GT2005: Tools/Debugging/DebugImages2.h Source File

00001 /**
00002 * @file Tools/Debugging/DebugImages2.h
00003 *
00004 * Macros to manipulate and send debug images
00005 * 
00006 * @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Jüngel</a>
00007 */ 
00008 #ifndef __DebugImages_h_
00009 #define __DebugImages_h_
00010 #include "Tools/Debugging/Debugging.h"
00011 #include "Representations/Perception/GrayScaleImage.h"
00012 
00013 #ifdef NEWDEBUGGING
00014 // yuv
00015 #define N_DECLARE_DEBUG_IMAGE(id) Image id##Image
00016 #define N_INIT_DEBUG_IMAGE(id, image) \
00017   NOT_POLLABLE_DEBUG_RESPONSE("debug images:" #id , \
00018   id##Image = image;   );
00019 #define N_INIT_DEBUG_IMAGE_BLACK(id, image) \
00020    NOT_POLLABLE_DEBUG_RESPONSE("debug images:" #id , \
00021    id##Image.cameraInfo = image.cameraInfo; \
00022    for (int y = 0; y < id##Image.cameraInfo.resolutionHeight; y++) \
00023        for (int x = 0; x < id##Image.cameraInfo.resolutionWidth; x++) \
00024      {N_DEBUG_IMAGE_SET_PIXEL_BLACK(id, x, y);});
00025 #define N_SEND_DEBUG_IMAGE(id) \
00026   DEBUG_RESPONSE("debug images:" #id , \
00027   OUTPUT(idDebugImage, bin, #id << id##Image);   );
00028 #define N_SEND_DEBUG_IMAGE_AS_JPEG(id) \
00029   DEBUG_RESPONSE("debug images:" #id , \
00030   { JPEGImage* temp = new JPEGImage(id##Image); \
00031   OUTPUT(idDebugJPEGImage, bin, #id << *temp); \
00032   delete temp; } );
00033 #define N_SEND_DEBUG_IMAGE_AS_JPEG2(id) \
00034   DEBUG_RESPONSE("debug images:" #id , \
00035   { JPEGImage* temp = new JPEGImage(id##Image); \
00036   OUTPUT(idDebugJPEGImage2, bin, #id << *temp); \
00037   delete temp; } );
00038 
00039 /**Sets the y, u and v values of the specified pixel in the specified debug image */
00040 #define N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, y, u, v) \
00041   { \
00042     if(xx >= 0 && xx < id##Image.cameraInfo.resolutionWidth && \
00043       yy >= 0 && yy < id##Image.cameraInfo.resolutionHeight) \
00044     { \
00045       id##Image.image[yy][0][xx] = y; \
00046       id##Image.image[yy][1][xx] = u; \
00047       id##Image.image[yy][2][xx] = v; \
00048     } \
00049   }
00050 #define N_DEBUG_IMAGE_GET_PIXEL_Y(id, xx, yy) id##Image.image[yy][0][xx]
00051 #define N_DEBUG_IMAGE_GET_PIXEL_U(id, xx, yy) id##Image.image[yy][1][xx]
00052 #define N_DEBUG_IMAGE_GET_PIXEL_V(id, xx, yy) id##Image.image[yy][2][xx]
00053 #define N_DEBUG_IMAGE_SET_PIXEL_BLACK(id, xx, yy)\
00054   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 127, 127)
00055 #define N_DEBUG_IMAGE_SET_PIXEL_WHITE(id, xx, yy)\
00056   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 255, 127, 127)
00057 #define N_DEBUG_IMAGE_SET_PIXEL_GREEN(id, xx, yy)\
00058   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 180, 0, 0)
