Modules/ImageProcessor/GT2005ImageProcessor/GT2005PlayerSpecialist.h

Go to the documentation of this file.

/**
* @file GT2005PlayerSpecialist.h
* 
* This file contains a class for Image Processing.
* @author <A href=mailto:marc.dassler@web.de>Marc Dassler</A>
*/

#ifndef __GT2005PlayerSpecialist_h_
#define __GT2005PlayerSpecialist_h_

#include "Tools/Debugging/DebugImages.h"

#include "Representations/Perception/ColorTable.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Perception/LinesPercept.h"
#include "Representations/Perception/PlayersPercept.h"
#include "Tools/Math/Geometry.h"
#include "Modules/ImageProcessor/ImageProcessorTools/BresenhamLineScan.h"
#include "Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.h"
#include "Modules/ImageProcessor/ImageProcessorTools/ImageProcessorUtilityClasses.h"

/**
* As part of the GridImageProcessor the GT2005FlagSpecialist searches for
* flag landmarks starting at a point in an Image determined before
*/
class GT2005PlayerSpecialist  
{

public:
  GT2005PlayerSpecialist(
  const ColorCorrector& colorCorrector,
  const ColorTable& colorTable,
  const Image& image,
  const ImageInfo& imageInfo,
  const LinesPercept& linesPercept,
  const CameraMatrix& cameraMatrix,
  PlayersPercept& playersPercept);
  
  /** Execute the Specialist.*/
  void execute();
  
private:
  /** 
   * search for more robot properties
   */
  void detectRedRobots(
    Vector2<int> averageRobotSignatureStart,
    Vector2<int> averageRobotSignatureStop,
    Vector2<int> averageRobotSignature);
  void detectBlueRobots(
    Vector2<int> averageRobotSignatureStart,
    Vector2<int> averageRobotSignatureStop,
    Vector2<int> averageRobotSignature);

  /** 
   * Finds the foot point of a robots leg. To compare the results the Y-axis is used
   * @param start The starting point in the image
   * @param depth count the step size. Used to make smaller steps in the foot near
   * @return the foot point
   */
  Vector2<unsigned char> findRedFootPointYAxis(Vector2<unsigned char> start, Vector2<char> direction, short depth, unsigned char recursionLevel = 0);
  Vector2<unsigned char> findBlueFootPointYAxis(Vector2<unsigned char> start, Vector2<char> direction, short depth, unsigned char recursionLevel = 0);

  /**
   * Clusters the linespercepts in different robots
   * Maximal 4 robots and 30 pixel space between them
   */
  void clusterRobotLinesPercepts();

  /**
   * Checks if the line between 2 points is mostly white or accepted color
   */
  bool checkForWhiteLineBetweenRed(Vector2<int> start, Vector2<int> stop);
  bool checkForWhiteLineBetweenBlue(Vector2<int> start, Vector2<int> stop);
  /**
   * Inspect a color quad of the color proportion
   */
  inline colorClass inspectColorArea(const Vector2<unsigned char>& position, const Vector2<char>& direction);


  Vector2<int> averageRedRobotSignatureStart[4], /** Needed for debugging */
               averageRedRobotSignatureStop[4], /** Needed for debugging */
               averageRedRobotSignature[4], /** Needed for debugging */
               averageBlueRobotSignatureStart[4], /** Needed for debugging */
               averageBlueRobotSignatureStop[4], /** Needed for debugging */
               averageBlueRobotSignature[4]; /** Needed for debugging */


  int clusteredRedRobots,clusteredBlueRobots; /** the number of clustered robots */
  int averageRedRobotSignaturePoints[4],
      averageBlueRobotSignaturePoints[4];

  int maxDepth;

  const ImageInfo& imageInfo;
  const ColorTable& colorTable;
  const ColorCorrector& colorCorrector;
  const LinesPercept& linesPercept;
  const Image& image;
  const CameraMatrix& cameraMatrix;

  PlayersPercept& playersPercept;

};


#endif// __GT2005PlayerSpecialist_h_

---