detector`
+  
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+                        
+                        Why is it a good idea to track corners? We learn to use the Harris method to detect corners
+  
+  ===================== ==============================================
+  
+  .. |Harris| image:: images/trackingmotion/Harris_Detector_Cover.jpg
+                   :height: 90pt
+                   :width:  90pt
+  
+
++ 
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ===================== ==============================================
+   |ShiTomasi|          **Title:** :ref:`good_features_to_track`
+  
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+                        
+                        Where we use an improved method to detect corners more accuratelyI
+  
+  ===================== ==============================================
+  
+  .. |ShiTomasi| image:: images/trackingmotion/Shi_Tomasi_Detector_Cover.jpg
+                      :height: 90pt
+                      :width:  90pt
+
+
++ 
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ===================== ==============================================
+   |GenericCorner|      **Title:** :ref:`generic_corner_detector`
+  
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+                        
+                        Here you will learn how to use OpenCV functions to make your personalized corner detector!
+  
+  ===================== ==============================================
+  
+  .. |GenericCorner| image:: images/trackingmotion/Generic_Corner_Detector_Cover.jpg
+                          :height: 90pt
+                          :width:  90pt
+
+
++ 
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+
+  ===================== ==============================================
+   |Subpixel|             **Title:** :ref:`corner_subpixeles`
+  
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+                        
+                        Is pixel resolution enough? Here we learn a simple method to improve our accuracy.
+  
+  ===================== ==============================================
+  
+  .. |Subpixel| image:: images/trackingmotion/Corner_Subpixeles_Cover.jpg
+                     :height: 90pt
+                     :width:  90pt
+
+.. toctree::
+   :hidden:
+
+   ../trackingmotion/harris_detector/harris_detector
+   ../trackingmotion/good_features_to_track/good_features_to_track.rst
+   ../trackingmotion/generic_corner_detector/generic_corner_detector
+   ../trackingmotion/corner_subpixeles/corner_subpixeles

doc/tutorials/features2d/trackingmotion/corner_subpixeles/corner_subpixeles.rst

@@ -0,0 +1,139 @@
+.. _corner_subpixeles:
+
+Detecting corners location in subpixeles
+****************************************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :corner_sub_pix:`cornerSubPix <>` to find more exact corner positions (more exact than integer pixels).
+
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/TrackingMotion/cornerSubPix_Demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   /// Global variables
+   Mat src, src_gray;
+
+   int maxCorners = 10;
+   int maxTrackbar = 25;
+
+   RNG rng(12345);
+   char* source_window = "Image";
+
+   /// Function header
+   void goodFeaturesToTrack_Demo( int, void* );
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+
+     /// Create Window
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+
+     /// Create Trackbar to set the number of corners
+     createTrackbar( "Max  corners:", source_window, &maxCorners, maxTrackbar, goodFeaturesToTrack_Demo );  
+
+     imshow( source_window, src );
+
+     goodFeaturesToTrack_Demo( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /**
+    * @function goodFeaturesToTrack_Demo.cpp
+    * @brief Apply Shi-Tomasi corner detector
+    */
+   void goodFeaturesToTrack_Demo( int, void* )
+   {
+     if( maxCorners < 1 ) { maxCorners = 1; }
+  
+     /// Parameters for Shi-Tomasi algorithm
+     vector<Point2f> corners;
+     double qualityLevel = 0.01;
+     double minDistance = 10;
+     int blockSize = 3;
+     bool useHarrisDetector = false;
+     double k = 0.04;
+
+     /// Copy the source image
+     Mat copy;
+     copy = src.clone();
+
+     /// Apply corner detection
+     goodFeaturesToTrack( src_gray, 
+	  	          corners,
+		          maxCorners,
+		          qualityLevel,
+		          minDistance,
+		          Mat(),
+		          blockSize,
+		          useHarrisDetector,
+		          k );
+  
+
+     /// Draw corners detected
+     cout<<"** Number of corners detected: "<<corners.size()<<endl;
+     int r = 4;
+     for( int i = 0; i < corners.size(); i++ )
+        { circle( copy, corners[i], r, Scalar(rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255)), -1, 8, 0 ); }
+
+     /// Show what you got
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, copy );  
+
+     /// Set the neeed parameters to find the refined corners
+     Size winSize = Size( 5, 5 );
+     Size zeroZone = Size( -1, -1 );
+     TermCriteria criteria = TermCriteria( CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 40, 0.001 );
+
+     /// Calculate the refined corner locations
+     cornerSubPix( src_gray, corners, winSize, zeroZone, criteria );
+
+     /// Write them down
+     for( int i = 0; i < corners.size(); i++ )
+        { cout<<" -- Refined Corner ["<<i<<"]  ("<<corners[i].x<<","<<corners[i].y<<")"<<endl; }	
+   }
+
+
+Explanation
+============
+
+Result
+======
+
+.. image:: images/Corner_Subpixeles_Original_Image.jpg
+              :height: 200pt
+              :align: center 
+  
+Here is the result:
+
+.. image:: images/Corner_Subpixeles_Result.jpg
+              :height: 100pt
+              :align: center   
+

doc/tutorials/features2d/trackingmotion/generic_corner_detector/generic_corner_detector.rst

