SlamBeaconDetector Class Reference

A class for detecting beacons in images. More...

#include <SlamBeaconDetector.h>

Collaboration diagram for SlamBeaconDetector:

[legend]List of all members.


Public Types
enum	{ edgeThresholdU = 13, edgeThresholdV = 15 }
Public Member Functions
	SlamBeaconDetector (const Image &image, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const ImageInfo &imageInf, const ColorTable &colorTable, const ColorCorrector &colorCorrector, const RobotPose &robotPose, LandmarksPercept &landmarksPercept, SpecialPercept &specialPercept)
	Constructor.
void	execute ()
	Executes the beacon detection.
void	analyzeColorTable ()
	Gains information about pink from the current color table.
Public Attributes
double	direction
int	directionCount
Private Types
enum	{ lowReliability = 1, mediumReliability = 4, highReliability = 6 }
Private Member Functions
double	FindSimilarFlag (SpecialFlag &)
bool	addCandidate (const Run &pinkRun)
	Adds a pink run to the list of candidates.
void	scanForPink (const Vector2< int > &start, const Vector2< int > &end)
	Scans along a line.
bool	scanForBeaconPart (const Vector2< int > &start, const Vector2< int > &end, Vector2< int > &position, Vector2< int > &edge, colorClass &color)
	Scans for one other beacon part.
void	clusterPinkBeaconParts ()
	Clusters the pink elements to find the pink beacon parts.
void	findSpecial (const Vector2< int > &center, const double pinkRunWidth)
	Tries to find a special landmark.
void	characterizeNewFlag (const Vector2< int > &center)
	Tries to characterize the surroundings of this flag.
SlamFlagLocator::flagCharacteristics	scanForFlagCharacterization (const Vector2< int > &start, const Vector2< double > &direction)
	scan-method for characterizeNewFlag
void	analyzeBeacon (const Vector2< double > &left, const Vector2< int > &center, const double pinkRunWidth)
	Tries to detect a beacon near a pink part.
int	scanForBeaconEdges (const Vector2< int > &position, const double pinkRunWidth, Flag::FlagType &flagType, Vector2< int > &topEdge, Vector2< int > &bottomEdge)
	Looks for the vertical edges and the color type of a beacon.
Private Attributes
int	frameCount
int	numFlags
SpecialFlag	specialFlags [NUM_SPECIAL_FLAGS]
const SUSANEdgeDetectionLite	edgeDetectionU
	Edge detection operators (U and V components) used to find the boundaries of flags.
const SUSANEdgeDetectionLite	edgeDetectionV
const Image &	image
	The image.
const CameraMatrix &	cameraMatrix
	The camera matrix.
const CameraMatrix &	prevCameraMatrix
	The previous camera matrix.
const ImageInfo &	imageInf
	Additional Image information.
const ColorTable &	colorTable
	The color table.
const RobotPose &	robotPose
LandmarksPercept &	landmarksPercept
	The landmarks percept.
SpecialPercept &	specialPercept
	The special percept.
int	numOfBeaconCandidates
	The number of possible beacons.
int	numOfClusteredBeaconCandidates
	The number of possible beacons after clustering.
Run	beaconCandidates [MAX_NUMBER_OF_PINK_RUNS]
	The list of candidates.
TransformedRun	transformedCandidates [MAX_NUMBER_OF_PINK_RUNS]
	A buffer for transformed candidates.
const double	horizontalBaseOffset
	The base offset for horizontal scan lines.
const int	numOfHorizontalScanLineAbove
	The number of horizontal scan lines above the horizon.
const int	numOfHorizontalScanLineBelow
	The number of horizontal scan lines below the horizon.
const double	horizontalOffsetModifier
	The growth factor of the distance between two scan lines.
const int	clusteringDistanceTolerance
	The maximum distance between the merged runs.
const int	minPinkRunLength
	The minimum length of a pink run.
const double	clusteringAspectRatio
	The maximum vertical distance of scanlines to be clustered, over the estimated merged horizontal distance (half beacon aspect ratio should be 1:1).
const double	projectionAspectRatio
	The minimum value for the ratio of the 2 dimensions of the pink part of the beacon, to be used for projection on the unknown colored part.
const int	edgeScanDepth
	The maximum number of pixels which are examined after an edge response has been found for determining the color beyond the edge.
unsigned char	minPinkUValue
	The minimum U channel value of a pink pixel.
const double	minFlagConfidence
	A confidence threshold used to determine if a target beacon, whose type is not completely clear, can be accepted or not.
SlamFlagSpecialist	flagSpecialist
	A flag specialist.
const ColorCorrector &	colorCorrector
	The color corrector.

Detailed Description

A class for detecting beacons in images.

Definition at line 45 of file SlamBeaconDetector.h.

Member Enumeration Documentation

anonymous enum

Enumeration values:

edgeThresholdU

edgeThresholdV

Definition at line 49 of file SlamBeaconDetector.h.

anonymous enum [private]

Enumeration values:

lowReliability

mediumReliability

highReliability

Definition at line 170 of file SlamBeaconDetector.h.

Constructor & Destructor Documentation

SlamBeaconDetector::SlamBeaconDetector ( const Image & image,

const CameraMatrix & cameraMatrix,

const CameraMatrix & prevCameraMatrix,

const ImageInfo & imageInf,

const ColorTable & colorTable,

const ColorCorrector & colorCorrector,

const RobotPose & robotPose,

LandmarksPercept & landmarksPercept,

SpecialPercept & specialPercept

)

Constructor.

Definition at line 37 of file SlamBeaconDetector.cpp.
References numFlags.