SlamEdgeSpecialist Class Reference

The EdgeSpecialist finds a line- and border-edges in an image. More...

#include <SlamEdgeSpecialist.h>

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[legend]List of all members.

Public Member Functions
	SlamEdgeSpecialist ()
void	reset ()
	reset all data before processing next frame.
void	resetLine ()
	reset before next scanline.
void	checkPoint (Vector2< int > point, colorClass color, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const Image &image)
	check point in camera-coordinates with given color on scanline if interesting changes.
void	addCandidate (Vector2< int > point, const Image &image)
	add a point in camera-coordinates which is a candidate for an edge point.
void	getEdgesPercept (EdgesPercept &percept, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const Image &image)
	Searches for the edges based on the points and return edge-percepts from those.
Private Types
enum	{ maxNumberOfEdgePoints = 200 }
Private Attributes
bool	greenBefore
bool	whiteBefore
int	numberOfContinuousNoColor
Vector2< int >	lastGreen
Vector2< int >	lastGreenField
Vector2< int >	lastWhite
Vector2< int >	lastWhiteField
EdgePoint	edgePoints [maxNumberOfEdgePoints]
int	numOfEdgePoints
double	gradientThreshold
double	normDistance
double	normProjection
double	multipleAverageDistance
Matrix2x2< double >	referenceChange

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Detailed Description

The EdgeSpecialist finds a line- and border-edges in an image.

Definition at line 20 of file SlamEdgeSpecialist.h.

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Member Enumeration Documentation

anonymous enum [private]

Enumeration values: maxNumberOfEdgePoints  Definition at line 62 of file SlamEdgeSpecialist.h.

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Constructor & Destructor Documentation

SlamEdgeSpecialist::SlamEdgeSpecialist (   )

Definition at line 15 of file SlamEdgeSpecialist.cpp. References pi.

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Member Function Documentation

void SlamEdgeSpecialist::reset (   )

reset all data before processing next frame. Definition at line 42 of file SlamEdgeSpecialist.cpp. Referenced by SlamImageProcessor::execute().

void SlamEdgeSpecialist::resetLine (   )

reset before next scanline. Definition at line 47 of file SlamEdgeSpecialist.cpp. Referenced by SlamImageProcessor::scan().

void SlamEdgeSpecialist::checkPoint (  Vector2< int >  point, colorClass  color, const CameraMatrix &  cameraMatrix, const CameraMatrix &  prevCameraMatrix, const Image &  image )

check point in camera-coordinates with given color on scanline if interesting changes. Definition at line 54 of file SlamEdgeSpecialist.cpp. References addCandidate(), Geometry::calculatePointOnField(), Image::cameraInfo, noColor, point, Vector2< int >::x, and Vector2< int >::y. Referenced by SlamImageProcessor::scan().

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void SlamEdgeSpecialist::addCandidate (  Vector2< int >  point, const Image &  image )

add a point in camera-coordinates which is a candidate for an edge point. Definition at line 97 of file SlamEdgeSpecialist.cpp. References Vector2< V >::abs(), SlamEdgeSpecialist::EdgePoint::belongsToLineNo, DOT, idText, Image::image, SlamEdgeSpecialist::EdgePoint::line, Vector2< V >::normalize(), SlamEdgeSpecialist::EdgePoint::offset, OUTPUT, point, SlamEdgeSpecialist::EdgePoint::weight, Vector2< int >::x, and Vector2< int >::y. Referenced by checkPoint().

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void SlamEdgeSpecialist::getEdgesPercept (  EdgesPercept &  percept, const CameraMatrix &  cameraMatrix, const CameraMatrix &  prevCameraMatrix, const Image &  image )

Searches for the edges based on the points and return edge-percepts from those. Definition at line 142 of file SlamEdgeSpecialist.cpp. References EdgesPercept::add(), ARROW, Geometry::Line::base, SlamEdgeSpecialist::EdgePoint::belongsToLineNo, Geometry::calculateLineSize(), Geometry::calculatePointOnField(), Image::cameraInfo, Geometry::Line::direction, Geometry::distance(), DOT, LINE, SlamEdgeSpecialist::EdgePoint::line, min, SlamEdgeSpecialist::EdgePoint::offset, SlamEdgeSpecialist::EdgePoint::weight, Vector2< V >::x, Vector2< int >::x, Vector2< double >::x, Vector2< V >::y, Vector2< double >::y, and Vector2< int >::y. Referenced by SlamImageProcessor::execute().

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Member Data Documentation

bool SlamEdgeSpecialist::greenBefore [private]

Definition at line 56 of file SlamEdgeSpecialist.h.

bool SlamEdgeSpecialist::whiteBefore [private]

Definition at line 57 of file SlamEdgeSpecialist.h.

int SlamEdgeSpecialist::numberOfContinuousNoColor [private]

Definition at line 58 of file SlamEdgeSpecialist.h.

Vector2<int> SlamEdgeSpecialist::lastGreen [private]

Definition at line 59 of file SlamEdgeSpecialist.h.

Vector2<int> SlamEdgeSpecialist::lastGreenField [private]

Definition at line 59 of file SlamEdgeSpecialist.h.

Vector2<int> SlamEdgeSpecialist::lastWhite [private]

Definition at line 60 of file SlamEdgeSpecialist.h.

Vector2<int> SlamEdgeSpecialist::lastWhiteField [private]

Definition at line 60 of file SlamEdgeSpecialist.h.

EdgePoint SlamEdgeSpecialist::edgePoints[maxNumberOfEdgePoints] [private]

Definition at line 70 of file SlamEdgeSpecialist.h.

int SlamEdgeSpecialist::numOfEdgePoints [private]

Definition at line 71 of file SlamEdgeSpecialist.h.

double SlamEdgeSpecialist::gradientThreshold [private]

Definition at line 72 of file SlamEdgeSpecialist.h.

double SlamEdgeSpecialist::normDistance [private]

Definition at line 73 of file SlamEdgeSpecialist.h.

double SlamEdgeSpecialist::normProjection [private]

Definition at line 74 of file SlamEdgeSpecialist.h.

double SlamEdgeSpecialist::multipleAverageDistance [private]

Definition at line 75 of file SlamEdgeSpecialist.h.

Matrix2x2<double> SlamEdgeSpecialist::referenceChange [private]

Definition at line 76 of file SlamEdgeSpecialist.h.

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

• Modules/ImageProcessor/SlamImageProcessor/SlamEdgeSpecialist.h
• Modules/ImageProcessor/SlamImageProcessor/SlamEdgeSpecialist.cpp

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