@@ -0,0 +1,155 @@
+.. _generic_corner_detector:
+
+Creating yor own corner detector
+********************************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :corner_eigenvals_and_vecs:`cornerEigenValsAndVecs <>` to find the eigenvalues and eigenvectors to determine if a pixel is a corner.
+   * Use the OpenCV function :corner_min_eigenval:`cornerMinEigenVal <>` to find the minimum eigenvalues for corner detection. 
+   * To implement our own version of the Harris detector as well as the Shi-Tomasi detector, by using the two functions above.
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/TrackingMotion/cornerDetector_Demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   /// Global variables
+   Mat src, src_gray; 
+   Mat myHarris_dst; Mat myHarris_copy; Mat Mc;
+   Mat myShiTomasi_dst; Mat myShiTomasi_copy; 
+
+   int myShiTomasi_qualityLevel = 50;
+   int myHarris_qualityLevel = 50;
+   int max_qualityLevel = 100;
+
+   double myHarris_minVal; double myHarris_maxVal;
+   double myShiTomasi_minVal; double myShiTomasi_maxVal;
+
+   RNG rng(12345);
+
+   char* myHarris_window = "My Harris corner detector";
+   char* myShiTomasi_window = "My Shi Tomasi corner detector";
+
+   /// Function headers
+   void myShiTomasi_function( int, void* );
+   void myHarris_function( int, void* );
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+
+     /// Set some parameters
+     int blockSize = 3; int apertureSize = 3;
+
+     /// My Harris matrix -- Using cornerEigenValsAndVecs
+     myHarris_dst = Mat::zeros( src_gray.size(), CV_32FC(6) );
+     Mc = Mat::zeros( src_gray.size(), CV_32FC1 );
+
+     cornerEigenValsAndVecs( src_gray, myHarris_dst, blockSize, apertureSize, BORDER_DEFAULT );
+
+     /* calculate Mc */ 
+     for( int j = 0; j < src_gray.rows; j++ )
+        { for( int i = 0; i < src_gray.cols; i++ )
+             {
+               float lambda_1 = myHarris_dst.at<float>( j, i, 0 );
+               float lambda_2 = myHarris_dst.at<float>( j, i, 1 );
+               Mc.at<float>(j,i) = lambda_1*lambda_2 - 0.04*pow( ( lambda_1 + lambda_2 ), 2 );
+             }
+        }
+
+     minMaxLoc( Mc, &myHarris_minVal, &myHarris_maxVal, 0, 0, Mat() );
+  
+     /* Create Window and Trackbar */
+     namedWindow( myHarris_window, CV_WINDOW_AUTOSIZE );
+     createTrackbar( " Quality Level:", myHarris_window, &myHarris_qualityLevel, max_qualityLevel, myHarris_function );  
+     myHarris_function( 0, 0 );
+
+     /// My Shi-Tomasi -- Using cornerMinEigenVal
+     myShiTomasi_dst = Mat::zeros( src_gray.size(), CV_32FC1 );  
+     cornerMinEigenVal( src_gray, myShiTomasi_dst, blockSize, apertureSize, BORDER_DEFAULT );
+
+     minMaxLoc( myShiTomasi_dst, &myShiTomasi_minVal, &myShiTomasi_maxVal, 0, 0, Mat() );
+
+     /* Create Window and Trackbar */
+     namedWindow( myShiTomasi_window, CV_WINDOW_AUTOSIZE );   
+     createTrackbar( " Quality Level:", myShiTomasi_window, &myShiTomasi_qualityLevel, max_qualityLevel, myShiTomasi_function );  
+     myShiTomasi_function( 0, 0 );
+  
+     waitKey(0);
+     return(0);
+   }
+
+   /** @function myShiTomasi_function  */
+   void myShiTomasi_function( int, void* )
+   {
+     myShiTomasi_copy = src.clone();
+
+     if( myShiTomasi_qualityLevel < 1 ) { myShiTomasi_qualityLevel = 1; }
+
+     for( int j = 0; j < src_gray.rows; j++ )
+        { for( int i = 0; i < src_gray.cols; i++ )
+             {
+               if( myShiTomasi_dst.at<float>(j,i) > myShiTomasi_minVal + ( myShiTomasi_maxVal - myShiTomasi_minVal )*myShiTomasi_qualityLevel/max_qualityLevel )
+                 { circle( myShiTomasi_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
+             }
+        }
+     imshow( myShiTomasi_window, myShiTomasi_copy );
+   }
+
+   /** @function myHarris_function */
+   void myHarris_function( int, void* )
+   {
+     myHarris_copy = src.clone();
+
+     if( myHarris_qualityLevel < 1 ) { myHarris_qualityLevel = 1; }
+
+     for( int j = 0; j < src_gray.rows; j++ )
+        { for( int i = 0; i < src_gray.cols; i++ )
+             {
+               if( Mc.at<float>(j,i) > myHarris_minVal + ( myHarris_maxVal - myHarris_minVal )*myHarris_qualityLevel/max_qualityLevel )
+                 { circle( myHarris_copy, Point(i,j), 4, Scalar( rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255) ), -1, 8, 0 ); }
+             } 
+        }
+     imshow( myHarris_window, myHarris_copy );
+   }
+
+
+
+Explanation
+============
+
+Result
+======
+
+.. image:: images/My_Harris_corner_detector_Result.jpg
+              :height: 200pt
+              :align: center   
+
+
+.. image:: images/My_Shi_Tomasi_corner_detector_Result.jpg
+              :height: 200pt
+              :align: center   
+

