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GT2005LineFinder_DeterministicApproach Class Reference

#include <GT2005LineFinder_DeterministicApproach.h>

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List of all members.

Public Types

enum  { maxNumberOfLines = 6, maxNumberOfLinePoints = 60, pointsNeededForLine = 3 }

Public Member Functions

 GT2005LineFinder_DeterministicApproach (const ColorCorrector &colorCorrector, const ColorTable &colorTable)
 ~GT2005LineFinder_DeterministicApproach (void)
void considerLinePoint (Vector2< int > &pointOnLine, Vector2< double > &normalToLine)
 Add a new LinePont for later consideration.

void execute (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const ImageInfo &imageInfo, const RobotPose &robotPose)
 Calculates lines and crossings out of the given LinePoints.

void execute (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const ImageInfo &imageInfo, const RobotPose &robotPose, const bool circleFound, const Vector2< double > &circleOnField)
 Calculates lines and crossings out of the given LinePoints considering given information about the center circle.

void reset ()
 Resets the lineFinder.

int getNumberOfLines ()
 Returns the number of found lines.

void getLine (int number, Vector2< int > &pointOnLine, Vector2< double > &normalToLine)
 Returns the line by number.


Private Member Functions

void findLineFragments ()
 Calculates line fragments out of the given LinePoints.

void findLines (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const ImageInfo &imageInfo)
 Calculates lines out of the previously calculated line fragments.

void findIntersections (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose, const ImageInfo &imageInfo)
 Calculates crossings out of the previously calculated lines.

void addCrossingsPercept (const Vector2< double > &intersectionInImage, const Vector2< int > &intersectionOnField, int lineNumber1, int lineNumber2, LinesPercept &linesPercept, const Image &image, const ImageInfo &imageInfo, const CameraMatrix &cameraMatrix, const RobotPose &robotPose)
 Adds the crossing to the linesPercept including some characteristics found by additional scanning.

bool handleCenterCircle (const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose)
 Filters out some line fragments, that may be caused by a center circle.

bool handleCenterCircle (const Vector2< double > &centerOnField, const CameraMatrix &cameraMatrix, const Image &image)
 Filters out line points belonging to the center circle.

void addCenterCirclePercept (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image)
 Writes the centerCircle (if found by one of the attempts) to the LinesPercept.

bool linesPerpendicularOnField (int lineNumber1, int lineNumber2, const CameraMatrix &cameraMatrix, const Image &image)
 Very rough calculation if lines are perpendicular on the field (used for validating crossings).

bool calculateLineOnField (int lineNumber, Vector2< double > &base, Vector2< double > &direction, const CameraMatrix &cameraMatrix, const Image &image)
 Calculates the projected line on the field.

bool calculateLineOnField (const Vector2< int > &baseInImage, const Vector2< double > &directionInImage, Vector2< double > &baseOnField, Vector2< double > &directionOnField, const CameraMatrix &cameraMatrix, const Image &image)
 Calculates the projected line on the field.

void doVerificationScan (const Vector2< double > &crossingPoint, const Vector2< double > &directionToScanAt, const Vector2< double > &scanningDirection, int lineSize, LinesPercept::CrossingCharacteristic &result, const CameraMatrix &cameraMatrix, const Image &image)
 Calculates the projected line on the field.

bool doVerificationScanForCircle (const Vector2< int > &circleOnFieldRelative, double orientation, const CameraMatrix &cameraMatrix, const Image &image)
 Verifies if the found circle really is one.


Private Attributes

int numberOfLines
LineFragment * lines
int numberOfLineFragments
bool lineFragmentAlreadyConsidered [maxNumberOfLines *2]
LineFragment * lineFragments
Vector2< int > fromCircleFinder
bool foundByCircleFinder
Vector2< int > fromOwnHandling
bool foundByOwnHandling
double centerCircleOrientation
Vector2< double > lastSeenCircleGlobal
double lastSeenCircleOrientationGlobal
int framesSinceLastSeen
int frameCount
int circleCount
const ColorCorrector & colorCorrector
const ColorTable & colorTable
LinePoint linePoints [maxNumberOfLinePoints]
int numberOfLinePoints
double normDistance
double normProjection
double normProjectionPerpendicularToHorizon

Member Enumeration Documentation

anonymous enum
 

Enumeration values:
maxNumberOfLines 
maxNumberOfLinePoints 
pointsNeededForLine 

Definition at line 95 of file GT2005LineFinder_DeterministicApproach.h.

Constructor & Destructor Documentation

GT2005LineFinder_DeterministicApproach::GT2005LineFinder_DeterministicApproach (  const ColorCorrector &  colorCorrector,
const ColorTable &  colorTable
) 
 

Definition at line 12 of file GT2005LineFinder_DeterministicApproach.cpp.

References circleCount, frameCount, framesSinceLastSeen, and normProjectionPerpendicularToHorizon.

GT2005LineFinder_DeterministicApproach::~GT2005LineFinder_DeterministicApproach (  void   ) 
 

Definition at line 24 of file GT2005LineFinder_DeterministicApproach.cpp.

Member Function Documentation

void GT2005LineFinder_DeterministicApproach::considerLinePoint (  Vector2< int > &  pointOnLine,
Vector2< double > &  normalToLine
) 
 

Add a new LinePont for later consideration.

Parameters:
pointOnLine Image coordinates of the point.
normalToLine Normal vector to the line (indicated by the gradient).

Definition at line 48 of file GT2005LineFinder_DeterministicApproach.cpp.

References GT2005LineFinder_DeterministicApproach::LinePoint::belongsToLineNo, linePoints, maxNumberOfLinePoints, GT2005LineFinder_DeterministicApproach::LinePoint::normalToLine, numberOfLinePoints, and GT2005LineFinder_DeterministicApproach::LinePoint::pointOnLine.

Referenced by SlamImageProcessor::calcEdgeAngle(), and GT2005ImageProcessor::calcEdgeAngle().

void GT2005LineFinder_DeterministicApproach::execute (  LinesPercept &  linesPercept,
const CameraMatrix &  cameraMatrix,
const Image &  image,
const ImageInfo &  imageInfo,
const RobotPose &  robotPose
) 
 

Calculates lines and crossings out of the given LinePoints.

Parameters:
linesPercept The LinesPercept, where the found information is stored.
cameraMatrix The CameraMatrix.
image The Image.
imageInfo The ImageInfo.
robotPose The RobotPose.

Definition at line 64 of file GT2005LineFinder_DeterministicApproach.cpp.

References addCenterCirclePercept(), DEBUG_DRAWING_FINISHED, findIntersections(), findLineFragments(), findLines(), foundByCircleFinder, handleCenterCircle(), lineFragments, and maxNumberOfLines.

Referenced by SlamImageProcessor::execute(), and GT2005ImageProcessor::execute().

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void GT2005LineFinder_DeterministicApproach::execute (  LinesPercept &  linesPercept,
const CameraMatrix &  cameraMatrix,
const Image &  image,
const ImageInfo &  imageInfo,
const RobotPose &  robotPose,
const bool  circleFound,
const Vector2< double > &  circleOnField
) 
 

Calculates lines and crossings out of the given LinePoints considering given information about the center circle.

Parameters:
linesPercept The LinesPercept, where the found information is stored.
cameraMatrix The CameraMatrix.
image The Image.
imageInfo The ImageInfo.
robotPose The RobotPose.
circleFound True if the circle was found.
circleOnField The Coordinates of the center circle on the field relative to the robot.

Definition at line 86 of file GT2005LineFinder_DeterministicApproach.cpp.

References addCenterCirclePercept(), DEBUG_DRAWING_FINISHED, findIntersections(), findLineFragments(), findLines(), foundByCircleFinder, fromCircleFinder, handleCenterCircle(), lineFragments, maxNumberOfLines, NDECLARE_DEBUGDRAWING, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.

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void GT2005LineFinder_DeterministicApproach::reset (   ) 
 

Resets the lineFinder.

Definition at line 28 of file GT2005LineFinder_DeterministicApproach.cpp.

References circleCount, foundByCircleFinder, foundByOwnHandling, frameCount, framesSinceLastSeen, numberOfLineFragments, numberOfLinePoints, and numberOfLines.

Referenced by SlamImageProcessor::execute(), and GT2005ImageProcessor::execute().

int GT2005LineFinder_DeterministicApproach::getNumberOfLines (   ) 
 

Returns the number of found lines.

Definition at line 1182 of file GT2005LineFinder_DeterministicApproach.cpp.

References numberOfLines.

void GT2005LineFinder_DeterministicApproach::getLine (  int  number,
Vector2< int > &  pointOnLine,
Vector2< double > &  normalToLine
) 
 

Returns the line by number.

Parameters:
number The number of the line to return.
pointOnLine The base of the line.
normalToLine The normal of the line.

