SlamFlagSpecialist Class Reference

As part of the GridImageProcessor the SlamFlagSpecialist searches for flag landmarks starting at a point in an Image determined before. More...

#include <SlamFlagSpecialist.h>

Collaboration diagram for SlamFlagSpecialist:

[legend]List of all members.


Public Member Functions
	SlamFlagSpecialist (const ColorCorrector &)
void	init (const Image &image)
	Initializes the flag specialist.
void	searchFlags (const Image &image, const ColorTable &colorTable, const CameraMatrix &cameraMatrix, colorClass color, bool pinkIsTop, const Geometry::Line horizonLine, int x, int y)
	Searches for the flag in the image, starting from the specified point.
void	getFlagPercept (const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const CameraInfo &cameraInfo, const Geometry::Line horizonLine, LandmarksPercept &landmarksPercept)
	DECLARE_DEBUG_IMAGE (imageProcessorFlags)
	Used for visualization of the flag scans.
Private Types
enum	{ maxNumberOfBoundingBoxes = 6 }
enum	{ numberOfHorizontalScans = 5, numberOfVerticalScans = 3 }
enum	Direction { up, down, left, right }
enum	DebugType { initial, vertical, horizontal }
Private Member Functions
void	estimateOffsetForFlags (LandmarksPercept &landmarksPercept, const Vector2< double > &cameraOffset)
bool	findEndOfFlag (const Image &image, const CameraInfo &bwCameraInfo, const ColorTable &colorTable, const Vector2< int > start, Vector2< double > horizonDirection, Direction direction, Vector2< int > &destination, colorClass color, bool pinkIsTop, bool startIsInTop, DebugType type, int &countPixel, int &countTop, int &countBottom)
Private Attributes
const ColorCorrector &	colorCorrector
int	imageWidth
int	imageHeight
Vector2< int >	north
Vector2< int >	east
Vector2< int >	south
Vector2< int >	west
Vector2< int >	start
Vector2< int >	destination
double	boundingBoxTop [maxNumberOfBoundingBoxes][6]
double	boundingBoxBottom [maxNumberOfBoundingBoxes][6]
double	boundingBoxLeft [maxNumberOfBoundingBoxes][6]
double	boundingBoxRight [maxNumberOfBoundingBoxes][6]
bool	boundingBoxTopValid [maxNumberOfBoundingBoxes][6]
bool	boundingBoxBottomValid [maxNumberOfBoundingBoxes][6]
bool	boundingBoxLeftValid [maxNumberOfBoundingBoxes][6]
bool	boundingBoxRightValid [maxNumberOfBoundingBoxes][6]
int	numberOfBoundingBoxes [6]
int	bestBoundingBox [6]

Detailed Description

As part of the GridImageProcessor the SlamFlagSpecialist searches for flag landmarks starting at a point in an Image determined before.

Definition at line 22 of file SlamFlagSpecialist.h.

Member Enumeration Documentation

anonymous enum [private]

Enumeration values:

maxNumberOfBoundingBoxes

Definition at line 67 of file SlamFlagSpecialist.h.

anonymous enum [private]

Enumeration values:

numberOfHorizontalScans

numberOfVerticalScans

Definition at line 68 of file SlamFlagSpecialist.h.

enum SlamFlagSpecialist::Direction [private]

Enumeration values:

up

down

left

right

Definition at line 84 of file SlamFlagSpecialist.h.

enum SlamFlagSpecialist::DebugType [private]

Enumeration values:

initial

vertical

horizontal

Definition at line 85 of file SlamFlagSpecialist.h.

Constructor & Destructor Documentation

SlamFlagSpecialist::SlamFlagSpecialist ( const ColorCorrector & )

Definition at line 17 of file SlamFlagSpecialist.cpp.

Member Function Documentation

void SlamFlagSpecialist::init ( const Image & image )

Initializes the flag specialist.

Definition at line 22 of file SlamFlagSpecialist.cpp.
References INIT_DEBUG_IMAGE.
Referenced by SlamBeaconDetector::execute().

void SlamFlagSpecialist::searchFlags ( const Image & image,

const ColorTable & colorTable,

const CameraMatrix & cameraMatrix,

colorClass color,

bool pinkIsTop,

const Geometry::Line horizonLine,

int x,

int y

)

Searches for the flag in the image, starting from the specified point.

Definition at line 32 of file SlamFlagSpecialist.cpp.
References Geometry::Line::base, DEBUG_IMAGE_SET_PIXEL_BLUE, DEBUG_IMAGE_SET_PIXEL_GREEN, DEBUG_IMAGE_SET_PIXEL_RED, DEBUG_IMAGE_SET_PIXEL_YELLOW, Geometry::Line::direction, DOT, Flag::FlagType, CameraInfo::focalLength, CameraInfo::focalLengthInv, Geometry::getDistanceToLine(), CameraInfo::opticalCenter, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, sqr, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.
Referenced by SlamBeaconDetector::analyzeBeacon(), and SlamBeaconDetector::scanForBeaconEdges().

