Modules/ImageProcessor/GT2005ImageProcessor/GT2005RobotSpecialist.h

Go to the documentation of this file.

/**
* @file GT2005RobotSpecialist.h
* 
* This file contains a class for Image Processing.
*
* @author Tobias Wegner
*/

#ifndef __GT2005RobotSpecialist_h_
#define __GT2005RobotSpecialist_h_

#include "GT2005Types.h"

#ifdef oo7

#define RS_DEBUG

//#define RS_DEBUG_SHOW_RUNS
#define RS_DEBUG_FEET

//#define RS_DEBUG_CONSOLE
//#define RS_DEBUG_SHOW_CLUSTER_INFO
#define RS_DEBUG_SHOW_COLORSPACE_INFO
#define RS_DEBUG_SHOW_CONNECTIONS
//#define RS_DEBUG_SHOW_START_RUN
//#define RS_DEBUG_SHOW_GREENCHANGE
#define RS_DEBUG_SHOW_BOUNDINGBOX
//#define RS_DEBUG_SHOW_PERCEPT
//#define RS_GROW_BB
//#define RS_DEBUG_DRAW_RADIAL_SCANLINES_ONLY
#endif

#include "Tools/Debugging/DebugDrawings.h"
#include "Tools/Math/Geometry.h"
#include "Tools/List.h"
#include "Tools/Debugging/DebugImages.h"
#include "Representations/Perception/ColorTable.h"
#include "Representations/Perception/Image.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Perception/BallPercept.h"
#include "Representations/Perception/LinesPercept.h"
#include "Representations/Perception/PlayersPercept.h"
#include "Representations/Perception/MSHSinglePlayerPercept.h"
#include "Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.h"
#include "Modules/ImageProcessor/ImageProcessorTools/BresenhamLineScan.h"
#include "Modules/ImageProcessor/ImageProcessorTools/ImageProcessorUtilityClasses.h"
#include "GT2005ImageProcessorTools.h"
//#include "Tools/Math/Common.h"

#include "GT2005Clustering.h"

#include "GT2005ColorSpace.h"


#define RS_FOOT_THRESHOLD     8
#define RS_FOOT_GRADIENT      5
#define RS_NUM_SCAN_LINES     30.0
//#define RS_FIXED_NO_GREEN_THRESHOLD
#define RS_NO_GREEN_PIXEL_THRESHOLD 5
#define RS_NGP_TH_START       10
#define RS_NGP_TH_STOP        2

#define RS_NUM_CANDIDATES     256


struct RobotCandidate
{
  Vector2<int>  footPoint;
  Vector2<int>  candidateStart;
  Vector2<int>  candidateStop;
  colorClass    color;
  int       lineID;
};

struct CandidateCluster
{
  int startPosition;
  int stopPosition;
};

/**
The RobotSpecialist finds other robots in an image.
*/
class GT2005RobotSpecialist  
{
public:
  GT2005RobotSpecialist(const ColorCorrector& colorCorrector_, const Image& image_, const ImageInfo& imageInfo_, const ColorTable& colorTable_, const CameraMatrix& cameraMatrix_, const CameraMatrix& prevCameraMatrix_, LinesPercept& linesPercept_, PlayersPercept &playersPercept_, const RobotPose& robotPose_, const List<GreenChangeEvent>& greenChangeEvents_);
  
  /**
  * Resets inner states, should be called every new frame
  */
  void reset
  (
  );
  
  /**
  * Generates scanlines for further scanning
  */
  void scan
  (
  );
  
  /**
  * Scans perpendicular to horizon
  */
  void scan(
    Vector2<int> startPoint
  );

  /** 
  * Searches for other robots in the image
  */
  void scan (
    Vector2<int> startPoint, 
    Vector2<int> endPoint
  );

  /** 
  * Adds candidate to list
  */
  void addCandidate (
    RobotCandidate  candidate
  );

  bool findNearestFootPoint (
    Vector2<int>    &footPoint
  );

  /**
  * Generates PlayersPercepts from candidates
  */
  void clusterCandidates (
  )
  {
    clusterCandidates (red);
    clusterCandidates (blue);
  };

  void clusterCandidates (
    colorClass  color
  );

  /**
  * Generates a percept for each cluster
  */
  void generatePercept (
    CandidateCluster  cluster
  );

  /**
  * Scans for <colorClass> pixels between both points
  */
  int noColorPixelsBetween (
    Vector2<int>, 
    Vector2<int>,
    colorClass
  );

  ColorSpace generateColorspace (
    Vector2<int>, 
    Vector2<int>
  );

  unsigned int filterPercepts (
    ColorSpace colorSpace,
    colorClass candidateColor
  );

  void addPercept (
    PerceptInfo &perceptInfo
  );

  /**
  * Debugfunctions
  */
  void dbg_PrintGreenchanges (
  );

private:
  const ColorCorrector& colorCorrector;

  const Image& image;
  const ImageInfo& imageInfo;
  const ColorTable& colorTable;
  const CameraMatrix& cameraMatrix;
  const CameraMatrix& prevCameraMatrix;
  const RobotPose&  robotPose;
  const List<GreenChangeEvent>& greenChangeEvents;

  LinesPercept& linesPercept;
  PlayersPercept& playersPercept;

  //footpoints
  RobotCandidate  candidates[RS_NUM_CANDIDATES];
  unsigned char topIndex, bottomIndex;

  List<GreenChangeEvent>::Pos footIterator;

  //needed for imp copied stuff
  int noRedCount, noBlueCount; 
  Vector2<int> lastRed, firstRed, closestRed, lastBlue, firstBlue, closestBlue;

  //for geometry
  int distanceOnField (Vector2<int>, Vector2<int>, CameraMatrix, CameraInfo);
  int generateBoundings (
    CandidateCluster  cluster,
    GT2005Rectangle   &body, 
    GT2005Rectangle   &foot,
    Vector2<int>    &footAVG
  );
};

#endif// __BallSpecialist_h_

---