Geometry Class Reference

The class Geometry defines representations for geometric objects and Methods for calculations with such object. More...

#include <Geometry.h>

Collaboration diagram for Geometry:

[legend]List of all members.


Static Public Member Functions
double	angleTo (const Pose2D &from, const Vector2< double > &to)
	Calculates the angle between a pose and a position.
double	distanceTo (const Pose2D &from, const Vector2< double > &to)
	Calculates the distance from a pose to a position.
Vector2< double >	vectorTo (const Pose2D &from, const Vector2< double > &to)
	Calculates the relative vector from a pose to a position.
Circle	getCircle (const Vector2< int > point1, const Vector2< int > point2, const Vector2< int > point3)
	Returns the circle defined by the three points.
bool	getIntersectionOfLines (const Line line1, const Line line2, Vector2< double > &intersection)
bool	getIntersectionOfLines (const Line line1, const Line line2, Vector2< int > &intersection)
bool	getIntersectionOfRaysFactor (const Line ray1, const Line ray2, double &intersection)
double	getDistanceToLine (const Line line, const Vector2< double > &point)
double	getDistanceToEdge (const Line line, const Vector2< double > &point)
double	distance (const Vector2< double > &point1, const Vector2< double > &point2)
double	distance (const Vector2< int > &point1, const Vector2< int > &point2)
Vector3< double >	rayFromCamera (int y, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const Vector3< double > vector, const CameraInfo &cameraInfo)
void	calculateAnglesForPoint (const Vector2< int > &point, const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo, Vector2< double > &angles)
void	calculateAnglesForPoint (const Vector2< int > &point, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const CameraInfo &cameraInfo, Vector2< double > &angles)
void	calculatePointByAngles (const Vector2< double > &angles, const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo, Vector2< int > &point)
bool	clipLineWithQuadrangle (const Line lineToClip, const Vector2< double > &corner0, const Vector2< double > &corner1, const Vector2< double > &corner2, const Vector2< double > &corner3, Vector2< double > &clipPoint1, Vector2< double > &clipPoint2)
bool	clipLineWithQuadrangle (const Line lineToClip, const Vector2< double > &corner0, const Vector2< double > &corner1, const Vector2< double > &corner2, const Vector2< double > &corner3, Vector2< int > &clipPoint1, Vector2< int > &clipPoint2)
bool	isPointInsideRectangle (const Vector2< double > &bottomLeftCorner, const Vector2< double > &topRightCorner, const Vector2< double > &point)
bool	isPointInsideRectangle (const Vector2< int > &bottomLeftCorner, const Vector2< int > &topRightCorner, const Vector2< int > &point)
bool	clipPointInsideRectange (const Vector2< int > &bottomLeftCorner, const Vector2< int > &topRightCorner, Vector2< int > &point)
bool	clipPointInsideRectange (const Vector2< int > &bottomLeftCorner, const Vector2< int > &topRightCorner, Vector2< double > &point)
bool	calculatePointOnField (const int x, const int y, const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo, Vector2< double > &pointOnField)
	Calculates where a pixel in the image lies on the ground (relative to the robot).
bool	calculatePointOnField (const int x, const int y, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const CameraInfo &cameraInfo, Vector2< double > &pointOnField)
	Calculates where a pixel in the image lies on the ground (relative to the robot).
bool	calculatePointOnField (const int x, const int y, const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo, Vector2< int > &pointOnField)
	Calculates where a pixel in the image lies on the ground (relative to the robot).
bool	calculatePointOnField (const int x, const int y, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const CameraInfo &cameraInfo, Vector2< int > &pointOnField)
	Calculates where a pixel in the image lies on the ground (relative to the robot).
void	calculatePointInImage (const Vector2< int > &point, const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo, Vector2< int > &pointInImage)
	Calculates where a relative point on the ground appears in an image.
bool	getIntersectionPointsOfLineAndRectangle (const Vector2< int > &bottomLeft, const Vector2< int > &topRight, const Geometry::Line line, Vector2< int > &point1, Vector2< int > &point2)
	Clips a line with a rectangle.
bool	clipLineWithRectangleCohenSutherland (const Vector2< int > &bottomLeft, const Vector2< int > &topRight, Vector2< int > &point1, Vector2< int > &point2)
	Clips a line with the Cohen-Sutherland-Algorithm.
int	cohenSutherlandOutCode (const Vector2< int > &bottomLeft, const Vector2< int > &topRight, Vector2< int > &point)
	Calculates the Cohen Sutherland Code for a given point and a given rectangle.
int	intersection (int a1, int b1, int a2, int b2, int value)
	Calculates the intersection of an arbitrary line and a horizontal or vertical line.
Vector2< double >	relative2FieldCoord (RobotPose rp, double x, double y)
	Function does the transformation from 2d relative robot coordinates to absolute field coordinates.
Vector2< double >	fieldCoord2Relative (RobotPose robotPose, Vector2< double > fieldCoord)
	Function does the transformation from 2d field coordinates to coordinates relative to the robot.
bool	calculateBallInImage (const Vector2< double > &ballOffset, const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo, Circle &circle)
	The function approximates the shape of a ball in the camera image.
double	getDistanceBySize (const CameraInfo &cameraInfo, double sizeInReality, double sizeInPixels)
	The function determines how far an object is away depending on its real size and the size in the image.
double	getDistanceBySize (const CameraInfo &cameraInfo, double sizeInReality, double sizeInPixels, double centerX, double centerY)
	The function determines how far an object is away depending on its real size and the size in the image along with its center position, using camera intrinsic parameters.
double	getDistanceByAngleSize (double sizeInReality, double sizeInPixels)
	The function determines how far an object is away depending on its real size and the size in the image.
double	getBallDistanceByAngleSize (double sizeInReality, double sizeInPixels)
	The function determines how far the ball is away depending on its real size and the size in the image.
double	getSizeByDistance (double sizeInReality, double distance, double imageWidthPixels, double imageWidthAngle)
	The function determines how big an object appears in the image depending on its distance and size.
double	getSizeByDistance (const CameraInfo &cameraInfo, double sizeInReality, double distance)
	The function determines how big an object appears in the image depending on its distance and size.
Geometry::Line	calculateHorizon (const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo)
	The function calculates the horizon.
int	calculateLineSize (const Vector2< int > &pointInImage, const CameraMatrix &cameraMatrix, const CameraInfo &cameraInfo)
	The function calculates the expected size (pixel) of a field line in an image.
double	pixelSizeToAngleSize (double pixelSize, const CameraInfo &cameraInfo)
	Calculates the angle size for a given pixel size.
double	angleSizeToPixelSize (double angleSize, const CameraInfo &cameraInfo)
	Calculates the pixel size for a given angle size.
void	radialDistortionCorrection (const CameraInfo &cameraInfo, const int srcX, const int srcY, double &correctedX, double &correctedY)
	Corrects the radial distortion introduced by the camera lens (using a 4th order model) of a given pixel.
void	setupRadialCorrection (const CameraInfo &cameraInfo)
	This function builds a radial distortion correction look-up table based on the parameters contained in cameraInfo.
void	setupRadialCorrectionERS7 ()
void	setupRadialCorrectionERS210 ()
bool	insideCircle (Geometry::Circle &circle, double radius2, double x, double y)
void	radialDistortionCorrectionFast (const int srcX, const int srcY, int &correctedX, int &correctedY)
	Corrects the radial distortion introduced by the camera lens (using a 4th order model) of a given pixel, using a pre-computed look-up table.
Static Private Member Functions
double	calculateScaleFactor (int y, unsigned long frameNumber, unsigned long prevFrameNumber, const CameraInfo &cameraInfo)
Static Private Attributes
CorrectedCoords	radialCorrectionLUT [cameraResolutionHeight_ERS7][cameraResolutionWidth_ERS7]