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void SlamFlagSpecialist::getFlagPercept ( const CameraMatrix & cameraMatrix,

const CameraMatrix & prevCameraMatrix,

const CameraInfo & cameraInfo,

const Geometry::Line horizonLine,

LandmarksPercept & landmarksPercept

)

Definition at line 440 of file SlamFlagSpecialist.cpp.
References ConditionalBoundary::addX(), ConditionalBoundary::addY(), Flag::FlagType, CameraInfo::focalLength, CameraInfo::focalLengthInv, getPlayer(), Player::getTeamColor(), CameraInfo::opticalCenter, Geometry::rayFromCamera(), CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, SEND_DEBUG_IMAGE, sqr, Vector3< V >::x, Vector2< V >::x, Vector2< double >::x, Vector3< V >::y, Vector2< V >::y, and Vector2< double >::y.
Referenced by SlamBeaconDetector::execute().

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void SlamFlagSpecialist::estimateOffsetForFlags ( LandmarksPercept & landmarksPercept,

const Vector2< double > & cameraOffset

) [private]

Definition at line 574 of file SlamFlagSpecialist.cpp.
References Vector2< double >::abs(), Flag::angle, Flag::angleValidity, Flag::distance, Flag::distanceValidity, Range< double >::getCenter(), Range< double >::getSize(), ConditionalBoundary::isOnBorder(), Range< double >::max, Range< double >::min, Pose2D::translation, Boundary< double >::x, and Boundary< double >::y.

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bool SlamFlagSpecialist::findEndOfFlag ( const Image & image,

const CameraInfo & bwCameraInfo,

const ColorTable & colorTable,

const Vector2< int > start,

Vector2< double > horizonDirection,

Direction direction,

Vector2< int > & destination,

colorClass color,

bool pinkIsTop,

bool startIsInTop,

DebugType type,

int & countPixel,

int & countTop,

int & countBottom

) [private]

Definition at line 272 of file SlamFlagSpecialist.cpp.
References CORRECTED_COLOR_CLASS, DEBUG_IMAGE_SET_PIXEL_RED, DEBUG_IMAGE_SET_PIXEL_Y, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

SlamFlagSpecialist::DECLARE_DEBUG_IMAGE ( imageProcessorFlags )

Used for visualization of the flag scans.

Member Data Documentation

const ColorCorrector& SlamFlagSpecialist::colorCorrector [private]

Definition at line 49 of file SlamFlagSpecialist.h.

int SlamFlagSpecialist::imageWidth [private]

Definition at line 51 of file SlamFlagSpecialist.h.

int SlamFlagSpecialist::imageHeight [private]

Definition at line 52 of file SlamFlagSpecialist.h.

Vector2<int> SlamFlagSpecialist::north [private]

Definition at line 55 of file SlamFlagSpecialist.h.

Vector2<int> SlamFlagSpecialist::east [private]

Definition at line 56 of file SlamFlagSpecialist.h.

Vector2<int> SlamFlagSpecialist::south [private]

Definition at line 57 of file SlamFlagSpecialist.h.

Vector2<int> SlamFlagSpecialist::west [private]

Definition at line 58 of file SlamFlagSpecialist.h.

Vector2<int> SlamFlagSpecialist::start [private]

Definition at line 59 of file SlamFlagSpecialist.h.

Vector2<int> SlamFlagSpecialist::destination [private]

Definition at line 60 of file SlamFlagSpecialist.h.

double SlamFlagSpecialist::boundingBoxTop[maxNumberOfBoundingBoxes][6] [private]

Definition at line 70 of file SlamFlagSpecialist.h.

double SlamFlagSpecialist::boundingBoxBottom[maxNumberOfBoundingBoxes][6] [private]

Definition at line 71 of file SlamFlagSpecialist.h.

double SlamFlagSpecialist::boundingBoxLeft[maxNumberOfBoundingBoxes][6] [private]

Definition at line 72 of file SlamFlagSpecialist.h.

double SlamFlagSpecialist::boundingBoxRight[maxNumberOfBoundingBoxes][6] [private]

Definition at line 73 of file SlamFlagSpecialist.h.

bool SlamFlagSpecialist::boundingBoxTopValid[maxNumberOfBoundingBoxes][6] [private]

Definition at line 75 of file SlamFlagSpecialist.h.

bool SlamFlagSpecialist::boundingBoxBottomValid[maxNumberOfBoundingBoxes][6] [private]

Definition at line 76 of file SlamFlagSpecialist.h.

bool SlamFlagSpecialist::boundingBoxLeftValid[maxNumberOfBoundingBoxes][6] [private]

Definition at line 77 of file SlamFlagSpecialist.h.

bool SlamFlagSpecialist::boundingBoxRightValid[maxNumberOfBoundingBoxes][6] [private]

Definition at line 78 of file SlamFlagSpecialist.h.

int SlamFlagSpecialist::numberOfBoundingBoxes[6] [private]

Definition at line 80 of file SlamFlagSpecialist.h.

int SlamFlagSpecialist::bestBoundingBox[6] [private]

Definition at line 82 of file SlamFlagSpecialist.h.

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

Modules/ImageProcessor/SlamImageProcessor/SlamFlagSpecialist.h
Modules/ImageProcessor/SlamImageProcessor/SlamFlagSpecialist.cpp

Generated on Mon Mar 20 22:20:52 2006 for GT2005 by

1.3.6

SlamFlagSpecialist Class Reference

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation