GT2005ImageProcessor Class Reference

The lines image processor recognizes characteristic lines in the image. More...

#include <GT2005ImageProcessor.h>

Inheritance diagram for GT2005ImageProcessor:

[legend]Collaboration diagram for GT2005ImageProcessor:

[legend]List of all members.


Helpers for grid drawing
void	plot (const unsigned char *p, Drawings::Color color)
const unsigned char *	last
Drawings::Color	lineColor
Public Member Functions
	GT2005ImageProcessor (const ImageProcessorInterfaces &interfaces)
	Constructor.
virtual void	execute ()
	Main method.
virtual bool	handleMessage (InMessage &message)
	Handles an incoming message.
Static Public Attributes
const double	verticalScanLineTopAboveHorizon = 15.0
	Parameters for the scanning grid.
const double	verticalScanLineLength13 = 55.0
const double	verticalScanLineLength2 = 75.0
const double	verticalScanLineSpacing = 4.0
Private Member Functions
void	scanColumns ()
	Calculates the vertical lines and calls scan(...) on each of them.
void	scanRows ()
	Calculates the horizontal lines and calls scan.
void	scan (const Vector2< int > &start, const Vector2< int > &end, bool vertical, bool noLines, int pixelsRelevantForGoal)
	The function scans a line for varous things (??).
bool	pixelBelowHorizon (Vector2< int > point, double &distance)
	The function calculates the distance to a point to horizon.
void	filterPercepts ()
	The function filters the percepts, i.e.
void	filterLinesPercept (LinesPercept &percept, int type, const Image &image)
	The function filters the line-percepts, i.e.
bool	calcEdgeAngle (double &angleInImage, double &angleOnField, const Vector2< int > &pointInImage, const Vector2< int > &pointOnField, double scanAngle, const RingBuffer< const unsigned char *, 7 > &pixelBuffer, const bool againstScanline=false, const bool borderOrLine=true, int channel=0)
	The function calculates the angle of an edge at an edge point.
Vector2< int >	getCoords (const unsigned char *p) const
	The function converts an address to pixel coordinates.
	DECLARE_DEBUG_IMAGE (imageProcessorPlayers)
	DECLARE_DEBUG_IMAGE (imageProcessorGeneral)
	DECLARE_DEBUG_COLOR_CLASS_IMAGE (segmentedImage1)
	DECLARE_DEBUG_IMAGE (imageProcessorBall)
	DECLARE_DEBUG_IMAGE (imageProcessorGradients)
	N_DECLARE_DEBUG_IMAGE (colorCorrected)
	N_DECLARE_DEBUG_IMAGE (colorCorrectedAsJpeg)
	N_DECLARE_DEBUG_COLOR_CLASS_IMAGE (segmented)
	N_DECLARE_DEBUG_IMAGE (ball)
	N_DECLARE_DEBUG_IMAGE (edgeDetection)
	N_DECLARE_DEBUG_GRAY_SCALE_IMAGE (scanLines)
Private Attributes
double	xFactor
	Factor to convert the pixel coordinate space to the anglular coordinate space.
double	yFactor
	Factor to convert the pixel coordinate space to the anglular coordinate space.
int	yThreshold
	Brightness increase threshold.
int	vThreshold
	Brightness decrease threshold.
int	orangeCount
	Number of columns with ball points.
int	noOrangeCount
	Number of columns without a ball point.
int	noRedCount
	Number of columns without a red robot point.
int	noBlueCount
	Number of columns without a blue robot point.
int	noGoalCount
	Number of columns without a opponent goal seen.
int	closestBottom
	Closest bottom point on the grid.
Vector2< int >	firstRed
	First red robot point in a cluster.
Vector2< int >	closestRed
	Closest red robot point in a cluster.
Vector2< int >	lastRed
	Last red robot point in a cluster.
Vector2< int >	firstBlue
	First blue robot point in a cluster.
Vector2< int >	closestBlue
	Closest blue robot point in a cluster.
Vector2< int >	lastBlue
	Last blue robot point in a cluster.
Vector2< int >	firstFlag
	First flag point in a cluster.
Vector2< int >	lastFlag
	Last flag point in a cluster.
Vector2< int >	lastRedMidPoint
	Last flag point in a cluster.
Vector2< int >	lastBlueMidPoint
	Needed for debug drawings.
bool	goalAtBorder
	Is the first goal point at the image border?
ImageInfo	imageInfo
	Useful information about the current image that is calculated by the ImageProcessor object and may be used by the specialist (avoiding recalculation) like the horizon, etc.
int	longestBallRun
Vector2< int >	ballCandidate
GT2005Clustering	ballClustering
GT2005LineFinder_DeterministicApproach	lineFinder
GT2005CenterCircleFinder	circleFinder
CameraMatrix	cmTricot
	Camera matrix without tricot height.
CameraMatrix	prevCmTricot
	The tricot matrix of the previous image.
ColorCorrector	colorCorrector
	The color correction tool.
GT2005GoalRecognizer	goalSpecialistY
	Goal specialists to recognize the goals (one for each color).
GT2005GoalRecognizer	goalSpecialistB
	Goal specialists to recognize the goals (one for each color).
GT2005BeaconDetector	beaconDetector
	The beacon detector.
GT2005BallSpecialist	ballSpecialist
	The ball specialist.
GT2005EdgeSpecialist	edgeSpecialist
	The edge specialist.
GT2005PlayerSpecialist	playerSpecialist
	The player specialist.
double	angleBetweenDirectionOfViewAndGround
int	numberOfScannedPixels
Matrix2x2< double >	rotation2x2
Static Private Attributes
const double	minAngleBetweenFlagAndGoal = 0.05

Detailed Description

The lines image processor recognizes characteristic lines in the image.

Four types of lines are distinguished: edges between the skyblue goal and the field, edges between the yellow goal and the field, edges between the border and the field, and edges between the field lines and the field.

The module scans vertical and horizontal lines in the image from top to bottom and from left to right. As the green of the field is very dark, all edges are characterized by a big difference of the y-channel of adjacent pixels. An increase in the y-channel followed by a decrease is an indication for an edge.

The projection of the pixels on the field plane is used to determine their relative position to the robot.

Author:: Matthias Juengel
Thomas Röfer

Definition at line 60 of file GT2005ImageProcessor.h.