Detailed Description

The class Geometry defines representations for geometric objects and Methods for calculations with such object.

Definition at line 26 of file Geometry.h.

Member Function Documentation

Vector2< double > Geometry::vectorTo ( const Pose2D & from,

const Vector2< double > & to

) [static]

Calculates the relative vector from a pose to a position.

Parameters:

from The base pose.

to The other position.

Returns:
the vector from the pose to the position.

Definition at line 31 of file Geometry.cpp.

Geometry::Circle Geometry::getCircle ( const Vector2< int > point1,

const Vector2< int > point2,

const Vector2< int > point3

) [static]

Returns the circle defined by the three points.

Parameters:

point1 The first point.

point2 The second point.

point3 The third point.

Returns:
The circle defined by point1, point2 and point3.

Definition at line 45 of file Geometry.cpp.
References Geometry::Circle::center, Geometry::Circle::radius, sqr, Vector2< double >::x, and Vector2< double >::y.

bool Geometry::getIntersectionOfLines ( const Line line1,

const Line line2,

Vector2< double > & intersection

) [static]

Definition at line 129 of file Geometry.cpp.
References intersection().
Referenced by FieldDimensions::clipLineWithField(), clipLineWithQuadrangle(), VLCLineFinder_DeterministicApproach::findIntersections(), SlamBorderFinder::findIntersections(), GT2005LineFinder_DeterministicApproach::findIntersections(), getIntersectionOfLines(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), VLCRobotSpecialist::scan(), GT2005RobotSpecialist::scan(), and SlamImageProcessor::scanColumns().