Definition at line 1187 of file GT2005LineFinder_DeterministicApproach.cpp.

References GT2005LineFinder_DeterministicApproach::LineFragment::base, GT2005LineFinder_DeterministicApproach::LineFragment::normal, Vector2< double >::x, Vector2< int >::x, Vector2< V >::x, Vector2< double >::y, Vector2< int >::y, and Vector2< V >::y.

Referenced by findLines().

void GT2005LineFinder_DeterministicApproach::findLineFragments (   )  [private]
 

Calculates line fragments out of the given LinePoints.

Definition at line 127 of file GT2005LineFinder_DeterministicApproach.cpp.

References GT2005LineFinder_DeterministicApproach::LineFragment::averageStep, GT2005LineFinder_DeterministicApproach::LineFragment::base, GT2005LineFinder_DeterministicApproach::LinePoint::belongsToLineNo, GT2005LineFinder_DeterministicApproach::LineFragment::end, LINE, GT2005LineFinder_DeterministicApproach::LineFragment::lineFragmentAlreadyConsidered, lineFragments, linePoints, maxNumberOfLinePoints, maxNumberOfLines, NLINE, GT2005LineFinder_DeterministicApproach::LineFragment::normal, Vector2< V >::normalize(), GT2005LineFinder_DeterministicApproach::LinePoint::normalToLine, numberOfLineFragments, numberOfLinePoints, pi_4, pointsNeededForLine, Vector2< V >::rotateLeft(), GT2005LineFinder_DeterministicApproach::LineFragment::start, Vector2< double >::x, Vector2< V >::x, and Vector2< V >::y.

Referenced by execute().

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void GT2005LineFinder_DeterministicApproach::findLines (  LinesPercept &  linesPercept,
const CameraMatrix &  cameraMatrix,
const Image &  image,
const ImageInfo &  imageInfo
)  [private]
 

Calculates lines out of the previously calculated line fragments.

Parameters:
linesPercept The LinesPercept.
cameraMatrix The CameraMatrix.
image The Image.
imageInfo The ImageInfo.

Definition at line 285 of file GT2005LineFinder_DeterministicApproach.cpp.

References GT2005LineFinder_DeterministicApproach::LineFragment::averageStep, GT2005LineFinder_DeterministicApproach::LineFragment::base, Image::cameraInfo, Geometry::Line::direction, GT2005LineFinder_DeterministicApproach::LineFragment::end, Geometry::getIntersectionPointsOfLineAndRectangle(), getLine(), ImageInfo::horizon, LINE, GT2005LineFinder_DeterministicApproach::LineFragment::lineFragmentAlreadyConsidered, lineFragments, max, maxNumberOfLines, GT2005LineFinder_DeterministicApproach::LineFragment::normal, Vector2< double >::normalize(), Vector2< V >::normalize(), normProjectionPerpendicularToHorizon, numberOfLineFragments, numberOfLines, pi_4, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< double >::rotateLeft(), GT2005LineFinder_DeterministicApproach::LineFragment::start, Vector2< int >::x, Vector2< V >::x, Vector2< double >::x, Vector2< int >::y, and Vector2< V >::y.

Referenced by execute().

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void GT2005LineFinder_DeterministicApproach::findIntersections (  LinesPercept &  linesPercept,
const CameraMatrix &  cameraMatrix,
const Image &  image,
const RobotPose &  robotPose,
const ImageInfo &  imageInfo
)  [private]
 

Calculates crossings out of the previously calculated lines.

Parameters:
linesPercept The LinesPercept.
cameraMatrix The CameraMatrix.
image The Image.
robotPose The RobotPose.
imageInfo The ImageInfo.

Definition at line 440 of file GT2005LineFinder_DeterministicApproach.cpp.

References Vector2< V >::abs(), addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::LineFragment::base, Geometry::calculatePointOnField(), Image::cameraInfo, direction, Geometry::getIntersectionOfLines(), linesPerpendicularOnField(), maxNumberOfLines, GT2005LineFinder_DeterministicApproach::LineFragment::normal, Vector2< double >::normalize(), numberOfLines, Geometry::relative2FieldCoord(), Vector2< double >::rotateLeft(), Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, Vector2< int >::y, and Vector2< V >::y.

Referenced by execute().

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void GT2005LineFinder_DeterministicApproach::addCrossingsPercept (  const Vector2< double > &  intersectionInImage,
const Vector2< int > &  intersectionOnField,
int  lineNumber1,
int  lineNumber2,
LinesPercept &  linesPercept,
const Image &  image,
const ImageInfo &  imageInfo,
const CameraMatrix &  cameraMatrix,
const RobotPose &  robotPose
)  [private]
 

Adds the crossing to the linesPercept including some characteristics found by additional scanning.

Parameters:
intersectionInImage The intersection in the image.
intersectionOnField The intersection on the field.
int The first line involved in this crossing.
int The second line involved in this crossing.
linesPercept The LinesPercept.
image The Image.
imageInfo The ImageInfo.
cameraMatrix The CameraMatrix.
robotPose The RobotPose.

Definition at line 488 of file GT2005LineFinder_DeterministicApproach.cpp.

References Vector2< V >::abs(), calculateLineOnField(), Geometry::calculateLineSize(), Image::cameraInfo, CIRCLE, COMPLEX_DRAWING, doVerificationScan(), LINE, LinesPercept::lineCrossings, LinesPercept::maxNumberOfLineCrossings, NCIRCLE, NCOMPLEX_DRAWING, NLINE, GT2005LineFinder_DeterministicApproach::LineFragment::normal, Vector2< V >::normalize(), LinesPercept::numberOfLineCrossings, pi, pi2, pi3_2, pi_2, pi_4, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::rotateRight(), Vector2< V >::x, and Vector2< V >::y.

Referenced by findIntersections().

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bool GT2005LineFinder_DeterministicApproach::handleCenterCircle (  const CameraMatrix &  cameraMatrix,
const Image &  image,
const RobotPose &  robotPose
)  [private]
 

Filters out some line fragments, that may be caused by a center circle.

Do only use when no center detection available.

Parameters:
cameraMatrix The CameraMatrix.
image The Image.
robotPose The RobotPose.
Returns:
true if circle found.

Definition at line 792 of file GT2005LineFinder_DeterministicApproach.cpp.

References Vector2< V >::abs(), Geometry::Line::base, calculateLineOnField(), Geometry::calculatePointInImage(), Geometry::calculatePointOnField(), Image::cameraInfo, centerCircleOrientation, CIRCLE, Geometry::Line::direction, doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::LineFragment::end, foundByOwnHandling, framesSinceLastSeen, fromOwnHandling, Geometry::getIntersectionOfLines(), lastSeenCircleGlobal, lastSeenCircleOrientationGlobal, LINE, GT2005LineFinder_DeterministicApproach::LineFragment::lineFragmentAlreadyConsidered, lineFragments, maxNumberOfLines, numberOfLineFragments, GT2005LineFinder_DeterministicApproach::LineFragment::numberOfPoints, pi_2, Geometry::relative2FieldCoord(), Vector2< double >::rotateLeft(), Pose2D::rotation, GT2005LineFinder_DeterministicApproach::LineFragment::start, Vector2< int >::x, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, Vector2< V >::y, and Vector2< int >::y.

Referenced by execute().

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bool GT2005LineFinder_DeterministicApproach::handleCenterCircle (  const Vector2< double > &  centerOnField,
const CameraMatrix &  cameraMatrix,
const Image &  image
)  [private]
 

Filters out line points belonging to the center circle.

Parameters:
centerOnField The centerCircle found by the circleFinder.
cameraMatrix The CameraMatrix.
image The Image.
Returns:
true.

Definition at line 772 of file GT2005LineFinder_DeterministicApproach.cpp.

References GT2005LineFinder_DeterministicApproach::LinePoint::belongsToLineNo, Geometry::calculatePointOnField(), Image::cameraInfo, linePoints, numberOfLinePoints, GT2005LineFinder_DeterministicApproach::LinePoint::pointOnLine, Vector2< V >::x, Vector2< int >::y, and Vector2< V >::y.

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void GT2005LineFinder_DeterministicApproach::addCenterCirclePercept (  LinesPercept &  linesPercept,
const CameraMatrix &  cameraMatrix,
const Image &  image
)  [private]
 

Writes the centerCircle (if found by one of the attempts) to the LinesPercept.

Parameters:
linesPercept The LinesPercept.
cameraMatrix The CameraMatrix.
image The Image.

Definition at line 1133 of file GT2005LineFinder_DeterministicApproach.cpp.