00059 #define N_DEBUG_IMAGE_SET_PIXEL_LIGHT_GRAY(id, xx, yy)\
00060   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 192, 127, 127)
00061 #define N_DEBUG_IMAGE_SET_PIXEL_GRAY(id, xx, yy)\
00062   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 127, 127, 127)
00063 #define N_DEBUG_IMAGE_SET_PIXEL_DARK_GRAY(id, xx, yy)\
00064   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 64, 127, 127)
00065 #define N_DEBUG_IMAGE_SET_PIXEL_DARK_GREEN(id, xx, yy)\
00066   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 0, 0)
00067 #define N_DEBUG_IMAGE_SET_PIXEL_ORANGE(id, xx, yy)\
00068   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 100, 255, 0)
00069 #define N_DEBUG_IMAGE_SET_PIXEL_YELLOW(id, xx, yy)\
00070   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 180, 255, 0)
00071 #define N_DEBUG_IMAGE_SET_PIXEL_RED(id, xx, yy)\
00072   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 255, 0)
00073 #define N_DEBUG_IMAGE_SET_PIXEL_MAUVE(id, xx, yy)\
00074   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 180, 255)
00075 #define N_DEBUG_IMAGE_SET_PIXEL_BLUE(id, xx, yy)\
00076   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 180, 0, 255)
00077 #define N_DEBUG_IMAGE_SET_PIXEL_PINK(id, xx, yy)\
00078   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 255, 255, 255)
00079 #define N_DEBUG_IMAGE_SET_PIXEL_DARK_BLUE(id, xx, yy)\
00080   N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 100, 0, 255)
00081 
00082 // gray scale ( + color class)
00083 #define N_DECLARE_DEBUG_GRAY_SCALE_IMAGE(id) GrayScaleImage id##Image
00084 #define N_INIT_DEBUG_GRAY_SCALE_IMAGE(id, image) \
00085   NOT_POLLABLE_DEBUG_RESPONSE("debug images:" #id , \
00086   id##Image.cameraInfo = image.cameraInfo; \
00087   id##Image.copyChannel(image, 0); );
00088 #define N_SET_COLORED_PIXEL_IN_GRAY_SCALE_IMAGE(id, x, y, color) \
00089   id##Image.image[y][x] = color; 
00090 #define N_SEND_DEBUG_GRAY_SCALE_IMAGE(id) \
00091   DEBUG_RESPONSE("debug images:" #id , \
00092   OUTPUT(idDebugGrayScaleImage, bin, #id << id##Image);   );
00093 
00094 // color class
00095 #define N_DECLARE_DEBUG_COLOR_CLASS_IMAGE(id) ColorClassImage id##Image
00096 #define N_SEND_DEBUG_COLOR_CLASS_IMAGE(id) \
00097   DEBUG_RESPONSE("debug images:" #id , \
00098   OUTPUT(idDebugColorClassImage, bin, #id << id##Image);   );
00099 
00100 // all
00101 #define N_GENERATE_DEBUG_IMAGE(id,expression) \
00102   DEBUG_RESPONSE("debug images:" #id , expression )
00103 
00104 #else //NEWDEBUGGING
00105 
00106 // yuv
00107 #define N_DECLARE_DEBUG_IMAGE(id) /**/
00108 #define N_INIT_DEBUG_IMAGE(id, image) /**/
00109 #define N_INIT_DEBUG_IMAGE_BLACK(id, image) /**/
00110 #define N_SEND_DEBUG_IMAGE(id) /**/
00111 #define N_SEND_DEBUG_IMAGE_AS_JPEG(id) /**/
00112 #define N_SEND_DEBUG_IMAGE_AS_JPEG2(id) /**/
