Modules/ImageProcessor/GT2005ImageProcessor/GuideDogRobotSpecialist.h

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/**
* @file GuideDogRobotSpecialist.h
*
* Definition of class GuideDogRobotSpecialist.
* Detects (ok, it'd be nice if it did) red robots in an image.
*/

#ifndef GuideDogRobotSpecialist_h_
#define GuideDogRobotSpecialist_h_

#include "Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.h"

/**
* @class GuideDogRobotSpecialist
*/ 
class GuideDogRobotSpecialist
{
public:
private:
  /** A reference to the image that is scanned for a goal */
  const Image& image;

  /** A reference to the camera matrix that describes position and rotation of the camera when the image was aquired */
  const CameraMatrix& cameraMatrix;

  /** A reference to the previous camera matrix that describes position and rotation of the camera when the image was aquired */
  const CameraMatrix& prevCameraMatrix;

  /** A reference to the color table */
  const ColorTable& colorTable;

  /** A reference to the singeplayer percept */
  PlayersPercept& playersPercept;

  /** A reference to the color corrector */
  const ColorCorrector& colorCorrector;

  /** A representation of the horizon */
  Geometry::Line horizonLine, verticalLine;

  /** The number of horizontal scan lines */
  int numberOfHorizontalScanLines;

  static const int maxNumberOfHorizontalScanLines = 32;

  /** representation of the left points of the horizontal scan lines */
  Vector2<int> leftPoint[maxNumberOfHorizontalScanLines];

  /** representation of the right points of the horizontal scan lines */
  Vector2<int> rightPoint[maxNumberOfHorizontalScanLines];

public:
  GuideDogRobotSpecialist(
    const Image& image, 
    const CameraMatrix& cameraMatrix, 
    const CameraMatrix& prevCameraMatrix, 
    const ColorTable& colorTable,
    const ColorCorrector& colorCorrector,
    PlayersPercept& playersPercept
    );

  ~GuideDogRobotSpecialist();

  void execute();

private:
  void calculateScanLinesParallelToHorizon();
  void scanParallelToHorizon();
  bool inline isRed(int x, int y);
};

#endif // GuideDogRobotSpecialist

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