GT2005: Modules/SpecialVision/ImageBrightnessEstimator.cpp Source File

00001 /**
00002 * @file ImageBrightnessEstimator.cpp
00003 * 
00004 * Implementation of class ImageBrightnessEstimator
00005 * This class estimates the overall image brightness
00006 *
00007 * @author <A href=mailto:mkunz@sim.tu-darmstadt.de>Michael Kunz</A>
00008 * @author <A href=mailto:brunn@sim.tu-darmstadt.de>Ronnie Brunn</A>
00009 */
00010 
00011 
00012 #include "ImageBrightnessEstimator.h"
00013 
00014 ImageBrightnessEstimator::ImageBrightnessEstimator(const SpecialVisionInterfaces& interfaces)
00015 : SpecialVision(interfaces)
00016 {
00017 }
00018 
00019 void ImageBrightnessEstimator::execute()
00020 {
00021   unsigned int brightness=0;
00022   unsigned int counter=0;
00023   /*for (int x=image.cameraInfo.resolutionWidth/3; x<2*image.cameraInfo.resolutionWidth/3; x+=image.cameraInfo.resolutionWidth/36)
00024   {
00025     for (int y=image.cameraInfo.resolutionHeight/3; y<2*image.cameraInfo.resolutionHeight/3; y+=image.cameraInfo.resolutionHeight/36)
00026     {*/
00027   for (int x=image.cameraInfo.resolutionWidth/12; x<image.cameraInfo.resolutionWidth; x+=image.cameraInfo.resolutionWidth/12)
00028   {
00029     for (int y=image.cameraInfo.resolutionHeight/12; y<image.cameraInfo.resolutionHeight; y+=image.cameraInfo.resolutionHeight/12)
00030     {
00031       counter++;
00032       brightness+=image.image[y][0][x];
00033     }
00034   }
00035 
00036   brightness/=counter;
00037   specialPercept.type = SpecialPercept::imageBrightness;
00038   specialPercept.estimatedImageBrightness = (unsigned char) brightness;
00039 }