00113 #define N_DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, y, u, v) /**/
00114 #define N_DEBUG_IMAGE_GET_PIXEL_Y(id, xx, yy) /**/
00115 #define N_DEBUG_IMAGE_GET_PIXEL_U(id, xx, yy) /**/
00116 #define N_DEBUG_IMAGE_GET_PIXEL_V(id, xx, yy) /**/
00117 #define N_DEBUG_IMAGE_SET_PIXEL_BLACK(id, xx, yy)/**/
00118 #define N_DEBUG_IMAGE_SET_PIXEL_WHITE(id, xx, yy)/**/
00119 #define N_DEBUG_IMAGE_SET_PIXEL_GREEN(id, xx, yy)/**/
00120 #define N_DEBUG_IMAGE_SET_PIXEL_LIGHT_GRAY(id, xx, yy)/**/
00121 #define N_DEBUG_IMAGE_SET_PIXEL_GRAY(id, xx, yy)/**/
00122 #define N_DEBUG_IMAGE_SET_PIXEL_DARK_GRAY(id, xx, yy)/**/
00123 #define N_DEBUG_IMAGE_SET_PIXEL_DARK_GREEN(id, xx, yy)/**/
00124 #define N_DEBUG_IMAGE_SET_PIXEL_ORANGE(id, xx, yy)/**/
00125 #define N_DEBUG_IMAGE_SET_PIXEL_YELLOW(id, xx, yy)/**/
00126 #define N_DEBUG_IMAGE_SET_PIXEL_RED(id, xx, yy)/**/
00127 #define N_DEBUG_IMAGE_SET_PIXEL_MAUVE(id, xx, yy)/**/
00128 #define N_DEBUG_IMAGE_SET_PIXEL_BLUE(id, xx, yy)/**/
00129 #define N_DEBUG_IMAGE_SET_PIXEL_PINK(id, xx, yy)/**/
00130 #define N_DEBUG_IMAGE_SET_PIXEL_DARK_BLUE(id, xx, yy)/**/
00131 
00132 // gray scale ( + color class)
00133 #define N_DECLARE_DEBUG_GRAY_SCALE_IMAGE(id) /**/
00134 #define N_SET_COLORED_PIXEL_IN_GRAY_SCALE_IMAGE(id, x, y, color) /**/
00135 #define N_INIT_DEBUG_GRAY_SCALE_IMAGE(id, image) /**/
00136 #define N_SEND_DEBUG_GRAY_SCALE_IMAGE(id) /**/
00137 
00138 // color class
00139 #define N_DECLARE_DEBUG_COLOR_CLASS_IMAGE(id) /**/
00140 #define N_SEND_DEBUG_COLOR_CLASS_IMAGE(id) /**/
00141 
00142 // all
00143 #define N_GENERATE_DEBUG_IMAGE(id,expression) /**/
00144 
00145 #endif //DEBUGNEW
00146 
00147 
00148 
00149 
00150 /////compability
00151 
00152 #ifdef NDEBUG
00153 #define NODEBUGDRAWINGS
00154 #endif
00155 #ifdef NO_DEBUG_DRAWING
00156 #define NODEBUGDRAWINGS
00157 #endif
00158 
00159 #ifdef NODEBUGDRAWINGS
00160 #define DECLARE_DEBUG_COLOR_CLASS_IMAGE(id) /**/
00161 #define SEND_DEBUG_COLOR_CLASS_IMAGE(id) /**/
00162 #else //NODEBUGDRAWINGS
00163 /**
00164 * Declares a debug image
00165 * @param id An image id (Images::ImageID)
00166 */
00167 #define DECLARE_DEBUG_COLOR_CLASS_IMAGE(id) ColorClassImage id##ColorClassImage
00168 
00169 /**Sends the debug image with the specified id (Images::ImageID) */
00170 #define SEND_DEBUG_COLOR_CLASS_IMAGE(id) INFO(send_##id##_image, idDebugColorClassImage, bin, Images::id << id##ColorClassImage)
00171 
00172 #endif //NODEBUGDRAWINGS
00173 #if defined(_WIN32)
00174 
00175 /**
00176 * Declares a debug image
00177 * @param id An image id (Images::ImageID)
00178 */
00179 #define DECLARE_DEBUG_IMAGE(id) Image id##Image
00180 
00181 /**
00182 * Initializes a debug image with an image
00183 * @param id An image id (Images::ImageID)
00184 * @param image The Image.