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bool Geometry::getIntersectionOfLines ( const Line line1,

const Line line2,

Vector2< int > & intersection

) [static]

Definition at line 115 of file Geometry.cpp.
References getIntersectionOfLines(), intersection(), Vector2< V >::x, and Vector2< V >::y.

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bool Geometry::getIntersectionOfRaysFactor ( const Line ray1,

const Line ray2,

double & intersection

) [static]

Definition at line 166 of file Geometry.cpp.

double Geometry::getDistanceToLine ( const Line line,

const Vector2< double > & point

) [static]

Definition at line 189 of file Geometry.cpp.
References distance(), and point.
Referenced by FieldDimensions::clipLineWithField(), getDistanceToEdge(), FieldDimensions::isInsideField(), VLCFlagSpecialist::searchFlags(), SlamFlagSpecialist::searchFlags(), GT2005FlagSpecialist::searchFlags(), FieldDimensions::vectorToBorder(), and FieldDimensions::vectorToBorderIncludingGoals().

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double Geometry::getDistanceToEdge ( const Line line,

const Vector2< double > & point

) [static]

Definition at line 208 of file Geometry.cpp.
References distance(), getDistanceToLine(), and point.

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double Geometry::distance ( const Vector2< double > & point1,

const Vector2< double > & point2

) [static]

Definition at line 230 of file Geometry.cpp.
Referenced by VLCBallSpecialist::calculateDeviationOfBallPoints(), GT2005BallSpecialist::calculateDeviationOfBallPoints(), GT2005ParticleContainer::calculateEstimatedBall(), VLCBallSpecialist::checkIfPointsAreInsideBall(), GT2005BallSpecialist::checkIfPointsAreInsideBall(), getDistanceToEdge(), getDistanceToLine(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), and getMin().

double Geometry::distance ( const Vector2< int > & point1,

const Vector2< int > & point2

) [static]

Definition at line 239 of file Geometry.cpp.

double Geometry::calculateScaleFactor ( int y,

unsigned long frameNumber,

unsigned long prevFrameNumber,

const CameraInfo & cameraInfo

) [static, private]

Definition at line 247 of file Geometry.cpp.
References getRobotConfiguration(), RobotConfiguration::getRobotDimensions(), RobotDimensions::imagesPerSecond, RobotDimensions::motionCycleTime, and CameraInfo::resolutionHeight.
Referenced by rayFromCamera().

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Vector3< double > Geometry::rayFromCamera ( int y,

const CameraMatrix & cameraMatrix,

const CameraMatrix & prevCameraMatrix,

const Vector3< double > vector,

const CameraInfo & cameraInfo

) [static]

Definition at line 265 of file Geometry.cpp.
References calculateScaleFactor(), CameraMatrix::frameNumber, Pose3D::rotation, and CameraInfo::simulated.
Referenced by VLCFlagSpecialist::getFlagPercept(), SlamFlagSpecialist::getFlagPercept(), and GT2005FlagSpecialist::getFlagPercept().

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void Geometry::calculateAnglesForPoint ( const Vector2< int > & point,

const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo,

Vector2< double > & angles

) [static]

Definition at line 284 of file Geometry.cpp.
References point, sqr, Vector3< V >::x, Vector2< int >::x, Vector3< V >::y, Vector2< int >::y, and Vector3< V >::z.
Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), SlamGoalRecognizer::calculateVerticalGoalScanLines(), GoalRecognizer::calculateVerticalGoalScanLines(), SlamBeaconDetector::characterizeNewFlag(), SlamGoalRecognizer::ColoredPartsCheck::determineLargePart(), GoalRecognizer::ColoredPartsCheck::determineLargePart(), SlamBeaconDetector::findSpecial(), VLCGoalRecognizer::interpretResults(), GT2005GoalRecognizer::publishResults(), SlamGoalRecognizer::scanLinesForGoals(), and GoalRecognizer::scanLinesForGoals().

void Geometry::calculateAnglesForPoint ( const Vector2< int > & point,

const CameraMatrix & cameraMatrix,

const CameraMatrix & prevCameraMatrix,

const CameraInfo & cameraInfo,

Vector2< double > & angles

) [static]

Definition at line 312 of file Geometry.cpp.
References point, and Vector2< int >::y.

void Geometry::calculatePointByAngles ( const Vector2< double > & angles,

const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo,

Vector2< int > & point

) [static]

Definition at line 331 of file Geometry.cpp.
References RotationMatrix::invert(), point, Vector2< int >::x, Vector3< V >::x, Vector2< int >::y, Vector3< V >::y, and Vector3< V >::z.
Referenced by calculateBallInImage(), SlamGoalRecognizer::calculateVerticalGoalScanLines(), GoalRecognizer::calculateVerticalGoalScanLines(), SlamGoalRecognizer::scanHorizontalForGoals(), GoalRecognizer::scanHorizontalForGoals(), SlamGoalRecognizer::scanLinesForGoals(), and GoalRecognizer::scanLinesForGoals().