doc/tutorials/features2d/trackingmotion/good_features_to_track/good_features_to_track.rst

@@ -0,0 +1,122 @@
+.. _good_features_to_track:
+
+Shi-Tomasi corner detector
+**************************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the function :good_features_to_track:`goodFeaturesToTrack <>` to detect corners using the Shi-Tomasi method.
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/TrackingMotion/goodFeaturesToTrack_Demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   /// Global variables
+   Mat src, src_gray;
+
+   int maxCorners = 23;
+   int maxTrackbar = 100;
+
+   RNG rng(12345);
+   char* source_window = "Image";
+
+   /// Function header
+   void goodFeaturesToTrack_Demo( int, void* );
+
+   /**
+    * @function main
+    */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+
+     /// Create Window
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+
+     /// Create Trackbar to set the number of corners
+     createTrackbar( "Max  corners:", source_window, &maxCorners, maxTrackbar, goodFeaturesToTrack_Demo );  
+
+     imshow( source_window, src );
+
+     goodFeaturesToTrack_Demo( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /**
+    * @function goodFeaturesToTrack_Demo.cpp
+    * @brief Apply Shi-Tomasi corner detector
+    */
+   void goodFeaturesToTrack_Demo( int, void* ) 
+   {
+     if( maxCorners < 1 ) { maxCorners = 1; }
+  
+     /// Parameters for Shi-Tomasi algorithm
+     vector<Point2f> corners;
+     double qualityLevel = 0.01;
+     double minDistance = 10;
+     int blockSize = 3;
+     bool useHarrisDetector = false;
+     double k = 0.04;
+
+     /// Copy the source image
+     Mat copy;
+     copy = src.clone();
+
+     /// Apply corner detection
+     goodFeaturesToTrack( src_gray, 
+	   	          corners,
+		          maxCorners,
+		          qualityLevel,
+		          minDistance,
+		          Mat(),
+		          blockSize,
+		          useHarrisDetector,
+		          k );
+  
+
+     /// Draw corners detected
+     cout<<"** Number of corners detected: "<<corners.size()<<endl;
+     int r = 4;
+     for( int i = 0; i < corners.size(); i++ )
+        { circle( copy, corners[i], r, Scalar(rng.uniform(0,255), rng.uniform(0,255), rng.uniform(0,255)), -1, 8, 0 ); }
+
+     /// Show what you got
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, copy );  
+   }
+
+Explanation
+============
+
+Result
+======
+
+.. image:: images/Shi_Tomasi_Detector_Result.jpg
+              :height: 200pt
+              :align: center   
+
+