00185 */
00186 #define INIT_DEBUG_IMAGE(id, image) id##Image = image
00187 
00188 /** 
00189 * If an debug image is not created with macros the source code for
00190 * image generation should be encapsuled by this macro.
00191 */
00192 #define GENERATE_DEBUG_IMAGE(id,expression) \
00193   if (getDebugKeyTable().isActive(DebugKeyTable::send_##id##_image)) {\
00194   expression;\
00195   }
00196 
00197 /**Sends the debug image with the specified id (Images::ImageID) */
00198 #define SEND_DEBUG_IMAGE(id) INFO(send_##id##_image, idDebugImage, bin, Images::id << id##Image)
00199 
00200 /**Changes the y channel of the specified pixel in the specified debug image */
00201 #define DEBUG_IMAGE_SET_PIXEL_Y(id, xx, yy, y) \
00202   { \
00203     if(xx >= 0 && xx < id##Image.cameraInfo.resolutionWidth && \
00204       yy >= 0 && yy < id##Image.cameraInfo.resolutionHeight) \
00205     id##Image.image[yy][0][xx] = y; \
00206   }
00207 
00208 /**Sets the y, u and v values of the specified pixel in the specified debug image */
00209 #define DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, y, u, v) \
00210   { \
00211     if(xx >= 0 && xx < id##Image.cameraInfo.resolutionWidth && \
00212       yy >= 0 && yy < id##Image.cameraInfo.resolutionHeight) \
00213     { \
00214       id##Image.image[yy][0][xx] = y; \
00215       id##Image.image[yy][1][xx] = u; \
00216       id##Image.image[yy][2][xx] = v; \
00217     } \
00218   }
00219 
00220 #define DEBUG_IMAGE_GET_PIXEL_Y(id, xx, yy) id##Image.image[yy][0][xx]
00221 #define DEBUG_IMAGE_GET_PIXEL_U(id, xx, yy) id##Image.image[yy][1][xx]
00222 #define DEBUG_IMAGE_GET_PIXEL_V(id, xx, yy) id##Image.image[yy][2][xx]
00223 
00224 
00225 #define DEBUG_IMAGE_SET_PIXEL_BLACK(id, xx, yy)\
00226   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 127, 127)
00227 
00228 #define DEBUG_IMAGE_SET_PIXEL_WHITE(id, xx, yy)\
00229   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 255, 127, 127)
00230 
00231 #define DEBUG_IMAGE_SET_PIXEL_GREEN(id, xx, yy)\
00232   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 180, 0, 0)
00233 
00234 #define DEBUG_IMAGE_SET_PIXEL_LIGHT_GRAY(id, xx, yy)\
00235   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 192, 127, 127)
00236 
00237 #define DEBUG_IMAGE_SET_PIXEL_GRAY(id, xx, yy)\
00238   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 127, 127, 127)
00239 
00240 #define DEBUG_IMAGE_SET_PIXEL_DARK_GRAY(id, xx, yy)\
00241   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 64, 127, 127)
00242 
00243 #define DEBUG_IMAGE_SET_PIXEL_DARK_GREEN(id, xx, yy)\
00244   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 0, 0)
00245 
00246 #define DEBUG_IMAGE_SET_PIXEL_ORANGE(id, xx, yy)\
00247   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 100, 255, 0)
00248 
00249 #define DEBUG_IMAGE_SET_PIXEL_YELLOW(id, xx, yy)\
00250   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 180, 255, 0)
00251 
00252 #define DEBUG_IMAGE_SET_PIXEL_RED(id, xx, yy)\
00253   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 255, 0)
00254 
00255 #define DEBUG_IMAGE_SET_PIXEL_MAUVE(id, xx, yy)\
00256   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 0, 180, 255)
00257 
00258 #define DEBUG_IMAGE_SET_PIXEL_BLUE(id, xx, yy)\