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bool Geometry::clipLineWithQuadrangle ( const Line lineToClip,

const Vector2< double > & corner0,

const Vector2< double > & corner1,

const Vector2< double > & corner2,

const Vector2< double > & corner3,

Vector2< double > & clipPoint1,

Vector2< double > & clipPoint2

) [static]

Definition at line 379 of file Geometry.cpp.
References Geometry::Line::base, Geometry::Line::direction, getIntersectionOfLines(), point, Vector2< int >::x, Vector2< V >::x, Vector2< double >::x, Vector2< int >::y, Vector2< V >::y, and Vector2< double >::y.

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bool Geometry::isPointInsideRectangle ( const Vector2< double > & bottomLeftCorner,

const Vector2< double > & topRightCorner,

const Vector2< double > & point

) [static]

Definition at line 503 of file Geometry.cpp.
References point, Vector2< int >::x, and Vector2< int >::y.

bool Geometry::isPointInsideRectangle ( const Vector2< int > & bottomLeftCorner,

const Vector2< int > & topRightCorner,

const Vector2< int > & point

) [static]

Definition at line 516 of file Geometry.cpp.
References point, Vector2< int >::x, and Vector2< int >::y.

bool Geometry::clipPointInsideRectange ( const Vector2< int > & bottomLeftCorner,

const Vector2< int > & topRightCorner,

Vector2< int > & point

) [static]

Definition at line 528 of file Geometry.cpp.
References point, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.
Referenced by VLCBallSpecialist::addBallPercept(), GT2005BallSpecialist::addBallPercept(), VLCBeaconDetector::clusterPinkBeaconParts(), GT2005BeaconDetector::clusterPinkBeaconParts(), VLCBeaconDetector::scanForBeaconEdges(), SlamBeaconDetector::scanForBeaconEdges(), and GT2005BeaconDetector::scanForBeaconEdges().

bool Geometry::clipPointInsideRectange ( const Vector2< int > & bottomLeftCorner,

const Vector2< int > & topRightCorner,

Vector2< double > & point

) [static]

Definition at line 558 of file Geometry.cpp.
References point, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.

bool Geometry::calculatePointOnField ( const int x,

const int y,

const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo,

Vector2< double > & pointOnField

) [static]

Calculates where a pixel in the image lies on the ground (relative to the robot).

Parameters:

x Specifies the x-coordinate of the pixel.

y Specifies the y-coordinate of the pixel.

cameraMatrix The camera matrix of the image.

cameraInfo The camera info of the image.

pointOnField The resulting point.

Definition at line 589 of file Geometry.cpp.
References Vector3< V >::x, Vector3< V >::y, and Vector3< V >::z.
Referenced by VLCRobotSpecialist::addPercept(), GT2005RobotSpecialist::addPercept(), VLCImageProcessor::calcEdgeAngle(), SlamImageProcessor::calcEdgeAngle(), GT2005ImageProcessor::calcEdgeAngle(), VLCLineFinder_DeterministicApproach::calculateLineOnField(), SlamBorderFinder::calculateLineOnField(), GT2005LineFinder_DeterministicApproach::calculateLineOnField(), calculateLineSize(), calculatePointOnField(), SlamEdgeSpecialist::checkPoint(), GT2005EdgeSpecialist::checkPoint(), VLCImageProcessor::clusterRobots(), SlamImageProcessor::clusterRobots(), GT2005PlayerSpecialist::detectBlueRobots(), GT2005PlayerSpecialist::detectRedRobots(), VLCRobotSpecialist::distanceOnField(), GT2005RobotSpecialist::distanceOnField(), VLCLineFinder_DeterministicApproach::findIntersections(), SlamBorderFinder::findIntersections(), GT2005LineFinder_DeterministicApproach::findIntersections(), VLCRobotSpecialist::generatePercept(), GT2005RobotSpecialist::generatePercept(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), GT2005ImageProcessor::scan(), GT2005CenterCircleFinder::scan(), and GuideDogRobotSpecialist::scanParallelToHorizon().

bool Geometry::calculatePointOnField ( const int x,

const int y,

const CameraMatrix & cameraMatrix,

const CameraMatrix & prevCameraMatrix,

const CameraInfo & cameraInfo,

Vector2< double > & pointOnField

) [static]

Calculates where a pixel in the image lies on the ground (relative to the robot).