doc/tutorials/features2d/trackingmotion/harris_detector/harris_detector.rst

@@ -0,0 +1,116 @@
+.. _harris_detector:
+
+Harris corner detector
+**********************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the function :corner_harris:`cornerHarris <>` to detect corners using the Harris-Stephens method.
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/TrackingMotion/cornerHarris_Demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv; 
+   using namespace std;
+
+   /// Global variables
+   Mat src, src_gray;
+   int thresh = 200;
+   int max_thresh = 255;
+
+   char* source_window = "Source image";
+   char* corners_window = "Corners detected";
+
+   /// Function header
+   void cornerHarris_demo( int, void* );
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+
+     /// Create a window and a trackbar
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     createTrackbar( "Threshold: ", source_window, &thresh, max_thresh, cornerHarris_demo );
+     imshow( source_window, src );
+  
+     cornerHarris_demo( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /** @function cornerHarris_demo */
+   void cornerHarris_demo( int, void* )
+   {
+
+     Mat dst, dst_norm, dst_norm_scaled;
+     dst = Mat::zeros( src.size(), CV_32FC1 );
+
+     /// Detector parameters
+     int blockSize = 2;
+     int apertureSize = 3;
+     double k = 0.04;
+ 
+     /// Detecting corners
+     cornerHarris( src_gray, dst, blockSize, apertureSize, k, BORDER_DEFAULT );
+
+     /// Normalizing
+     normalize( dst, dst_norm, 0, 255, NORM_MINMAX, CV_32FC1, Mat() );
+     convertScaleAbs( dst_norm, dst_norm_scaled ); 
+
+     /// Drawing a circle around corners
+     for( int j = 0; j < dst_norm.rows ; j++ )
+        { for( int i = 0; i < dst_norm.cols; i++ )
+             {
+               if( (int) dst_norm.at<float>(j,i) > thresh )
+                 { 
+                  circle( dst_norm_scaled, Point( i, j ), 5,  Scalar(0), 2, 8, 0 ); 
+                 }
+             } 
+        }    
+     /// Showing the result 
+     namedWindow( corners_window, CV_WINDOW_AUTOSIZE );
+     imshow( corners_window, dst_norm_scaled );
+   }
+
+
+Explanation
+============
+
+Result
+======
+
+The original image:
+
+.. image:: images/Harris_Detector_Original_Image.jpg
+              :height: 200pt
+              :align: center   
+
+The detected corners are surrounded by a small black circle
+
+.. image:: images/Harris_Detector_Result.jpg
+              :height: 200pt
+              :align: center   
+
+

doc/tutorials/imgproc/shapedescriptors/bounding_rects_circles/bounding_rects_circles.rst

@@ -0,0 +1,126 @@
+.. _bounding_rects_circles:
+
+
+Creating Bounding boxes and circles for contours
+*************************************************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :bounding_rect:`boundingRect <>` 
+   * Use the OpenCV function :min_enclosing_circle:`minEnclosingCircle <>`
+          
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo1.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   Mat src; Mat src_gray;
+   int thresh = 100;
+   int max_thresh = 255;
+   RNG rng(12345);
+
+   /// Function header
+   void thresh_callback(int, void* );
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+
+     /// Convert image to gray and blur it
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+     blur( src_gray, src_gray, Size(3,3) );
+
+     /// Create Window
+     char* source_window = "Source";
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, src );
+
+     createTrackbar( " Threshold:", "Source", &thresh, max_thresh, thresh_callback );
+     thresh_callback( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /** @function thresh_callback */
+   void thresh_callback(int, void* )
+   {
+     Mat threshold_output;
+     vector<vector<Point> > contours;
+     vector<Vec4i> hierarchy;
+
+     /// Detect edges using Threshold
+     threshold( src_gray, threshold_output, thresh, 255, THRESH_BINARY );
+     /// Find contours  
+     findContours( threshold_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
+
+     /// Approximate contours to polygons + get bounding rects and circles
+     vector<vector<Point> > contours_poly( contours.size() );
+     vector<Rect> boundRect( contours.size() );
+     vector<Point2f>center( contours.size() );
+     vector<float>radius( contours.size() );
+
+     for( int i = 0; i < contours.size(); i++ )
+        { approxPolyDP( Mat(contours[i]), contours_poly[i], 3, true ); 
+          boundRect[i] = boundingRect( Mat(contours_poly[i]) ); 
+          minEnclosingCircle( contours_poly[i], center[i], radius[i] );
+        } 
+
+
+     /// Draw polygonal contour + bonding rects + circles
+     Mat drawing = Mat::zeros( threshold_output.size(), CV_8UC3 );
+     for( int i = 0; i< contours.size(); i++ )
+        { 
+          Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
+          drawContours( drawing, contours_poly, i, color, 1, 8, vector<Vec4i>(), 0, Point() ); 
+          rectangle( drawing, boundRect[i].tl(), boundRect[i].br(), color, 2, 8, 0 );
+          circle( drawing, center[i], (int)radius[i], color, 2, 8, 0 );
+        }
+
+     /// Show in a window
+     namedWindow( "Contours", CV_WINDOW_AUTOSIZE );
+     imshow( "Contours", drawing );
+   }
+
+Explanation
+============
+
+Result
+======
+
+#. Here it is:
+
+   ========== ==========  
+    |BRC_0|   |BRC_1|   
+   ========== ==========   
+
+   .. |BRC_0|  image:: images/Bounding_Rects_Circles_Source_Image.jpg
+                    :height: 300pt
+                    :align: middle
+
+   .. |BRC_1|  image:: images/Bounding_Rects_Circles_Result.jpg
+                    :height: 300pt
+                    :align: middle   
+

doc/tutorials/imgproc/shapedescriptors/bounding_rotated_ellipses/bounding_rotated_ellipses.rst

