GT2005CenterCircleFinder Class Reference

#include <GT2005CenterCircleFinder.h>

Collaboration diagram for GT2005CenterCircleFinder:

[legend]List of all members.

Public Types
enum	{   maxNumberOfCandidatesPossible = 90, houghDimensionX = 100, houghDimensionY = 50,   radius = 180, areaOfInterestX = 3000, areaOfInterestY = 2000,   mEntry = 4, mEntry2 = 15, mEntry3 = 11,   scanLength = 140, minNumberOfPositives = 7, minNumberOfPositivesForDistanceCheck = 4,   enoughPros = 45, maximalDistanceAllowedBetweenMidAndBorder = 290, maxNumberOfCandidatesMaxEntry = 150,   acceptedAvgDistance = 200, onlyWhiteAllowed = 2, numberOfScanLines = 8,   neededWhiteCount = 2 }
Public Member Functions
	GT2005CenterCircleFinder (const ColorCorrector &colorCorrector, const ColorTable &cTable)
void	reset ()
void	addCandidate (Vector2< int > &candiOnField, Vector2< int > &candiOfImage)
void	determineCirclePoint (const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose, const CameraMatrix &prevCameraMatrix)
bool	getCircle (Vector2< double > &mid)
bool	circle (Vector2< double > &mid)
Public Attributes
bool	circleFound
Private Member Functions
void	transformArrayToField (int arrayIndex, bool xDirection, int &fieldPosition)
void	transformFieldToArray (double fieldPos, bool xDirection, int &arrayIndex)
void	checkCircleMidpoint (Vector2< double > candidate, int absMaxEntry, const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose, const CameraMatrix &prevCameraMatrix)
void	checkCircleMidpoint2 (int maxEntry, int NumberOfEntriesMaxEntry, multipleCandidate maxEntryFieldCoord[maxNumberOfCandidatesMaxEntry], const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose, const CameraMatrix &prevCameraMatrix)
bool	scanSurrounding (Vector2< int > start, Vector2< double > startOnField, const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose, const CameraMatrix &prevCameraMatrix)
void	scan (Vector2< int > start, Vector2< double > startOnField, Vector2< int > end, Vector2< int > step, int &positiveInNumberOfDirection, const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose, const CameraMatrix &prevCameraMatrix, double &distance, bool &positiv)
Private Attributes
Vector2< double >	midPoint
Candidate	candidatePoints [maxNumberOfCandidatesPossible]
int	numberOfCandidates
int	houghSpace [houghDimensionX][houghDimensionY]
bool	flagY [houghDimensionY]
int	houghStepX
int	houghStepY
double	maxQuantizationErrorX
double	maxQuantizationErrorY
int	timeTillLastSeen
Vector2< double >	midPointLastSeenField
Vector2< int >	midPointLastSeenFieldInt
double	lineThicknessRateAllowed
const ColorCorrector &	colorCorrector
const ColorTable &	colorTable

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Member Enumeration Documentation

anonymous enum

Enumeration values: maxNumberOfCandidatesPossible  houghDimensionX  houghDimensionY  radius  areaOfInterestX  areaOfInterestY  mEntry  mEntry2  mEntry3  scanLength  minNumberOfPositives  minNumberOfPositivesForDistanceCheck  enoughPros  maximalDistanceAllowedBetweenMidAndBorder  maxNumberOfCandidatesMaxEntry  acceptedAvgDistance  onlyWhiteAllowed  numberOfScanLines  neededWhiteCount  Definition at line 14 of file GT2005CenterCircleFinder.h.

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Constructor & Destructor Documentation

GT2005CenterCircleFinder::GT2005CenterCircleFinder (  const ColorCorrector &  colorCorrector, const ColorTable &  cTable )

Definition at line 6 of file GT2005CenterCircleFinder.cpp. References areaOfInterestX, areaOfInterestY, circleFound, flagY, houghDimensionX, houghDimensionY, houghSpace, houghStepX, houghStepY, lineThicknessRateAllowed, maxQuantizationErrorX, maxQuantizationErrorY, numberOfCandidates, and timeTillLastSeen.