Parameters:

x Specifies the x-coordinate of the pixel.

y Specifies the y-coordinate of the pixel.

cameraMatrix The camera matrix of the image.

prevCameraMatrix The camera matrix of the previous image.

cameraInfo The camera info of the image.

pointOnField The resulting point.

Definition at line 626 of file Geometry.cpp.
References Vector2< V >::x, and Vector2< V >::y.

bool Geometry::calculatePointOnField ( const int x,

const int y,

const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo,

Vector2< int > & pointOnField

) [inline, static]

Calculates where a pixel in the image lies on the ground (relative to the robot).

Parameters:

x Specifies the x-coordinate of the pixel.

y Specifies the y-coordinate of the pixel.

cameraMatrix The camera matrix of the image.

cameraInfo The camera info of the image.

pointOnField The resulting point.

Definition at line 421 of file Geometry.h.
References calculatePointOnField(), Vector2< V >::x, and Vector2< V >::y.

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bool Geometry::calculatePointOnField ( const int x,

const int y,

const CameraMatrix & cameraMatrix,

const CameraMatrix & prevCameraMatrix,

const CameraInfo & cameraInfo,

Vector2< int > & pointOnField

) [inline, static]

Calculates where a pixel in the image lies on the ground (relative to the robot).

Parameters:

x Specifies the x-coordinate of the pixel.

y Specifies the y-coordinate of the pixel.

cameraMatrix The camera matrix of the image.

cameraInfo The camera info of the image.

pointOnField The resulting point.

Definition at line 444 of file Geometry.h.
References calculatePointOnField(), Vector2< V >::x, and Vector2< V >::y.

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void Geometry::calculatePointInImage ( const Vector2< int > & point,

const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo,

Vector2< int > & pointInImage

) [static]

Calculates where a relative point on the ground appears in an image.

Parameters:

point The coordinates of the point relative to the robot's origin.

cameraMatrix The camera matrix of the image.

cameraInfo The camera info of the image.

pointInImage The resulting point.

Definition at line 655 of file Geometry.cpp.
References Vector2< V >::abs(), point, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.
Referenced by GT2005CenterCircleFinder::checkCircleMidpoint(), GT2005CenterCircleFinder::checkCircleMidpoint2(), VLCCenterCircleFinder::determineCirclePoint(), VLCLineFinder_DeterministicApproach::doVerificationScanForCircle(), GT2005LineFinder_DeterministicApproach::doVerificationScanForCircle(), SlamSelfLocator::draw(), GT2005StableSelfLocator::draw(), GT2004SelfLocator::draw(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), VLCRobotSpecialist::scan(), GT2005RobotSpecialist::scan(), and SlamGoalRecognizer::scanLinesForGoals().

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bool Geometry::getIntersectionPointsOfLineAndRectangle ( const Vector2< int > & bottomLeft,

const Vector2< int > & topRight,

const Geometry::Line line,

Vector2< int > & point1,

Vector2< int > & point2

) [static]

Clips a line with a rectangle.

Parameters:

bottomLeft The bottom left corner of the rectangle

topRight The top right corner of the rectangle

line The line to be clipped

point1 The starting point of the resulting line

point2 The end point of the resulting line

Returns:
states whether clipping was necessary (and done)

Definition at line 694 of file Geometry.cpp.
References Geometry::Line::base, Geometry::Line::direction, point, Vector2< int >::x, Vector2< V >::x, Vector2< double >::x, Vector2< int >::y, Vector2< V >::y, and Vector2< double >::y.
Referenced by BresenhamLineScan::BresenhamLineScan(), SlamGoalRecognizer::calculateScanLinesParallelToHorizon(), GoalRecognizer::calculateScanLinesParallelToHorizon(), GuideDogRobotSpecialist::calculateScanLinesParallelToHorizon(), VLCImageProcessor::execute(), VLCBeaconDetector::execute(), SlamImageProcessor::execute(), SlamBeaconDetector::execute(), GT2005ImageProcessor::execute(), GT2005BeaconDetector::execute(), VLCLineFinder_DeterministicApproach::findLines(), SlamBorderFinder::findLines(), GT2005LineFinder_DeterministicApproach::findLines(), VLCImageProcessor::scanColumns(), SlamImageProcessor::scanColumns(), GT2005ImageProcessor::scanColumns(), VLCBeaconDetector::scanForBeaconEdges(), SlamBeaconDetector::scanForBeaconEdges(), GT2005BeaconDetector::scanForBeaconEdges(), VLCImageProcessor::scanRows(), SlamImageProcessor::scanRows(), and GT2005ImageProcessor::scanRows().

bool Geometry::clipLineWithRectangleCohenSutherland ( const Vector2< int > & bottomLeft,

const Vector2< int > & topRight,

Vector2< int > & point1,

Vector2< int > & point2

) [static]

Clips a line with the Cohen-Sutherland-Algorithm.