@@ -0,0 +1,128 @@
+.. _bounding_rotated_ellipses:
+
+
+Creating Bounding rotated boxes and ellipses for contours
+**********************************************************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :min_area_rect:`minAreaRect <>` 
+   * Use the OpenCV function :fit_ellipse:`fitEllipse <>`
+           
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/ShapeDescriptors/generalContours_demo2.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   Mat src; Mat src_gray;
+   int thresh = 100;
+   int max_thresh = 255;
+   RNG rng(12345);
+
+   /// Function header
+   void thresh_callback(int, void* );
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+
+     /// Convert image to gray and blur it
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+     blur( src_gray, src_gray, Size(3,3) );
+
+     /// Create Window
+     char* source_window = "Source";
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, src );
+
+     createTrackbar( " Threshold:", "Source", &thresh, max_thresh, thresh_callback );
+     thresh_callback( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /** @function thresh_callback */
+   void thresh_callback(int, void* )
+   {
+     Mat threshold_output;
+     vector<vector<Point> > contours;
+     vector<Vec4i> hierarchy;
+
+     /// Detect edges using Threshold
+     threshold( src_gray, threshold_output, thresh, 255, THRESH_BINARY );
+     /// Find contours  
+     findContours( threshold_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
+
+     /// Find the rotated rectangles and ellipses for each contour
+     vector<RotatedRect> minRect( contours.size() );
+     vector<RotatedRect> minEllipse( contours.size() );
+
+     for( int i = 0; i < contours.size(); i++ )
+        { minRect[i] = minAreaRect( Mat(contours[i]) ); 
+          if( contours[i].size() > 5 )
+            { minEllipse[i] = fitEllipse( Mat(contours[i]) ); }
+        } 
+
+     /// Draw contours + rotated rects + ellipses
+     Mat drawing = Mat::zeros( threshold_output.size(), CV_8UC3 );
+     for( int i = 0; i< contours.size(); i++ )
+        { 
+          Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
+          // contour
+          drawContours( drawing, contours, i, color, 1, 8, vector<Vec4i>(), 0, Point() ); 
+          // ellipse
+          ellipse( drawing, minEllipse[i], color, 2, 8 );
+          // rotated rectangle        
+          Point2f rect_points[4]; minRect[i].points( rect_points );
+          for( int j = 0; j < 4; j++ )
+             line( drawing, rect_points[j], rect_points[(j+1)%4], color, 1, 8 ); 
+        }
+
+     /// Show in a window
+     namedWindow( "Contours", CV_WINDOW_AUTOSIZE );
+     imshow( "Contours", drawing ); 
+   }
+
+Explanation
+============
+
+Result
+======
+
+#. Here it is:
+
+   ========== ==========  
+    |BRE_0|   |BRE_1|   
+   ========== ==========   
+
+   .. |BRE_0|  image:: images/Bounding_Rotated_Ellipses_Source_Image.jpg
+                    :height: 300pt
+                    :align: middle
+
+   .. |BRE_1|  image:: images/Bounding_Rotated_Ellipses_Result.jpg
+                    :height: 300pt
+                    :align: middle   
+

doc/tutorials/imgproc/shapedescriptors/find_contours/find_contours.rst

@@ -0,0 +1,109 @@
+.. _find_contours:
+
+Finding contours in your image
+******************************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :find_contours:`findContours <>` 
+   * Use the OpenCV function :draw_contours:`drawContours <>` 
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/ShapeDescriptors/findContours_demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   Mat src; Mat src_gray;
+   int thresh = 100;
+   int max_thresh = 255;
+   RNG rng(12345);
+
+   /// Function header
+   void thresh_callback(int, void* );
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+
+     /// Convert image to gray and blur it
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+     blur( src_gray, src_gray, Size(3,3) );
+
+     /// Create Window
+     char* source_window = "Source";
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, src );
+
+     createTrackbar( " Canny thresh:", "Source", &thresh, max_thresh, thresh_callback );
+     thresh_callback( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /** @function thresh_callback */
+   void thresh_callback(int, void* )
+   {
+     Mat canny_output;
+     vector<vector<Point> > contours;
+     vector<Vec4i> hierarchy;
+
+     /// Detect edges using canny
+     Canny( src_gray, canny_output, thresh, thresh*2, 3 );
+     /// Find contours  
+     findContours( canny_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
+
+     /// Draw contours
+     Mat drawing = Mat::zeros( canny_output.size(), CV_8UC3 );
+     for( int i = 0; i< contours.size(); i++ )
+        { 
+          Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
+          drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() ); 
+        }
+
+     /// Show in a window
+     namedWindow( "Contours", CV_WINDOW_AUTOSIZE );
+     imshow( "Contours", drawing ); 
+   }
+
+Explanation
+============
+
+Result
+======
+
+#. Here it is:
+
+   ============= =============  
+    |contour_0|   |contour_1|   
+   ============= =============   
+
+   .. |contour_0|  image:: images/Find_Contours_Original_Image.jpg
+                     :height: 300pt
+                     :align: middle
+
+   .. |contour_1|  image:: images/Find_Contours_Result.jpg
+                     :height: 300pt
+                     :align: middle   
+

doc/tutorials/imgproc/shapedescriptors/hull/hull.rst

@@ -0,0 +1,118 @@
+.. _hull:
+
+Convex Hull
+***********
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :convex_hull:`convexHull <>` 
+
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/ShapeDescriptors/hull_demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp" 
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   Mat src; Mat src_gray;
+   int thresh = 100; 
+   int max_thresh = 255;
+   RNG rng(12345);
+
+   /// Function header
+   void thresh_callback(int, void* );
+
+  /** @function main */
+  int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+
+     /// Convert image to gray and blur it
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+     blur( src_gray, src_gray, Size(3,3) );
+
+     /// Create Window
+     char* source_window = "Source";
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, src );
+
+     createTrackbar( " Threshold:", "Source", &thresh, max_thresh, thresh_callback );
+     thresh_callback( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /** @function thresh_callback */
+   void thresh_callback(int, void* )
+   {
+     Mat src_copy = src.clone();
+     Mat threshold_output;
+     vector<vector<Point> > contours;
+     vector<Vec4i> hierarchy;
+
+     /// Detect edges using Threshold
+     threshold( src_gray, threshold_output, thresh, 255, THRESH_BINARY );
+
+     /// Find contours  
+     findContours( threshold_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
+
+     /// Find the convex hull object for each contour
+     vector<vector<Point> >hull( contours.size() );
+     for( int i = 0; i < contours.size(); i++ )
+        {  convexHull( Mat(contours[i]), hull[i], false ); } 
+
+     /// Draw contours + hull results
+     Mat drawing = Mat::zeros( threshold_output.size(), CV_8UC3 );
+     for( int i = 0; i< contours.size(); i++ )
+        { 
+          Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
+          drawContours( drawing, contours, i, color, 1, 8, vector<Vec4i>(), 0, Point() ); 
+          drawContours( drawing, hull, i, color, 1, 8, vector<Vec4i>(), 0, Point() );       
+        }
+
+     /// Show in a window
+     namedWindow( "Hull demo", CV_WINDOW_AUTOSIZE );
+     imshow( "Hull demo", drawing );
+   }
+
+
+Explanation
+============
+
+Result
+======
+
+#. Here it is:
+
+   ========== ==========  
+    |Hull_0|   |Hull_1|   
+   ========== ==========   
+
+   .. |Hull_0|  image:: images/Hull_Original_Image.jpg
+                     :height: 300pt
+                     :align: middle
+
+   .. |Hull_1|  image:: images/Hull_Result.jpg
+                     :height: 300pt
+                     :align: middle   
+

doc/tutorials/imgproc/shapedescriptors/moments/moments.rst

@@ -0,0 +1,136 @@
+.. _moments:
+
+
+Image Moments
+**************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :moments:`moments <>` 
+   * Use the OpenCV function :contour_area:`contourArea <>`
+   * Use the OpenCV function :arc_length:`arcLength <>`           
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/ShapeDescriptors/moments_demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   Mat src; Mat src_gray;
+   int thresh = 100;
+   int max_thresh = 255;
+   RNG rng(12345);
+
+   /// Function header
+   void thresh_callback(int, void* );
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Load source image and convert it to gray
+     src = imread( argv[1], 1 );
+
+     /// Convert image to gray and blur it
+     cvtColor( src, src_gray, CV_BGR2GRAY );
+     blur( src_gray, src_gray, Size(3,3) );
+
+     /// Create Window
+     char* source_window = "Source";
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, src );
+
+     createTrackbar( " Canny thresh:", "Source", &thresh, max_thresh, thresh_callback );
+     thresh_callback( 0, 0 );
+
+     waitKey(0);
+     return(0);
+   }
+
+   /** @function thresh_callback */
+   void thresh_callback(int, void* )
+   {
+     Mat canny_output;
+     vector<vector<Point> > contours;
+     vector<Vec4i> hierarchy;
+
+     /// Detect edges using canny
+     Canny( src_gray, canny_output, thresh, thresh*2, 3 );
+     /// Find contours  
+     findContours( canny_output, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0) );
+
+     /// Get the moments
+     vector<Moments> mu(contours.size() );
+     for( int i = 0; i < contours.size(); i++ )
+        { mu[i] = moments( contours[i], false ); }
+
+     ///  Get the mass centers: 
+     vector<Point2f> mc( contours.size() );
+     for( int i = 0; i < contours.size(); i++ )
+        { mc[i] = Point2f( mu[i].m10/mu[i].m00 , mu[i].m01/mu[i].m00 ); }
+
+     /// Draw contours
+     Mat drawing = Mat::zeros( canny_output.size(), CV_8UC3 );
+     for( int i = 0; i< contours.size(); i++ )
+        { 
+          Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
+          drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() ); 
+          circle( drawing, mc[i], 4, color, -1, 8, 0 );
+        }
+
+     /// Show in a window
+     namedWindow( "Contours", CV_WINDOW_AUTOSIZE );
+     imshow( "Contours", drawing );
+
+     /// Calculate the area with the moments 00 and compare with the result of the OpenCV function
+     printf("\t Info: Area and Contour Length \n");
+     for( int i = 0; i< contours.size(); i++ )
+        {
+          printf(" * Contour[%d] - Area (M_00) = %.2f - Area OpenCV: %.2f - Length: %.2f \n", i, mu[i].m00, contourArea(contours[i]), arcLength( contours[i], true ) );  
+          Scalar color = Scalar( rng.uniform(0, 255), rng.uniform(0,255), rng.uniform(0,255) );
+          drawContours( drawing, contours, i, color, 2, 8, hierarchy, 0, Point() ); 
+          circle( drawing, mc[i], 4, color, -1, 8, 0 );
+        }
+   }
+
+Explanation
+============
+
+Result
+======
+
+#. Here it is:
+
+   ========== ==========  ==========  
+    |MU_0|     |MU_1|      |MU_2|   
+   ========== ==========  ========== 
+
+   .. |MU_0|  image:: images/Moments_Source_Image.jpg
+                    :width: 250pt
+                    :align: middle
+
+   .. |MU_1|  image:: images/Moments_Result1.jpg
+                    :width: 250pt
+                    :align: middle   
+
+   .. |MU_2|  image:: images/Moments_Result2.jpg
+                    :width: 250pt
+                    :align: middle   
+

