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GT2005RobotSpecialist Class Reference

The RobotSpecialist finds other robots in an image. More...

#include <GT2005RobotSpecialist.h>

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[legend]List of all members.


Public Member Functions
	GT2005RobotSpecialist (const ColorCorrector &colorCorrector_, const Image &image_, const ImageInfo &imageInfo_, const ColorTable &colorTable_, const CameraMatrix &cameraMatrix_, const CameraMatrix &prevCameraMatrix_, LinesPercept &linesPercept_, PlayersPercept &playersPercept_, const RobotPose &robotPose_, const List< GreenChangeEvent > &greenChangeEvents_)
void	reset ()
	Resets inner states, should be called every new frame.
void	scan ()
	Generates scanlines for further scanning.
void	scan (Vector2< int > startPoint)
	Scans perpendicular to horizon.
void	scan (Vector2< int > startPoint, Vector2< int > endPoint)
	Searches for other robots in the image.
void	addCandidate (RobotCandidate candidate)
	Adds candidate to list.
bool	findNearestFootPoint (Vector2< int > &footPoint)
void	clusterCandidates ()
	Generates PlayersPercepts from candidates.
void	clusterCandidates (colorClass color)
void	generatePercept (CandidateCluster cluster)
	Generates a percept for each cluster.
int	noColorPixelsBetween (Vector2< int >, Vector2< int >, colorClass)
	Scans for pixels between both points.
ColorSpace	generateColorspace (Vector2< int >, Vector2< int >)
unsigned int	filterPercepts (ColorSpace colorSpace, colorClass candidateColor)
void	addPercept (PerceptInfo &perceptInfo)
void	dbg_PrintGreenchanges ()
	Debugfunctions.
Private Member Functions
int	distanceOnField (Vector2< int >, Vector2< int >, CameraMatrix, CameraInfo)
int	generateBoundings (CandidateCluster cluster, GT2005Rectangle &body, GT2005Rectangle &foot, Vector2< int > &footAVG)
Private Attributes
const ColorCorrector &	colorCorrector
const Image &	image
const ImageInfo &	imageInfo
const ColorTable &	colorTable
const CameraMatrix &	cameraMatrix
const CameraMatrix &	prevCameraMatrix
const RobotPose &	robotPose
const List< GreenChangeEvent > &	greenChangeEvents
LinesPercept &	linesPercept
PlayersPercept &	playersPercept
RobotCandidate	candidates [RS_NUM_CANDIDATES]
unsigned char	topIndex
unsigned char	bottomIndex
List< GreenChangeEvent >::Pos	footIterator
int	noRedCount
int	noBlueCount
Vector2< int >	lastRed
Vector2< int >	firstRed
Vector2< int >	closestRed
Vector2< int >	lastBlue
Vector2< int >	firstBlue
Vector2< int >	closestBlue

Detailed Description

The RobotSpecialist finds other robots in an image.

Definition at line 84 of file GT2005RobotSpecialist.h.

Constructor & Destructor Documentation

GT2005RobotSpecialist::GT2005RobotSpecialist ( const ColorCorrector & colorCorrector_,

const Image & image_,

const ImageInfo & imageInfo_,

const ColorTable & colorTable_,

const CameraMatrix & cameraMatrix_,

const CameraMatrix & prevCameraMatrix_,

LinesPercept & linesPercept_,

PlayersPercept & playersPercept_,

const RobotPose & robotPose_,

const List< GreenChangeEvent > & greenChangeEvents_

)

Definition at line 31 of file GT2005RobotSpecialist.cpp.

Member Function Documentation

void GT2005RobotSpecialist::reset ( )

Resets inner states, should be called every new frame.

Definition at line 56 of file GT2005RobotSpecialist.cpp.
References bottomIndex, RS_NUM_CANDIDATES, and topIndex.
Referenced by scan().

void GT2005RobotSpecialist::scan ( )

Generates scanlines for further scanning.

Definition at line 63 of file GT2005RobotSpecialist.cpp.
References Geometry::Line::base, Geometry::calculatePointInImage(), CameraInfo::CameraInfo(), Image::cameraInfo, clusterCandidates(), CRASH_CHECK, Geometry::Line::direction, Geometry::getIntersectionOfLines(), ImageInfo::horizon, Geometry::Line::normalizeDirection(), pi_2, reset(), CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, RS_NUM_SCAN_LINES, Vector2< V >::x, Vector2< double >::x, Vector2< double >::y, and Vector2< V >::y.
Referenced by scan().

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void GT2005RobotSpecialist::scan ( Vector2< int > startPoint )

Scans perpendicular to horizon.

Definition at line 228 of file GT2005RobotSpecialist.cpp.
References addCandidate(), Geometry::Line::base, Image::cameraInfo, RobotCandidate::candidateStart, RobotCandidate::color, COLOR_CLASS, ColorCorrector::correct(), CRASH_CHECK, Geometry::Line::direction, RobotCandidate::footPoint, Geometry::getIntersectionOfLines(), BresenhamLineScan::getNext(), ImageInfo::horizon, Image::image, LINE, noColor, BresenhamLineScan::numberOfPixels, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

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void GT2005RobotSpecialist::scan ( Vector2< int > startPoint,

Vector2< int > endPoint

)

Searches for other robots in the image.

Definition at line 299 of file GT2005RobotSpecialist.cpp.
References Image::cameraInfo, COLOR_CLASS, ColorCorrector::correct(), CRASH_CHECK, BresenhamLineScan::getNext(), Image::image, LINE, noColor, BresenhamLineScan::numberOfPixels, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, RS_NGP_TH_START, RS_NGP_TH_STOP, RS_NO_GREEN_PIXEL_THRESHOLD, scan(), Vector2< V >::x, and Vector2< V >::y.

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void GT2005RobotSpecialist::addCandidate ( RobotCandidate candidate )

Adds candidate to list.

Definition at line 396 of file GT2005RobotSpecialist.cpp.
References bottomIndex, candidates, RobotCandidate::candidateStart, RobotCandidate::candidateStop, CIRCLE, RobotCandidate::color, RobotCandidate::footPoint, LINE, RobotCandidate::lineID, RECTANGLE, RS_NUM_CANDIDATES, topIndex, Vector2< int >::x, and Vector2< int >::y.
Referenced by scan().

bool GT2005RobotSpecialist::findNearestFootPoint ( Vector2< int > & footPoint )

Definition at line 451 of file GT2005RobotSpecialist.cpp.
References CIRCLE, CRASH_CHECK, GreenChangeEvent::distanceToHorizon, footIterator, List< GreenChangeEvent >::getFirst(), greenChangeEvents, LINE, GreenChangeEvent::lineID, GreenChangeEvent::positionOnImage, RS_FOOT_GRADIENT, RS_FOOT_THRESHOLD, GreenChangeEvent::startEvent, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.
Referenced by clusterCandidates().

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void GT2005RobotSpecialist::clusterCandidates ( ) [inline]

Generates PlayersPercepts from candidates.

Definition at line 132 of file GT2005RobotSpecialist.h.
Referenced by scan().

void GT2005RobotSpecialist::clusterCandidates ( colorClass color )

Definition at line 826 of file GT2005RobotSpecialist.cpp.
References bottomIndex, CameraInfo::CameraInfo(), candidates, RobotCandidate::candidateStart, CIRCLE, RobotCandidate::color, ColorSpace::colorCount, CRASH_CHECK, dbg_PrintGreenchanges(), distanceOnField(), findNearestFootPoint(), footIterator, RobotCandidate::footPoint, generateColorspace(), generatePercept(), List< GreenChangeEvent >::getFirst(), greenChangeEvents, idText, LINE, RobotCandidate::lineID, ColorSpace::Normalize(), OUTPUT, CandidateCluster::startPosition, CandidateCluster::stopPosition, topIndex, Vector2< int >::x, and Vector2< int >::y.

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void GT2005RobotSpecialist::generatePercept ( CandidateCluster cluster )

Generates a percept for each cluster.

Definition at line 984 of file GT2005RobotSpecialist.cpp.
References Vector2< V >::abs(), addPercept(), RobotDirection::AddSample(), ColorSpace::AddSample(), PerceptInfo::bottomLine, Geometry::calculatePointOnField(), CameraInfo::CameraInfo(), Image::cameraInfo, candidates, RobotCandidate::candidateStart, RobotCandidate::candidateStop, CIRCLE, PerceptInfo::color, RobotCandidate::color, COLOR_CLASS, ColorSpace::colorCount, ColorCorrector::correct(), PerceptInfo::count, CRASH_CHECK, PerceptInfo::direction, DOT, ColorSpace::dY, filterPercepts(), PerceptInfo::flags, RobotCandidate::footPoint, generateBoundings(), RobotDirection::getDirection(), RobotDirection::getReliability(), idText, Image::image, RobotCandidate::lineID, PerceptInfo::lines, max, PerceptInfo::maxBounding, min, PerceptInfo::minBounding, ColorSpace::Normalize(), numOfColors, NUMSUBSPACES, OUTPUT, pi, pi_2, pi_4, PerceptInfo::position, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, CandidateCluster::startPosition, CandidateCluster::stopPosition, PerceptInfo::validity, Vector2< int >::x, Vector2< V >::x, GT2005Rectangle::x1, GT2005Rectangle::x2, ColorSpace::y, Vector2< int >::y, Vector2< V >::y, GT2005Rectangle::y1, and GT2005Rectangle::y2.
Referenced by clusterCandidates().

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int GT2005RobotSpecialist::noColorPixelsBetween ( Vector2< int > ,

Vector2< int > ,

colorClass

)

Scans for pixels between both points.

Definition at line 1357 of file GT2005RobotSpecialist.cpp.
References Image::cameraInfo, COLOR_CLASS, ColorCorrector::correct(), CRASH_CHECK, BresenhamLineScan::getNext(), Image::image, noColor, BresenhamLineScan::numberOfPixels, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y.

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ColorSpace GT2005RobotSpecialist::generateColorspace ( Vector2< int > ,

Vector2< int >

)

Definition at line 1392 of file GT2005RobotSpecialist.cpp.
References Image::cameraInfo, COLOR_CLASS, ColorSpace::colorCount, ColorCorrector::correct(), CRASH_CHECK, ColorSpace::dY, BresenhamLineScan::getNext(), Image::image, LINE, BresenhamLineScan::numberOfPixels, numOfColors, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, ColorSpace::y, and Vector2< V >::y.
Referenced by clusterCandidates().

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unsigned int GT2005RobotSpecialist::filterPercepts ( ColorSpace colorSpace,

colorClass candidateColor

)

Definition at line 1445 of file GT2005RobotSpecialist.cpp.
References ColorSpace::colorCount, ColorSpace::dY, idText, and OUTPUT.
Referenced by generatePercept().

void GT2005RobotSpecialist::addPercept ( PerceptInfo & perceptInfo )

Definition at line 1512 of file GT2005RobotSpecialist.cpp.
References Vector2< V >::abs(), PlayersPercept::addBluePlayer(), PlayersPercept::addRedPlayer(), ARROW, PerceptInfo::bottomLine, Geometry::calculatePointOnField(), CameraInfo::CameraInfo(), CIRCLE, PerceptInfo::color, PerceptInfo::count, PerceptInfo::direction, PerceptInfo::flags, MSHSinglePlayerPercept::flags, Pose2D::getAngle(), PerceptInfo::gradient, idText, LINE, PerceptInfo::lines, MSHSinglePlayerPercept::lines, PerceptInfo::maxBounding, PerceptInfo::minBounding, OUTPUT, PerceptInfo::position, RECTANGLE, Pose2D::translation, PerceptInfo::validity, SinglePlayerPercept::validity, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.
Referenced by generatePercept().

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void GT2005RobotSpecialist::dbg_PrintGreenchanges ( )

Debugfunctions.

Definition at line 1632 of file GT2005RobotSpecialist.cpp.
References CIRCLE, CRASH_CHECK, List< GreenChangeEvent >::getFirst(), greenChangeEvents, GreenChangeEvent::positionOnImage, GreenChangeEvent::startEvent, Vector2< int >::x, and Vector2< int >::y.
Referenced by clusterCandidates().

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int GT2005RobotSpecialist::distanceOnField ( Vector2< int > ,

Vector2< int > ,

CameraMatrix ,

CameraInfo

) [private]

Definition at line 1655 of file GT2005RobotSpecialist.cpp.
References Vector2< V >::abs(), Geometry::calculatePointOnField(), Vector2< V >::x, and Vector2< V >::y.
Referenced by clusterCandidates().

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int GT2005RobotSpecialist::generateBoundings ( CandidateCluster cluster,

GT2005Rectangle & body,

GT2005Rectangle & foot,

Vector2< int > & footAVG

) [private]

Definition at line 1668 of file GT2005RobotSpecialist.cpp.
References candidates, RobotCandidate::candidateStart, CRASH_CHECK, RobotCandidate::footPoint, CandidateCluster::startPosition, CandidateCluster::stopPosition, Vector2< V >::x, Vector2< int >::x, GT2005Rectangle::x1, GT2005Rectangle::x2, Vector2< V >::y, Vector2< int >::y, GT2005Rectangle::y1, and GT2005Rectangle::y2.
Referenced by generatePercept().

Member Data Documentation

const ColorCorrector& GT2005RobotSpecialist::colorCorrector [private]

Definition at line 180 of file GT2005RobotSpecialist.h.

const Image& GT2005RobotSpecialist::image [private]

Definition at line 182 of file GT2005RobotSpecialist.h.

const ImageInfo& GT2005RobotSpecialist::imageInfo [private]

Definition at line 183 of file GT2005RobotSpecialist.h.

const ColorTable& GT2005RobotSpecialist::colorTable [private]

Definition at line 184 of file GT2005RobotSpecialist.h.

const CameraMatrix& GT2005RobotSpecialist::cameraMatrix [private]

Definition at line 185 of file GT2005RobotSpecialist.h.

const CameraMatrix& GT2005RobotSpecialist::prevCameraMatrix [private]

Definition at line 186 of file GT2005RobotSpecialist.h.

const RobotPose& GT2005RobotSpecialist::robotPose [private]

Definition at line 187 of file GT2005RobotSpecialist.h.

const List<GreenChangeEvent>& GT2005RobotSpecialist::greenChangeEvents [private]

Definition at line 188 of file GT2005RobotSpecialist.h.
Referenced by clusterCandidates(), dbg_PrintGreenchanges(), and findNearestFootPoint().

LinesPercept& GT2005RobotSpecialist::linesPercept [private]

Definition at line 190 of file GT2005RobotSpecialist.h.

PlayersPercept& GT2005RobotSpecialist::playersPercept [private]

Definition at line 191 of file GT2005RobotSpecialist.h.

RobotCandidate GT2005RobotSpecialist::candidates[RS_NUM_CANDIDATES] [private]

Definition at line 194 of file GT2005RobotSpecialist.h.
Referenced by addCandidate(), clusterCandidates(), generateBoundings(), and generatePercept().

unsigned char GT2005RobotSpecialist::topIndex [private]

Definition at line 195 of file GT2005RobotSpecialist.h.
Referenced by addCandidate(), clusterCandidates(), and reset().

unsigned char GT2005RobotSpecialist::bottomIndex [private]

Definition at line 195 of file GT2005RobotSpecialist.h.
Referenced by addCandidate(), clusterCandidates(), and reset().

List<GreenChangeEvent>::Pos GT2005RobotSpecialist::footIterator [private]

Definition at line 197 of file GT2005RobotSpecialist.h.
Referenced by clusterCandidates(), and findNearestFootPoint().

int GT2005RobotSpecialist::noRedCount [private]

Definition at line 200 of file GT2005RobotSpecialist.h.

int GT2005RobotSpecialist::noBlueCount [private]

Definition at line 200 of file GT2005RobotSpecialist.h.

Vector2<int> GT2005RobotSpecialist::lastRed [private]

Definition at line 201 of file GT2005RobotSpecialist.h.

Vector2<int> GT2005RobotSpecialist::firstRed [private]

Definition at line 201 of file GT2005RobotSpecialist.h.

Vector2<int> GT2005RobotSpecialist::closestRed [private]

Definition at line 201 of file GT2005RobotSpecialist.h.

Vector2<int> GT2005RobotSpecialist::lastBlue [private]

Definition at line 201 of file GT2005RobotSpecialist.h.

Vector2<int> GT2005RobotSpecialist::firstBlue [private]

Definition at line 201 of file GT2005RobotSpecialist.h.

Vector2<int> GT2005RobotSpecialist::closestBlue [private]

Definition at line 201 of file GT2005RobotSpecialist.h.

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

Modules/ImageProcessor/GT2005ImageProcessor/GT2005RobotSpecialist.h
Modules/ImageProcessor/GT2005ImageProcessor/GT2005RobotSpecialist.cpp

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