00259   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 180, 0, 255)
00260 
00261 #define DEBUG_IMAGE_SET_PIXEL_PINK(id, xx, yy)\
00262   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 255, 255, 255)
00263 
00264 #define DEBUG_IMAGE_SET_PIXEL_DARK_BLUE(id, xx, yy)\
00265   DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, 100, 0, 255)
00266 
00267 #else //_WIN32
00268 
00269 #ifdef __GNUC__
00270 #define DECLARE_DEBUG_IMAGE(id) /**/
00271 #else
00272 #define DECLARE_DEBUG_IMAGE(id) static bool id##Dummy
00273 #endif
00274 #define INIT_DEBUG_IMAGE(id, image) /**/
00275 #define GENERATE_DEBUG_IMAGE(id,expression) /**/
00276 #define SEND_DEBUG_IMAGE(id) /**/
00277 #define DEBUG_IMAGE_SET_PIXEL_Y(id, xx, yy, y) /**/
00278 #define DEBUG_IMAGE_SET_PIXEL_YUV(id, xx, yy, y, u, v) /**/
00279 #define DEBUG_IMAGE_SET_PIXEL_BLACK(id, xx, yy) /**/
00280 #define DEBUG_IMAGE_SET_PIXEL_WHITE(id, xx, yy) /**/
00281 #define DEBUG_IMAGE_SET_PIXEL_GREEN(id, xx, yy) /**/
00282 #define DEBUG_IMAGE_SET_PIXEL_GRAY(id, xx, yy) /**/
00283 #define DEBUG_IMAGE_SET_PIXEL_LIGHT_GRAY(id, xx, yy) /**/
00284 #define DEBUG_IMAGE_SET_PIXEL_DARK_GRAY(id, xx, yy) /**/
00285 #define DEBUG_IMAGE_SET_PIXEL_DARK_GREEN(id, xx, yy) /**/
00286 #define DEBUG_IMAGE_SET_PIXEL_ORANGE(id, xx, yy) /**/
00287 #define DEBUG_IMAGE_SET_PIXEL_YELLOW(id, xx, yy) /**/
00288 #define DEBUG_IMAGE_SET_PIXEL_RED(id, xx, yy) /**/
00289 #define DEBUG_IMAGE_SET_PIXEL_MAUVE(id, xx, yy) /**/
00290 #define DEBUG_IMAGE_SET_PIXEL_BLUE(id, xx, yy) /**/
00291 #define DEBUG_IMAGE_SET_PIXEL_PINK(id, xx, yy) /**/
00292 #define DEBUG_IMAGE_SET_PIXEL_DARK_BLUE(id, xx, yy) /**/
00293 #define DEBUG_IMAGE_GET_PIXEL_Y(id, xx, yy) 0
00294 #define DEBUG_IMAGE_GET_PIXEL_U(id, xx, yy) 0
00295 #define DEBUG_IMAGE_GET_PIXEL_V(id, xx, yy) 0
00296 
00297 #endif //_WIN32
00298 
00299 /**
00300 * Contains IDs for different (debug) image types
00301 * as well as a method to output their names.
00302 */
00303 class Images
00304 {
00305 public:
00306 /**
00307 * IDs for images.
00308 * enter new image IDs here and add the corresponding string in getImageIDName.
00309   */
00310   enum ImageID
00311   {
00312     noImage,
00313     rawImage,
00314     segmentedImage1,
00315     segmentedImage2,
00316     segmentedImage3,
00317     classificationY,
00318     classificationU,
00319     classificationV,
00320     colorFrequency,
00321     imageProcessorGeneral,
00322     imageProcessorScanLines,
00323     imageProcessorBall,
00324     imageProcessorGoal1,
00325     imageProcessorGoal2,
00326     imageProcessorFlags,
00327     imageProcessorPlayers,
00328     imageProcessorGradients,
00329     imageMotionRecognition, 
00330     numberOfImageIDs,
00331     image = numberOfImageIDs, // dummy entry, never use it when constructing a DebugDrawing
00332     segmentedImage, // dummy entry, never use it when constructing a DebugDrawing
00333     correctedImage, // dummy entry, never use it when constructing a DebugDrawing
00334     correctedSegmentedImage, // dummy entry, never use it when constructing a DebugDrawing
00335 
00336     imageProcessorGoals = imageProcessorGoal1
00337   };
00338 
00339   /**
00340   * Returns a description for an indexed image id.