References Geometry::Line::base, calculateLineOnField(), LinesPercept::centerCircle, LinesPercept::centerCircleFound, centerCircleOrientation, Geometry::Line::direction, foundByCircleFinder, foundByOwnHandling, fromCircleFinder, fromOwnHandling, maxNumberOfLines, numberOfLines, pi_2, Vector2< double >::rotateLeft(), Vector2< double >::x, Vector2< int >::x, Vector2< double >::y, and Vector2< int >::y.

Referenced by execute().

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bool GT2005LineFinder_DeterministicApproach::linesPerpendicularOnField (  int  lineNumber1,
int  lineNumber2,
const CameraMatrix &  cameraMatrix,
const Image &  image
)  [private]
 

Very rough calculation if lines are perpendicular on the field (used for validating crossings).

Parameters:
lineNumber1 Number of the 1st line.
lineNumber2 Number of the 2nd line.
cameraMatrix The CameraMatrix.
image The Image.
Returns:
True if the lines are perpendicular.

Definition at line 1196 of file GT2005LineFinder_DeterministicApproach.cpp.

References calculateLineOnField().

Referenced by findIntersections().

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bool GT2005LineFinder_DeterministicApproach::calculateLineOnField (  int  lineNumber,
Vector2< double > &  base,
Vector2< double > &  direction,
const CameraMatrix &  cameraMatrix,
const Image &  image
)  [private]
 

Calculates the projected line on the field.

Parameters:
lineNumber Number of the line to be projected on the field.
base The resulting base.
direction The resulting direction.
cameraMatrix The CameraMatrix.
image The Image.
Returns:
true if calculation was successful.

Definition at line 1210 of file GT2005LineFinder_DeterministicApproach.cpp.

References GT2005LineFinder_DeterministicApproach::LineFragment::base, Geometry::calculatePointOnField(), Image::cameraInfo, GT2005LineFinder_DeterministicApproach::LineFragment::normal, Vector2< double >::normalize(), Vector2< double >::x, Vector2< V >::x, Vector2< V >::y, Vector2< double >::y, and Vector2< int >::y.

Referenced by addCenterCirclePercept(), addCrossingsPercept(), handleCenterCircle(), and linesPerpendicularOnField().

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bool GT2005LineFinder_DeterministicApproach::calculateLineOnField (  const Vector2< int > &  baseInImage,
const Vector2< double > &  directionInImage,
Vector2< double > &  baseOnField,
Vector2< double > &  directionOnField,
const CameraMatrix &  cameraMatrix,
const Image &  image
)  [private]
 

Calculates the projected line on the field.

Parameters:
baseInImage The base in the image.
directionInImage The direction in the image.
baseOnField The resulting base.
directionOnField The resulting direction.
cameraMatrix The CameraMatrix.
image The Image.
Returns:
true if calculation was successful.

Definition at line 1228 of file GT2005LineFinder_DeterministicApproach.cpp.

References Geometry::calculatePointOnField(), Image::cameraInfo, Vector2< V >::normalize(), Vector2< V >::x, and Vector2< V >::y.

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void GT2005LineFinder_DeterministicApproach::doVerificationScan (  const Vector2< double > &  crossingPoint,
const Vector2< double > &  directionToScanAt,
const Vector2< double > &  scanningDirection,
int  lineSize,
LinesPercept::CrossingCharacteristic &  result,
const CameraMatrix &  cameraMatrix,
const Image &  image
)  [private]
 

Calculates the projected line on the field.

Parameters:
crossingPoint The crossingPoint in the image.
directionToScanAt The direction in the image, on which side of the crossingPoint should be scanned.
scanningDirection The direction of the scan line (not always perpendicular because of perspectival distortion).
lineSize The size of a line at this position in the image.
result The result of the scan.
cameraMatrix The CameraMatrix.
image The Image.

Definition at line 1245 of file GT2005LineFinder_DeterministicApproach.cpp.

References Image::cameraInfo, COLOR_CLASS, ColorCorrector::correct(), BresenhamLineScan::getNext(), Image::image, LINE, max, NLINE, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y.

Referenced by addCrossingsPercept().

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bool GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle (  const Vector2< int > &  circleOnFieldRelative,
double  orientation,
const CameraMatrix &  cameraMatrix,
const Image &  image
)  [private]
 

Verifies if the found circle really is one.

Parameters:
circleOnFieldRelative The coordinates of the circle on the field.
orientation The orientation of the middle line through the circle.
cameraMatrix The CameraMatrix.
image The Image.
Returns:
true if nothing is found that proves the candidate not to be a circle.

Definition at line 1385 of file GT2005LineFinder_DeterministicApproach.cpp.

References Geometry::calculatePointInImage(), Image::cameraInfo, circleCount, COLOR_CLASS, ColorCorrector::correct(), BresenhamLineScan::getNext(), Image::image, LINE, max, normalize(), BresenhamLineScan::numberOfPixels, pi, pi_2, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y.

Referenced by handleCenterCircle().

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Member Data Documentation

int GT2005LineFinder_DeterministicApproach::numberOfLines [private]
 

Definition at line 291 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by addCenterCirclePercept(), findIntersections(), findLines(), getNumberOfLines(), and reset().

LineFragment* GT2005LineFinder_DeterministicApproach::lines [private]
 

Definition at line 293 of file GT2005LineFinder_DeterministicApproach.h.

int GT2005LineFinder_DeterministicApproach::numberOfLineFragments [private]
 

Definition at line 298 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by findLineFragments(), findLines(), handleCenterCircle(), and reset().

bool GT2005LineFinder_DeterministicApproach::lineFragmentAlreadyConsidered[maxNumberOfLines*2] [private]
 

Definition at line 299 of file GT2005LineFinder_DeterministicApproach.h.

LineFragment* GT2005LineFinder_DeterministicApproach::lineFragments [private]
 

Definition at line 301 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by execute(), findLineFragments(), findLines(), and handleCenterCircle().

Vector2<int> GT2005LineFinder_DeterministicApproach::fromCircleFinder [private]
 

Definition at line 305 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by addCenterCirclePercept(), and execute().

bool GT2005LineFinder_DeterministicApproach::foundByCircleFinder [private]
 

Definition at line 306 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by addCenterCirclePercept(), execute(), and reset().

Vector2<int> GT2005LineFinder_DeterministicApproach::fromOwnHandling [private]
 

Definition at line 307 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by addCenterCirclePercept(), and handleCenterCircle().

bool GT2005LineFinder_DeterministicApproach::foundByOwnHandling [private]
 

Definition at line 308 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by addCenterCirclePercept(), handleCenterCircle(), and reset().

double GT2005LineFinder_DeterministicApproach::centerCircleOrientation [private]
 

Definition at line 309 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by addCenterCirclePercept(), and handleCenterCircle().

Vector2<double> GT2005LineFinder_DeterministicApproach::lastSeenCircleGlobal [private]
 

Definition at line 310 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by handleCenterCircle().

double GT2005LineFinder_DeterministicApproach::lastSeenCircleOrientationGlobal [private]
 

Definition at line 311 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by handleCenterCircle().

int GT2005LineFinder_DeterministicApproach::framesSinceLastSeen [private]
 

Definition at line 312 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by GT2005LineFinder_DeterministicApproach(), handleCenterCircle(), and reset().

int GT2005LineFinder_DeterministicApproach::frameCount [private]
 

Definition at line 313 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by GT2005LineFinder_DeterministicApproach(), and reset().

int GT2005LineFinder_DeterministicApproach::circleCount [private]
 

Definition at line 313 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach(), and reset().

const ColorCorrector& GT2005LineFinder_DeterministicApproach::colorCorrector [private]
 

Definition at line 316 of file GT2005LineFinder_DeterministicApproach.h.

const ColorTable& GT2005LineFinder_DeterministicApproach::colorTable [private]
 

Definition at line 317 of file GT2005LineFinder_DeterministicApproach.h.

LinePoint GT2005LineFinder_DeterministicApproach::linePoints[maxNumberOfLinePoints] [private]
 

Definition at line 318 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by considerLinePoint(), findLineFragments(), and handleCenterCircle().

int GT2005LineFinder_DeterministicApproach::numberOfLinePoints [private]
 

Definition at line 319 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by considerLinePoint(), findLineFragments(), handleCenterCircle(), and reset().

double GT2005LineFinder_DeterministicApproach::normDistance [private]
 

Definition at line 320 of file GT2005LineFinder_DeterministicApproach.h.

double GT2005LineFinder_DeterministicApproach::normProjection [private]
 

Definition at line 321 of file GT2005LineFinder_DeterministicApproach.h.

double GT2005LineFinder_DeterministicApproach::normProjectionPerpendicularToHorizon [private]
 

Definition at line 322 of file GT2005LineFinder_DeterministicApproach.h.

Referenced by findLines(), and GT2005LineFinder_DeterministicApproach().

The documentation for this class was generated from the following files:
Generated on Mon Mar 20 22:14:29 2006 for GT2005 by doxygen 1.3.6