Parameters:

bottomLeft The bottom left corner of the rectangle

topRight The top right corner of the rectangle

point1 The starting point of the line

point2 The end point of the line

Returns:
states whether clipping was necessary (and done)

Definition at line 773 of file Geometry.cpp.
References Vector2< V >::y.
Referenced by SlamGoalRecognizer::calculateVerticalGoalScanLines(), GoalRecognizer::calculateVerticalGoalScanLines(), FieldDimensions::clipLineWithField(), FieldDimensions::clipLineWithFieldAndGoalAreas(), MSH2004EdgeDetection::findStart(), and GT2004EdgeDetection::findStart().

int Geometry::cohenSutherlandOutCode ( const Vector2< int > & bottomLeft,

const Vector2< int > & topRight,

Vector2< int > & point

) [inline, static]

Calculates the Cohen Sutherland Code for a given point and a given rectangle.

Definition at line 528 of file Geometry.h.
References point, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.

int Geometry::intersection ( int a1,

int b1,

int a2,

int b2,

int value

) [static]

Calculates the intersection of an arbitrary line and a horizontal or vertical line.

Definition at line 845 of file Geometry.cpp.
Referenced by getIntersectionOfLines().

Vector2< double > Geometry::relative2FieldCoord ( RobotPose rp,

double x,

double y

) [static]

Function does the transformation from 2d relative robot coordinates to absolute field coordinates.

Parameters:

rp current Robot Pose.

x relative x-coordinate of ball (relative to robot)

y relative y-coordinate of ball (relative to robot)

Returns:
Returns the ball positon in absolute coordinates

Definition at line 855 of file Geometry.cpp.
References RotationMatrix::fromKardanRPY(), Pose2D::rotation, Pose2D::translation, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.
Referenced by VLCLineFinder_DeterministicApproach::addCrossingsPercept(), SlamBorderFinder::addCrossingsPercept(), GT2005TeamBallLocator::calcRepresentativeParticleContainer(), SlamBorderFinder::calculateDirectionAwayFromBorder(), GT2005CenterCircleFinder::checkCircleMidpoint(), GT2005CenterCircleFinder::checkCircleMidpoint2(), GT2005BallLocator::draw(), GT2005BallLocator::drawParticle(), VLCLineFinder_DeterministicApproach::findIntersections(), SlamBorderFinder::findIntersections(), GT2005LineFinder_DeterministicApproach::findIntersections(), KickLoggerSymbols::generateWalktoTarget(), VLCLineFinder_DeterministicApproach::handleCenterCircle(), GT2005LineFinder_DeterministicApproach::handleCenterCircle(), KickSelectionSymbols::intentionalKickTargetX(), KickSelectionSymbols::intentionalKickTargetY(), GT2005BallLocator::noNonsenseParticles(), and KickSelectionTable::searchKickInNeighbourhood().

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Vector2< double > Geometry::fieldCoord2Relative ( RobotPose robotPose,

Vector2< double > fieldCoord

) [static]

Function does the transformation from 2d field coordinates to coordinates relative to the robot.

Parameters:

robotPose current Robot Pose.

fieldCoord

Returns:
Returns the positon in relative

Definition at line 870 of file Geometry.cpp.
References angleTo(), distanceTo(), RobotPose::getPose(), Vector2< V >::x, and Vector2< V >::y.
Referenced by KickLoggerSymbols::doExecute(), GT2005HeadControl::getLookAtBallAngles(), KickLoggerSymbols::getPropagatedRelativeX(), KickLoggerSymbols::isNear(), KickLoggerSymbols::kickLoggerSetExecuteState(), and GT2005BallLocator::noNonsenseParticles().

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bool Geometry::calculateBallInImage ( const Vector2< double > & ballOffset,

const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo,

Circle & circle

) [static]

The function approximates the shape of a ball in the camera image.
Note: currently, the approximation is not exact.
Parameters:

ballOffset The ball's position relative to the robot's body origin.

cameraMatrix The position and orientation of the robot's camera.

cameraInfo The resolution and the opening angle of the robot's camera.

circle The approximated shape generated by the function.

