SlamGoalRecognizer Class Reference

The goal recognizer recognizes the goals in the image. More...

#include <SlamGoalRecognizer.h>

Collaboration diagram for SlamGoalRecognizer:

[legend]List of all members.


Public Member Functions
	SlamGoalRecognizer (const Image &image, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const ColorTable &colorTable, const ColorCorrector &colorCorrector, ObstaclesPercept &obstaclesPercept, LandmarksPercept &landmarksPercept)
	~SlamGoalRecognizer ()
void	execute ()
Private Types
enum	{ maxNumberOfHorizontalScanLines = 32 }
enum	{ maxNumberOfGoalScanLines = 255 }
Private Member Functions
void	calculateScanLinesParallelToHorizon ()
	Calculates the scan lines near the horizon for the goals.
void	calculateScanLinesParallelToHorizon (int distanceAboveHorizon, int distanceBelowHorizon, int numberOfScanLines)
	Calculates the scan lines near the horizon for the goals.
void	scanHorizontalForGoals ()
	Scans horizontal for goals.
void	calculateVerticalGoalScanLines ()
	Calculates the vertical scan lines for the goals.
void	scanLinesForGoals ()
	Scans vertical for goals.
	DECLARE_DEBUG_IMAGE (imageProcessorGoals)
Private Attributes
const Image &	image
	A reference to the image that is scanned for a goal.
const CameraMatrix &	cameraMatrix
	A reference to the camera matrix that describes position and rotation of the camera when the image was aquired.
const CameraMatrix &	prevCameraMatrix
	A reference to the previous camera matrix that describes position and rotation of the camera when the image was aquired.
const ColorTable &	colorTable
	A reference to the color table.
int	goalIndicationAboveHorizon
int	goalIndicationBelowHorizon
bool	useFixedScanLines
ObstaclesPercept &	obstaclesPercept
	A reference to the obstacles percept.
LandmarksPercept &	landmarksPercept
	A reference to the obstacles percept.
const ColorCorrector &	colorCorrector
	A reference to the color corrector.
colorClass	colorOfOpponentGoal
	The color class of the opponent goal.
colorClass	colorOfOwnGoal
	The color class of the own goal.
Geometry::Line	horizonLine
	A representation of the horizon.
Geometry::Line	verticalLine
	A representation of the horizon.
int	numberOfHorizontalScanLines
	The number of horizontal scan lines.
Vector2< int >	leftPoint [maxNumberOfHorizontalScanLines]
	representation of the left points of the horizontal scan lines
Vector2< int >	rightPoint [maxNumberOfHorizontalScanLines]
	representation of the right points of the horizontal scan lines
int	numberOfGoalIndications
	the number of indications for goals
Vector2< int >	goalIndicationLeft [maxNumberOfGoalScanLines]
	left point of an indications for a goal
Vector2< int >	goalIndicationCenter [maxNumberOfGoalScanLines]
	left point of an indications for a goal
Vector2< int >	goalIndicationRight [maxNumberOfGoalScanLines]
	right point of an indication for a goal
bool	leftOfGoalIndicationIsOnBorder [maxNumberOfGoalScanLines]
	true if the left end of the goal indication is on the border of the image
bool	rightOfGoalIndicationIsOnBorder [maxNumberOfGoalScanLines]
	true if the right end of the goal indication is on the border of the image
colorClass	colorOfGoalIndication [maxNumberOfGoalScanLines]
	the color class of the goal indication
int	numberOfGoalScanLines
	The number of vertical scan lines where a goal is searched.
Vector2< int >	topGoalPoint [maxNumberOfGoalScanLines]
	representation of the top points of the goal scan lines
Vector2< int >	bottomGoalPoint [maxNumberOfGoalScanLines]
	representation of the bottom points of the goal scan lines
bool	scanLineToCheckBestAngle [maxNumberOfGoalScanLines]
int	indexOfGoalIndication [maxNumberOfGoalScanLines]
colorClass	colorOfGoalScanLine [maxNumberOfGoalScanLines]

Detailed Description

The goal recognizer recognizes the goals in the image.

The recognizer scans horizontal lines in the image left to right. Indications for a goal are grouped and checked vertical.

Author:: Matthias Juengel

Definition at line 22 of file SlamGoalRecognizer.h.

Member Enumeration Documentation

anonymous enum [private]

Enumeration values:

maxNumberOfHorizontalScanLines

Definition at line 156 of file SlamGoalRecognizer.h.

anonymous enum [private]

Enumeration values:

maxNumberOfGoalScanLines

Definition at line 157 of file SlamGoalRecognizer.h.

Constructor & Destructor Documentation

SlamGoalRecognizer::SlamGoalRecognizer ( const Image & image,

const CameraMatrix & cameraMatrix,

const CameraMatrix & prevCameraMatrix,

const ColorTable & colorTable,

const ColorCorrector & colorCorrector,

ObstaclesPercept & obstaclesPercept,

LandmarksPercept & landmarksPercept

)

Definition at line 25 of file SlamGoalRecognizer.cpp.

SlamGoalRecognizer::~SlamGoalRecognizer ( )

Definition at line 46 of file SlamGoalRecognizer.cpp.