doc/tutorials/imgproc/shapedescriptors/point_polygon_test/point_polygon_test.rst

@@ -0,0 +1,119 @@
+.. _point_polygon_test:
+
+Point Polygon Test
+*******************
+
+Goal
+=====
+
+In this tutorial you will learn how to:
+
+.. container:: enumeratevisibleitemswithsquare
+
+   * Use the OpenCV function :point_polygon_test:`pointPolygonTest <>` 
+           
+
+Theory
+======
+
+Code
+====
+
+This tutorial code's is shown lines below. You can also download it from `here <https://code.ros.org/svn/opencv/trunk/opencv/samples/cpp/tutorial_code/ShapeDescriptors/pointPolygonTest_demo.cpp>`_
+
+.. code-block:: cpp 
+
+   #include "opencv2/highgui/highgui.hpp"
+   #include "opencv2/imgproc/imgproc.hpp"
+   #include <iostream>
+   #include <stdio.h>
+   #include <stdlib.h>
+
+   using namespace cv;
+   using namespace std;
+
+   /** @function main */
+   int main( int argc, char** argv )
+   {
+     /// Create an image
+     const int r = 100;
+     Mat src = Mat::zeros( Size( 4*r, 4*r ), CV_8UC1 );
+
+     /// Create a sequence of points to make a contour:
+     vector<Point2f> vert(6);
+
+     vert[0] = Point( 1.5*r, 1.34*r );
+     vert[1] = Point( 1*r, 2*r );
+     vert[2] = Point( 1.5*r, 2.866*r );
+     vert[3] = Point( 2.5*r, 2.866*r );
+     vert[4] = Point( 3*r, 2*r );
+     vert[5] = Point( 2.5*r, 1.34*r );
+
+     /// Draw it in src
+     for( int j = 0; j < 6; j++ )
+        { line( src, vert[j],  vert[(j+1)%6], Scalar( 255 ), 3, 8 ); } 
+
+     /// Get the contours
+     vector<vector<Point> > contours; vector<Vec4i> hierarchy;
+     Mat src_copy = src.clone();
+
+     findContours( src_copy, contours, hierarchy, RETR_TREE, CHAIN_APPROX_SIMPLE);  
+
+     /// Calculate the distances to the contour
+     Mat raw_dist( src.size(), CV_32FC1 );
+
+     for( int j = 0; j < src.rows; j++ )
+        { for( int i = 0; i < src.cols; i++ )
+             { raw_dist.at<float>(j,i) = pointPolygonTest( contours[0], Point2f(i,j), true ); }
+        }
+
+     double minVal; double maxVal;
+     minMaxLoc( raw_dist, &minVal, &maxVal, 0, 0, Mat() );
+     minVal = abs(minVal); maxVal = abs(maxVal);
+  
+     /// Depicting the  distances graphically
+     Mat drawing = Mat::zeros( src.size(), CV_8UC3 );
+
+     for( int j = 0; j < src.rows; j++ )
+        { for( int i = 0; i < src.cols; i++ )
+             { 
+               if( raw_dist.at<float>(j,i) < 0 )
+                 { drawing.at<Vec3b>(j,i)[0] = 255 - (int) abs(raw_dist.at<float>(j,i))*255/minVal; }
+               else if( raw_dist.at<float>(j,i) > 0 )
+                 { drawing.at<Vec3b>(j,i)[2] = 255 - (int) raw_dist.at<float>(j,i)*255/maxVal; }    
+               else
+                 { drawing.at<Vec3b>(j,i)[0] = 255; drawing.at<Vec3b>(j,i)[1] = 255; drawing.at<Vec3b>(j,i)[2] = 255; }     
+             }
+        }
+
+     /// Create Window and show your results
+     char* source_window = "Source";
+     namedWindow( source_window, CV_WINDOW_AUTOSIZE );
+     imshow( source_window, src );
+     namedWindow( "Distance", CV_WINDOW_AUTOSIZE );
+     imshow( "Distance", drawing );
+
+     waitKey(0);
+     return(0);
+   }
+
+Explanation
+============
+
+Result
+======
+
+#. Here it is:
+
+   ========== ==========  
+    |PPT_0|   |PPT_1|   
+   ========== ==========   
+
+   .. |PPT_0|  image:: images/Point_Polygon_Test_Source_Image.jpg
+                    :height: 300pt
+                    :align: middle
+
+   .. |PPT_1|  image:: images/Point_Polygon_Test_Result.jpg
+                    :height: 300pt
+                    :align: middle   
+