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Member Function Documentation

void GT2005CenterCircleFinder::reset (   )

Definition at line 26 of file GT2005CenterCircleFinder.cpp. References circleFound, flagY, houghDimensionX, houghDimensionY, houghSpace, numberOfCandidates, and timeTillLastSeen. Referenced by GT2005ImageProcessor::execute().

void GT2005CenterCircleFinder::addCandidate (  Vector2< int > &  candiOnField, Vector2< int > &  candiOfImage )

Definition at line 41 of file GT2005CenterCircleFinder.cpp. References areaOfInterestX, areaOfInterestY, candidatePoints, circleFound, idText, maxNumberOfCandidatesPossible, numberOfCandidates, OUTPUT, GT2005CenterCircleFinder::Candidate::pointOfImage, GT2005CenterCircleFinder::Candidate::pointOnField, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.

void GT2005CenterCircleFinder::determineCirclePoint (  const CameraMatrix &  cameraMatrix, const Image &  image, const RobotPose &  robotPose, const CameraMatrix &  prevCameraMatrix )

Definition at line 149 of file GT2005CenterCircleFinder.cpp. References areaOfInterestX, GT2005CenterCircleFinder::multipleCandidate::avgDistance, candidatePoints, checkCircleMidpoint(), checkCircleMidpoint2(), CIRCLE, circleFound, GT2005CenterCircleFinder::multipleCandidate::count, flagY, houghDimensionY, houghSpace, idText, maxNumberOfCandidatesMaxEntry, mEntry, midPointLastSeenField, numberOfCandidates, OUTPUT, GT2005CenterCircleFinder::multipleCandidate::pointOnField, sqr, timeTillLastSeen, transformArrayToField(), transformFieldToArray(), Vector2< double >::x, and Vector2< double >::y.

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bool GT2005CenterCircleFinder::getCircle (  Vector2< double > &  mid  )

Definition at line 330 of file GT2005CenterCircleFinder.cpp. References circleFound, and midPoint. Referenced by GT2005ImageProcessor::execute().

bool GT2005CenterCircleFinder::circle (  Vector2< double > &  mid  )  [inline]

Definition at line 54 of file GT2005CenterCircleFinder.h. References circleFound, and midPoint.

void GT2005CenterCircleFinder::transformArrayToField (  int  arrayIndex, bool  xDirection, int &  fieldPosition )  [private]

Definition at line 67 of file GT2005CenterCircleFinder.cpp. References areaOfInterestX, areaOfInterestY, houghDimensionX, houghDimensionY, houghStepX, and houghStepY. Referenced by determineCirclePoint().

void GT2005CenterCircleFinder::transformFieldToArray (  double  fieldPos, bool  xDirection, int &  arrayIndex )  [private]

Definition at line 106 of file GT2005CenterCircleFinder.cpp. References areaOfInterestX, areaOfInterestY, houghDimensionX, houghDimensionY, houghStepX, and houghStepY. Referenced by determineCirclePoint().

void GT2005CenterCircleFinder::checkCircleMidpoint (  Vector2< double >  candidate, int  absMaxEntry, const CameraMatrix &  cameraMatrix, const Image &  image, const RobotPose &  robotPose, const CameraMatrix &  prevCameraMatrix )  [private]

Definition at line 343 of file GT2005CenterCircleFinder.cpp. References Geometry::calculatePointInImage(), Image::cameraInfo, candidatePoints, CIRCLE, circleFound, enoughPros, idText, max, maxQuantizationErrorX, maxQuantizationErrorY, mEntry, midPoint, midPointLastSeenField, numberOfCandidates, OUTPUT, Geometry::relative2FieldCoord(), scanSurrounding(), sqr, timeTillLastSeen, Vector2< V >::x, and Vector2< V >::y. Referenced by determineCirclePoint().

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void GT2005CenterCircleFinder::checkCircleMidpoint2 (  int  maxEntry, int  NumberOfEntriesMaxEntry, multipleCandidate  maxEntryFieldCoord[maxNumberOfCandidatesMaxEntry], const CameraMatrix &  cameraMatrix, const Image &  image, const RobotPose &  robotPose, const CameraMatrix &  prevCameraMatrix )  [private]

Definition at line 407 of file GT2005CenterCircleFinder.cpp. References Geometry::calculatePointInImage(), Image::cameraInfo, CIRCLE, circleFound, idText, max, maxQuantizationErrorX, maxQuantizationErrorY, mEntry2, midPoint, midPointLastSeenField, OUTPUT, Geometry::relative2FieldCoord(), sqr, and timeTillLastSeen. Referenced by determineCirclePoint().

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bool GT2005CenterCircleFinder::scanSurrounding (  Vector2< int >  start, Vector2< double >  startOnField, const CameraMatrix &  cameraMatrix, const Image &  image, const RobotPose &  robotPose, const CameraMatrix &  prevCameraMatrix )  [private]

Definition at line 553 of file GT2005CenterCircleFinder.cpp. References Image::cameraInfo, idText, max, minNumberOfPositives, numberOfScanLines, OUTPUT, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, scan(), scanLength, Vector2< V >::x, and Vector2< V >::y. Referenced by checkCircleMidpoint().

