VLCFlagSpecialist Class Reference

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

#include <VLCFlagSpecialist.h>

Collaboration diagram for VLCFlagSpecialist:

[legend]List of all members.

Public Member Functions
	VLCFlagSpecialist (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)
void	setBestColorTable (ColorTable *newBestColorTable)
	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]
ColorTable *	bestColorTable

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Detailed Description

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

Definition at line 22 of file VLCFlagSpecialist.h.

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Member Enumeration Documentation

anonymous enum [private]

Enumeration values: maxNumberOfBoundingBoxes  Definition at line 74 of file VLCFlagSpecialist.h.

anonymous enum [private]

Enumeration values: numberOfHorizontalScans  numberOfVerticalScans  Definition at line 75 of file VLCFlagSpecialist.h.

enum VLCFlagSpecialist::Direction [private]

Enumeration values: up  down  left  right  Definition at line 91 of file VLCFlagSpecialist.h.

enum VLCFlagSpecialist::DebugType [private]

Enumeration values: initial  vertical  horizontal  Definition at line 92 of file VLCFlagSpecialist.h.

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Constructor & Destructor Documentation

VLCFlagSpecialist::VLCFlagSpecialist (  const ColorCorrector &   )

Definition at line 16 of file VLCFlagSpecialist.cpp.

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Member Function Documentation

void VLCFlagSpecialist::init (  const Image &  image  )

Initializes the flag specialist. Definition at line 21 of file VLCFlagSpecialist.cpp. References INIT_DEBUG_IMAGE. Referenced by VLCBeaconDetector::execute().

void VLCFlagSpecialist::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 31 of file VLCFlagSpecialist.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 VLCBeaconDetector::scanForBeaconEdges().

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void VLCFlagSpecialist::getFlagPercept (  const CameraMatrix &  cameraMatrix, const CameraMatrix &  prevCameraMatrix, const CameraInfo &  cameraInfo, const Geometry::Line  horizonLine, LandmarksPercept &  landmarksPercept )

Definition at line 440 of file VLCFlagSpecialist.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 VLCBeaconDetector::execute().

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void VLCFlagSpecialist::setBestColorTable (  ColorTable *  newBestColorTable  )  [inline]

Definition at line 49 of file VLCFlagSpecialist.h. Referenced by VLCBeaconDetector::setBestColorTable().

void VLCFlagSpecialist::estimateOffsetForFlags (  LandmarksPercept &  landmarksPercept, const Vector2< double > &  cameraOffset )  [private]

Definition at line 574 of file VLCFlagSpecialist.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 VLCFlagSpecialist::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 271 of file VLCFlagSpecialist.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.

VLCFlagSpecialist::DECLARE_DEBUG_IMAGE (  imageProcessorFlags   )

Used for visualization of the flag scans.

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Member Data Documentation

const ColorCorrector& VLCFlagSpecialist::colorCorrector [private]

Definition at line 56 of file VLCFlagSpecialist.h.

int VLCFlagSpecialist::imageWidth [private]

Definition at line 58 of file VLCFlagSpecialist.h.

int VLCFlagSpecialist::imageHeight [private]

Definition at line 59 of file VLCFlagSpecialist.h.

Vector2<int> VLCFlagSpecialist::north [private]

Definition at line 62 of file VLCFlagSpecialist.h.

Vector2<int> VLCFlagSpecialist::east [private]

Definition at line 63 of file VLCFlagSpecialist.h.

Vector2<int> VLCFlagSpecialist::south [private]

Definition at line 64 of file VLCFlagSpecialist.h.

Vector2<int> VLCFlagSpecialist::west [private]

Definition at line 65 of file VLCFlagSpecialist.h.

Vector2<int> VLCFlagSpecialist::start [private]

Definition at line 66 of file VLCFlagSpecialist.h.

Vector2<int> VLCFlagSpecialist::destination [private]

Definition at line 67 of file VLCFlagSpecialist.h.

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

Definition at line 77 of file VLCFlagSpecialist.h.

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

Definition at line 78 of file VLCFlagSpecialist.h.

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

Definition at line 79 of file VLCFlagSpecialist.h.

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

Definition at line 80 of file VLCFlagSpecialist.h.

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

Definition at line 82 of file VLCFlagSpecialist.h.

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

Definition at line 83 of file VLCFlagSpecialist.h.

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

Definition at line 84 of file VLCFlagSpecialist.h.

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

Definition at line 85 of file VLCFlagSpecialist.h.

int VLCFlagSpecialist::numberOfBoundingBoxes[6] [private]

Definition at line 87 of file VLCFlagSpecialist.h.

int VLCFlagSpecialist::bestBoundingBox[6] [private]

Definition at line 89 of file VLCFlagSpecialist.h.

ColorTable* VLCFlagSpecialist::bestColorTable [private]

Definition at line 113 of file VLCFlagSpecialist.h.

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

• Modules/ImageProcessor/VLCImageProcessor/VLCFlagSpecialist.h
• Modules/ImageProcessor/VLCImageProcessor/VLCFlagSpecialist.cpp

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