Modules/ImageProcessor/ImageProcessor.h

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/** 
* @file ImageProcessor.h
*
* This file contains a generic class for ImageProcessor.
*
* @author Matthias Jüngel
* @author Martin Lötzsch
*/

#ifndef __ImageProcessor_h_
#define __ImageProcessor_h_

#ifdef _WIN32
#pragma warning(disable:4786) 
// the constructor with all it's long parameter type names results in a too
// long debug identifier
#endif

#include "Tools/Module/Module.h"

#include "Representations/Perception/Image.h"
#include "Representations/Perception/CameraMatrix.h"
#include "Representations/Perception/ColorTable.h"
#include "Representations/Perception/LandmarksPercept.h"
#include "Representations/Perception/BallPercept.h"
#include "Representations/Perception/LinesPercept.h"
#include "Representations/Perception/EdgesPercept.h"
#include "Representations/Perception/PlayersPercept.h"
#include "Representations/Perception/ObstaclesPercept.h"
#include "Representations/Perception/SpecialPercept.h"
#include "Representations/Perception/CalibrationRequest.h"
#include "Representations/Cognition/RobotPose.h"
#include "Representations/Cognition/BallModel.h"
#include "Representations/Cognition/PlayerPoseCollection.h"
#include "Representations/Cognition/RobotState.h"

/**
* @class ImageProcessorInterfaces
* 
* The interfaces of the ImageProcessor module.
*/
class ImageProcessorInterfaces
{
public:
  /** Constructor. */
  ImageProcessorInterfaces(
    const Image& image,
    const CameraMatrix& cameraMatrix,
    ColorTable& colorTable,
    const RobotPose& robotPose,
    const BallModel& ballModel,
    const PlayerPoseCollection& playerPoseCollection,
    const RobotState& robotState,
    const CalibrationRequest& calibrationRequest,
    LandmarksPercept& landmarksPercept,
    BallPercept& ballPercept,
    LinesPercept& linesPercept,
    EdgesPercept& edgesPercept,
    PlayersPercept& playersPercept,
    ObstaclesPercept& obstaclesPercept,
    SpecialPercept& specialPercept)
    : image(image),
    cameraMatrix(cameraMatrix),
    colorTable(colorTable),
    robotPose(robotPose),
    ballModel(ballModel),
    playerPoseCollection(playerPoseCollection),
    robotState(robotState),
    calibrationRequest(calibrationRequest),
    landmarksPercept(landmarksPercept),
    ballPercept(ballPercept),
    linesPercept(linesPercept),
    edgesPercept(edgesPercept),
    playersPercept(playersPercept),
    obstaclesPercept(obstaclesPercept),
    specialPercept(specialPercept)
  {}

  /** The image to be processed */
  const Image& image;

  /** The offset and the rotation of the camera */
  const CameraMatrix& cameraMatrix;

  /** The color table */ 
  ColorTable& colorTable;

  /** The last calculated ball robot pose */
  const RobotPose& robotPose;

  /** The last calculated ball position */
  const BallModel& ballModel;

  /** The last calculated player pose collection */
  const PlayerPoseCollection& playerPoseCollection;

  /** The last calculated robot state */
  const RobotState& robotState;

  /** The calibration request */
  const CalibrationRequest& calibrationRequest;

  /** The landmarks percept to be generated */
  LandmarksPercept& landmarksPercept;

  /** The ball percept to be generated */
  BallPercept& ballPercept;

  /** The lines percept to be generated */
  LinesPercept& linesPercept;

  /** The edges percept to be generated */
  EdgesPercept& edgesPercept;

  /** The players percept to be generated */
  PlayersPercept& playersPercept;

  /** The obstacles percept to be generated */
  ObstaclesPercept& obstaclesPercept;

  /** */
  SpecialPercept& specialPercept; 
};


/**
* @class ImageProcessor 
*
* The base class for image processors.
* ImageProcessors calculate percepts.
*
* @author Matthias Jüngel
* @author Martin Lötzsch
*/
class ImageProcessor : public Module, public ImageProcessorInterfaces
{
public:
/*
* Constructor.
* @param interfaces The parameters of the ImageProcessor module.
  */
  ImageProcessor(const ImageProcessorInterfaces& interfaces)
    : ImageProcessorInterfaces(interfaces)
  {}
  
  /** Destructor */
  virtual ~ImageProcessor() {}
};

#endif // __ImageProcessor_h_

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