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void GT2005CenterCircleFinder::scan (  Vector2< int >  start, Vector2< double >  startOnField, Vector2< int >  end, Vector2< int >  step, int &  positiveInNumberOfDirection, const CameraMatrix &  cameraMatrix, const Image &  image, const RobotPose &  robotPose, const CameraMatrix &  prevCameraMatrix, double &  distance, bool &  positiv )  [private]

Definition at line 1275 of file GT2005CenterCircleFinder.cpp. References Geometry::calculatePointOnField(), Image::cameraInfo, CIRCLE, COLOR_CLASS, ColorCorrector::correct(), idText, Image::image, LINE, maximalDistanceAllowedBetweenMidAndBorder, neededWhiteCount, onlyWhiteAllowed, OUTPUT, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, sqr, Vector2< V >::x, and Vector2< V >::y. Referenced by scanSurrounding().

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Member Data Documentation

bool GT2005CenterCircleFinder::circleFound

Definition at line 49 of file GT2005CenterCircleFinder.h. Referenced by addCandidate(), checkCircleMidpoint(), checkCircleMidpoint2(), circle(), determineCirclePoint(), getCircle(), GT2005CenterCircleFinder(), and reset().

Vector2<double> GT2005CenterCircleFinder::midPoint [private]

Definition at line 77 of file GT2005CenterCircleFinder.h. Referenced by checkCircleMidpoint(), checkCircleMidpoint2(), circle(), and getCircle().

Candidate GT2005CenterCircleFinder::candidatePoints[maxNumberOfCandidatesPossible] [private]

Definition at line 80 of file GT2005CenterCircleFinder.h. Referenced by addCandidate(), checkCircleMidpoint(), and determineCirclePoint().

int GT2005CenterCircleFinder::numberOfCandidates [private]

Definition at line 83 of file GT2005CenterCircleFinder.h. Referenced by addCandidate(), checkCircleMidpoint(), determineCirclePoint(), GT2005CenterCircleFinder(), and reset().

int GT2005CenterCircleFinder::houghSpace[houghDimensionX][houghDimensionY] [private]

Definition at line 87 of file GT2005CenterCircleFinder.h. Referenced by determineCirclePoint(), GT2005CenterCircleFinder(), and reset().

bool GT2005CenterCircleFinder::flagY[houghDimensionY] [private]

Definition at line 91 of file GT2005CenterCircleFinder.h. Referenced by determineCirclePoint(), GT2005CenterCircleFinder(), and reset().

int GT2005CenterCircleFinder::houghStepX [private]

Definition at line 94 of file GT2005CenterCircleFinder.h. Referenced by GT2005CenterCircleFinder(), transformArrayToField(), and transformFieldToArray().

int GT2005CenterCircleFinder::houghStepY [private]

Definition at line 95 of file GT2005CenterCircleFinder.h. Referenced by GT2005CenterCircleFinder(), transformArrayToField(), and transformFieldToArray().

double GT2005CenterCircleFinder::maxQuantizationErrorX [private]

Definition at line 99 of file GT2005CenterCircleFinder.h. Referenced by checkCircleMidpoint(), checkCircleMidpoint2(), and GT2005CenterCircleFinder().

double GT2005CenterCircleFinder::maxQuantizationErrorY [private]

Definition at line 100 of file GT2005CenterCircleFinder.h. Referenced by checkCircleMidpoint(), checkCircleMidpoint2(), and GT2005CenterCircleFinder().

int GT2005CenterCircleFinder::timeTillLastSeen [private]

Definition at line 103 of file GT2005CenterCircleFinder.h. Referenced by checkCircleMidpoint(), checkCircleMidpoint2(), determineCirclePoint(), GT2005CenterCircleFinder(), and reset().

Vector2<double> GT2005CenterCircleFinder::midPointLastSeenField [private]

Definition at line 104 of file GT2005CenterCircleFinder.h. Referenced by checkCircleMidpoint(), checkCircleMidpoint2(), and determineCirclePoint().

Vector2<int> GT2005CenterCircleFinder::midPointLastSeenFieldInt [private]

Definition at line 105 of file GT2005CenterCircleFinder.h.

double GT2005CenterCircleFinder::lineThicknessRateAllowed [private]

Definition at line 107 of file GT2005CenterCircleFinder.h. Referenced by GT2005CenterCircleFinder().

const ColorCorrector& GT2005CenterCircleFinder::colorCorrector [private]

Definition at line 132 of file GT2005CenterCircleFinder.h.

const ColorTable& GT2005CenterCircleFinder::colorTable [private]

Definition at line 133 of file GT2005CenterCircleFinder.h.

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The documentation for this class was generated from the following files:

• Modules/ImageProcessor/GT2005ImageProcessor/GT2005CenterCircleFinder.h
• Modules/ImageProcessor/GT2005ImageProcessor/GT2005CenterCircleFinder.cpp

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