Returns:
If false, only the center of the circle is valid, not the radius.

Definition at line 881 of file Geometry.cpp.
References Vector2< V >::abs(), alpha, calculatePointByAngles(), Geometry::Circle::center, pi_2, Geometry::Circle::radius, sqr, Pose3D::translation, Vector2< double >::x, Vector3< double >::x, Vector2< V >::x, Vector2< double >::y, Vector3< double >::y, Vector2< V >::y, and Vector3< double >::z.

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double Geometry::getDistanceBySize ( const CameraInfo & cameraInfo,

double sizeInReality,

double sizeInPixels

) [static]

The function determines how far an object is away depending on its real size and the size in the image.

Parameters:

cameraInfo Information about the camera (opening angles, resolution, etc.).

sizeInReality The real size of the object.

sizeInPixels The size in the image.

Returns:
The distance between camera and object.

Definition at line 922 of file Geometry.cpp.
Referenced by SlamGoalRecognizer::scanLinesForGoals(), and GoalRecognizer::scanLinesForGoals().

double Geometry::getDistanceBySize ( const CameraInfo & cameraInfo,

double sizeInReality,

double sizeInPixels,

double centerX,

double centerY

) [static]

The function determines how far an object is away depending on its real size and the size in the image along with its center position, using camera intrinsic parameters.

Parameters:

cameraInfo Class containing the intrinsic paramaters

sizeInReality The real size of the object.

sizeInPixels The size in the image.

centerX X coordinate (in image reference) of object's baricenter.

centerY Y coordinate (in image reference) of object's baricenter.

Returns:
The distance between camera and object.

Definition at line 933 of file Geometry.cpp.

double Geometry::getDistanceByAngleSize ( double sizeInReality,

double sizeInPixels

) [static]

The function determines how far an object is away depending on its real size and the size in the image.

Parameters:

sizeInReality The real size of the object.

sizeInPixels The size in the image.

Returns:
The distance between camera and object.

Definition at line 952 of file Geometry.cpp.

double Geometry::getBallDistanceByAngleSize ( double sizeInReality,

double sizeInPixels

) [static]

The function determines how far the ball is away depending on its real size and the size in the image.

Parameters:

sizeInReality The real size of the ball.

sizeInPixels The size in the image.

Returns:
The distance between the camera and the ball.

Definition at line 961 of file Geometry.cpp.
Referenced by BallPercept::addHighRes(), VLCBallSpecialist::calculateReliability(), and GT2005BallSpecialist::calculateReliability().

double Geometry::getSizeByDistance ( double sizeInReality,

double distance,

double imageWidthPixels,

double imageWidthAngle

) [static]

The function determines how big an object appears in the image depending on its distance and size.

Parameters:

sizeInReality The real size of the object.

distance The distance to the object.

imageWidthPixels The horizontal resolution of the image.

imageWidthAngle The horizontal opening angle of the camera.

Returns:
The size as it would appear in the image.

Definition at line 982 of file Geometry.cpp.
Referenced by calculateLineSize(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), and GT2005ImageProcessor::scan().

double Geometry::getSizeByDistance ( const CameraInfo & cameraInfo,

double sizeInReality,

double distance

) [static]

The function determines how big an object appears in the image depending on its distance and size.

Parameters:

cameraInfo Object containing camera paramters.

sizeInReality The real size of the object.

distance The distance to the object.

Returns:
The size as it would appear in the image.

Definition at line 970 of file Geometry.cpp.

Geometry::Line Geometry::calculateHorizon ( const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo

) [static]

The function calculates the horizon.

Parameters:

cameraMatrix The camera matrix.

cameraInfo Object containing camera parameters.

Returns:
The line of the horizon in the image.

Definition at line 995 of file Geometry.cpp.
References Geometry::Line::base, Geometry::Line::direction, Geometry::Line::normalizeDirection(), Vector2< double >::x, and Vector2< double >::y.
Referenced by VLCImageProcessor::execute(), SlamImageProcessor::execute(), SlamGoalRecognizer::execute(), GuideDogRobotSpecialist::execute(), GT2005ImageProcessor::execute(), and GoalRecognizer::getGoalPercept().

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int Geometry::calculateLineSize ( const Vector2< int > & pointInImage,

const CameraMatrix & cameraMatrix,

const CameraInfo & cameraInfo

) [static]

The function calculates the expected size (pixel) of a field line in an image.

Parameters:

pointInImage The point where the line is expected.

cameraMatrix The camera matrix.

cameraInfo Object containing the camera parameters.