doc/tutorials/imgproc/table_of_content_imgproc/table_of_content_imgproc.rst

@@ -383,7 +383,132 @@ In this section you will learn about the image processing (manipulation) functio
                               :height: 90pt
                               :width:  90pt
 
++ 
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
   
+  ===================== ==============================================
+   |FindContours|       **Title:** :ref:`find_contours`
+
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+
+                        Where we learn how to find contours of objects in our image
+
+  ===================== ==============================================
+  
+  .. |FindContours| image:: images/shapedescriptors/Find_Contours_Tutorial_Cover.jpg
+                          :height: 90pt
+                          :width:  90pt
+
++ 
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+  
+  ===================== ==============================================
+   |Hull|               **Title:** :ref:`hull`
+
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+
+                        Where we learn how to get hull contours and draw them!
+
+  ===================== ==============================================
+  
+  .. |Hull| image:: images/shapedescriptors/Hull_Tutorial_Cover.jpg
+                 :height: 90pt
+                 :width:  90pt
+
++ 
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+  
+  ===================== ==============================================
+   |BRC|                **Title:** :ref:`bounding_rects_circles`
+
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+
+                        Where we learn how to obtain bounding boxes and circles for our contours.
+
+  ===================== ==============================================
+  
+  .. |BRC| image:: images/shapedescriptors/Bounding_Rects_Circles_Tutorial_Cover.jpg
+                :height: 90pt
+                :width:  90pt
+
++ 
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+  
+  
+  ===================== ==============================================
+   |BRE|                **Title:** :ref:`bounding_rotated_ellipses`
+
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+
+                        Where we learn how to obtain rotated bounding boxes and ellipses for our contours.
+
+  ===================== ==============================================
+  
+  .. |BRE| image:: images/shapedescriptors/Bounding_Rotated_Ellipses_Tutorial_Cover.jpg
+                :height: 90pt
+                :width:  90pt
+
++ 
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+  
+  
+  ===================== ==============================================
+   |MU|                 **Title:** :ref:`moments`
+
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+
+                        Where we learn to calculate the moments of an image
+
+  ===================== ==============================================
+  
+  .. |MU| image:: images/shapedescriptors/Moments_Tutorial_Cover.jpg
+               :height: 90pt
+               :width:  90pt
+
+
++ 
+
+  .. tabularcolumns:: m{100pt} m{300pt}
+  .. cssclass:: toctableopencv
+  
+  
+  ===================== ==============================================
+   |PPT|                **Title:** :ref:`point_polygon_test`
+
+                        *Compatibility:* > OpenCV 2.0
+                        
+                        *Author:* |Author_AnaH|
+
+                        Where we learn how to calculate distances from the image to contours
+
+  ===================== ==============================================
+  
+  .. |PPT| image:: images/shapedescriptors/Point_Polygon_Test_Tutorial_Cover.jpg
+                :height: 90pt
+                :width:  90pt
+
+
+
 .. toctree::
    :hidden:
 
@@ -406,9 +531,12 @@ In this section you will learn about the image processing (manipulation) functio
    ../histograms/histogram_comparison/histogram_comparison
    ../histograms/back_projection/back_projection
    ../histograms/template_matching/template_matching
-
-
-
+   ../shapedescriptors/find_contours/find_contours
+   ../shapedescriptors/hull/hull
+   ../shapedescriptors/bounding_rects_circles/bounding_rects_circles
+   ../shapedescriptors/bounding_rotated_ellipses/bounding_rotated_ellipses
+   ../shapedescriptors/moments/moments
+   ../shapedescriptors/point_polygon_test/point_polygon_test