00341   * Add descriptions for new image ids here.
00342   */
00343   static char* getImageIDName(ImageID imageID)
00344   {
00345     switch (imageID) 
00346     {
00347     case noImage: return "no image";
00348     case rawImage: return "raw image";
00349     case segmentedImage1: return "segmented image 1";
00350     case segmentedImage2: return "segmented image 2";
00351     case segmentedImage3: return "segmented image 3";
00352     case classificationY: return "classificationY";
00353     case classificationU: return "classificationU";
00354     case classificationV: return "classificationV";
00355     case colorFrequency: return "colorFrequency";
00356     case imageProcessorGeneral: return "imageProcessorGeneral";
00357     case imageProcessorScanLines: return "imageProcessorScanLines";
00358     case imageProcessorBall: return "imageProcessorBall";
00359     case imageProcessorFlags: return "imageProcessorFlags";
00360     case imageProcessorGoal1: return "imageProcessorGoal1";
00361     case imageProcessorGoal2: return "imageProcessorGoal2";
00362     case imageProcessorPlayers: return "imageProcessorPlayers";
00363     case imageProcessorGradients: return "imageProcessorGradients";
00364     case imageMotionRecognition: return "imageMotionRecognition"; 
00365     default: return "check available drawings";
00366     }
00367   }
00368 
00369   static bool getDebugKeyID(enum ImageID imageID, DebugKeyTable::debugKeyID& debugKeyID)
00370   {
00371     switch (imageID) 
00372     {
00373     case segmentedImage1: debugKeyID = DebugKeyTable::send_segmentedImage1_image; return true;
00374     case segmentedImage2: debugKeyID = DebugKeyTable::send_segmentedImage2_image; return true;
00375     case segmentedImage3: debugKeyID = DebugKeyTable::send_segmentedImage3_image; return true;
00376     case classificationY: debugKeyID = DebugKeyTable::send_classificationY_image; return true;
00377     case classificationU: debugKeyID = DebugKeyTable::send_classificationU_image; return true;
00378     case classificationV: debugKeyID = DebugKeyTable::send_classificationV_image; return true;
00379     case colorFrequency: debugKeyID = DebugKeyTable::send_colorFrequency_image; return true;
00380     case imageProcessorGeneral: debugKeyID = DebugKeyTable::send_imageProcessorGeneral_image; return true;
00381     case imageProcessorScanLines: debugKeyID = DebugKeyTable::send_imageProcessorScanLines_image; return true;
00382     case imageProcessorBall: debugKeyID = DebugKeyTable::send_imageProcessorBall_image; return true;
00383     case imageProcessorFlags: debugKeyID = DebugKeyTable::send_imageProcessorFlags_image; return true;
00384     case imageProcessorGoal1: debugKeyID = DebugKeyTable::send_imageProcessorGoal1_image; return true;
00385     case imageProcessorGoal2: debugKeyID = DebugKeyTable::send_imageProcessorGoal2_image; return true;
00386     case imageProcessorPlayers: debugKeyID = DebugKeyTable::send_imageProcessorPlayers_image; return true;
00387     case imageProcessorGradients: debugKeyID = DebugKeyTable::send_imageProcessorGradients_image; return true;
00388     case imageMotionRecognition: debugKeyID = DebugKeyTable::send_imageMotionRecognition_image; return true;
00389     
00390     default: return false;
00391     }
00392   }
00393 };
00394 
00395 #endif //__DebugImages_h_