Returns:
The size of a line pixel.

Definition at line 1037 of file Geometry.cpp.
References Vector2< V >::abs(), calculatePointOnField(), getSizeByDistance(), and sqr.
Referenced by VLCLineFinder_DeterministicApproach::addCrossingsPercept(), SlamBorderFinder::addCrossingsPercept(), GT2005LineFinder_DeterministicApproach::addCrossingsPercept(), SlamEdgeSpecialist::getEdgesPercept(), GT2005EdgeSpecialist::getEdgesPercept(), VLCImageProcessor::scan(), SlamImageProcessor::scan(), and GT2005ImageProcessor::scan().

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double Geometry::pixelSizeToAngleSize ( double pixelSize,

const CameraInfo & cameraInfo

) [static]

Calculates the angle size for a given pixel size.

Definition at line 916 of file Geometry.cpp.
References CameraInfo::focalLengthInv.
Referenced by VLCBallSpecialist::addBallPercept(), and GT2005BallSpecialist::addBallPercept().

double Geometry::angleSizeToPixelSize ( double angleSize,

const CameraInfo & cameraInfo

) [static]

Calculates the pixel size for a given angle size.

Definition at line 911 of file Geometry.cpp.
References CameraInfo::focalLength.

void Geometry::radialDistortionCorrection ( const CameraInfo & cameraInfo,

const int srcX,

const int srcY,

double & correctedX,

double & correctedY

) [inline, static]

Corrects the radial distortion introduced by the camera lens (using a 4th order model) of a given pixel.

Parameters:

cameraInfo Class containing camera intrinsic parameters

srcX X coordinate (image reference) of pixel to be distortion-corrected.

srcY Y coordinate (image reference) of pixel to be distortion-corrected.

correctedX X coordinate (image reference) of resulting distortion-corrected pixel.

correctedY Y coordinate (image reference) of resulting distortion-corrected pixel.

Definition at line 727 of file Geometry.h.
References CameraInfo::focalLenPow2, CameraInfo::focalLenPow4, CameraInfo::fourthOrderRadialDistortion, CameraInfo::opticalCenter, CameraInfo::secondOrderRadialDistortion, Vector2< double >::x, and Vector2< double >::y.
Referenced by setupRadialCorrection().

void Geometry::setupRadialCorrection ( const CameraInfo & cameraInfo ) [static]

This function builds a radial distortion correction look-up table based on the parameters contained in cameraInfo.

Parameters:

cameraInfo Object containing intrinisc (and other) camera parameters.

Definition at line 1057 of file Geometry.cpp.
References radialCorrectionLUT, radialDistortionCorrection(), CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Geometry::CorrectedCoords::x, and Geometry::CorrectedCoords::y.
Referenced by setupRadialCorrectionERS210(), and setupRadialCorrectionERS7().

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void Geometry::setupRadialCorrectionERS7 ( ) [inline, static]

Definition at line 745 of file Geometry.h.
References setupRadialCorrection().

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void Geometry::setupRadialCorrectionERS210 ( ) [inline, static]

Definition at line 751 of file Geometry.h.
References setupRadialCorrection().

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bool Geometry::insideCircle ( Geometry::Circle & circle,

double radius2,

double x,

double y

) [inline, static]

Definition at line 757 of file Geometry.h.
References Geometry::Circle::center, Vector2< double >::x, and Vector2< double >::y.

void Geometry::radialDistortionCorrectionFast ( const int srcX,

const int srcY,

int & correctedX,

int & correctedY

) [inline, static]

Corrects the radial distortion introduced by the camera lens (using a 4th order model) of a given pixel, using a pre-computed look-up table.

Parameters:

srcX X coordinate (image reference) of pixel to be distortion-corrected.

srcY Y coordinate (image reference) of pixel to be distortion-corrected.

correctedX X coordinate (image reference) of resulting distortion-corrected pixel.

correctedY Y coordinate (image reference) of resulting distortion-corrected pixel.

Definition at line 770 of file Geometry.h.
References radialCorrectionLUT, Geometry::CorrectedCoords::x, and Geometry::CorrectedCoords::y.

Member Data Documentation

Geometry::CorrectedCoords Geometry::radialCorrectionLUT [static, private]

Definition at line 1055 of file Geometry.cpp.
Referenced by radialDistortionCorrectionFast(), and setupRadialCorrection().

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

Tools/Math/Geometry.h
Tools/Math/Geometry.cpp

Generated on Mon Mar 20 22:12:28 2006 for GT2005 by

1.3.6

Geometry Class Reference

Static Public Member Functions

Static Private Member Functions

Static Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation