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VLCGoalRecognizer Class Reference

TODO: Write Summary. More...

#include <VLCGoalRecognizer.h>

Collaboration diagram for VLCGoalRecognizer:

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List of all members.

Public Member Functions

 VLCGoalRecognizer (colorClass color, const ImageProcessorInterfaces &interfaces, const ColorCorrector &colorCorrector, const ImageInfo &horizonInfo)
 Initializes the VLCGoadRecognizer.

 ~VLCGoalRecognizer ()
 Destructor.

void notifyAboutNewImage ()
 This method has to be called before a new image is scanned.

void notifyAboutFinish ()
void setBestColorTable (ColorTable *newBestColorTable)
void notifyAboutNewScanline (const Vector2< int > &scanLineStart)
void inspectPixel (const Vector2< int > &point, const colorClass &color)

Private Types

enum  EdgeType {
  none = 0, edge, deviationWithoutEdge,
  imageBorder
}
 TODO: Write Summary. More...

enum  ImageBorderSide {
  topBorder = 0, leftBorder = 1, bottomBorder = 2,
  rightBorder = 3, noBorder
}
 TODO: Write Summary. More...

enum  FreeSide {
  noFreeSide, leftSide, rightSide,
  bothSides
}
enum  { lockAreaStackSize = 2 }
 Stack containing the locked area. More...

enum  { maxHypothesises = 5 }
 Detected goal hypothesises. More...


Private Member Functions

bool inspectNeighbourhood (const Vector2< int > &point)
void analyzeGoal (Vector2< int > startPoint)
 point copied on purpose

void analyzeGoalpost (VLCGoalRecognizer::EdgeDetector *detector, const Vector2< double > &directionOfEdge, bool leftGoalpost, Vector2< int > &focus, VLCGoalRecognizer::Goalpost &result, bool *imageBorderScanned)
 direction of edge normalized!! imageBorderScanned: to prevent that one image border is scanned again, never necessary in correct goal case

void scanCrossBar (VLCGoalRecognizer::EdgeDetector *detector, Vector2< int > &focus, VLCGoalRecognizer::GoalHypothesis &result, bool *imageBorderScanned)
VLCGoalRecognizer::EdgeType detectEdgeTwice (VLCGoalRecognizer::EdgeDetector *detector, Vector2< int > &focus, BresenhamLineScan &scanLine, const Vector2< int > &scanLineOffset, int maxScanLength, EdgePointList &edgePoints)
 scans first from focus+scanLineOffset, using detector[0]!!

VLCGoalRecognizer::EdgeType detectEdge (VLCGoalRecognizer::EdgeDetector &detector, Vector2< int > &focus, BresenhamLineScan &direction, int maxScanLength, int &pixelsUntilEdge)
VLCGoalRecognizer::EdgeType scanAlongLine (VLCGoalRecognizer::EdgeDetector *detector, Vector2< int > &focus, BresenhamLineScan &scanLine, const Vector2< int > &scanLineOffset, int maximumScan, int &pixelsScanned)
VLCGoalRecognizer::ImageBorderSide scanOnImageBorder (VLCGoalRecognizer::EdgeDetector *detector, Vector2< int > &focus, const Vector2< double > &targetDirection, int maxBorderDistance, bool *scannedSides)
 case noBorder mustn't be ignored -> scanning hasn't been done before or doesn't make sense

bool detectGreenBelowGoalpost (Vector2< int > bottomPoint, const Vector2< double > &directionOfEdge, int goalpostHeight)
 direction of edge normalized!! bottomPoint copied on purpose!!

bool nearImageBorder (const Vector2< int > &point, int maxDistance)
 Returns true if the point is within one pixel distance to the image border.

void mergeFragments (bool *deletedHypothesises)
void interpretResults (VLCGoalRecognizer::EdgeDetector *detector, bool *deletedHypothesises)
VLCGoalRecognizer::FreeSide detectFreePartOfGoal (VLCGoalRecognizer::EdgeDetector *detector, const VLCGoalRecognizer::GoalHypothesis &goal, int goalHeight, int &freeWidth, Vector2< int > &otherSide)
void lockArea (double x, double y, bool onGreen)
void calculateLockedPixels (const Vector2< int > &scanLineStart)
void recalculateLockedPixels (const Vector2< int > &currentPoint)
 DECLARE_DEBUG_IMAGE (imageProcessorGoal1)
 Declare raster image which will take debug information.

 DECLARE_DEBUG_IMAGE (imageProcessorGoal2)

Private Attributes

const colorClass goalColor
 The colour class of the goal to be detected by this object.

const ImageProcessorInterfaces & interfaces
 Collection of references to objects that are needed by this object, e.g.

const ImageInfo & horizonInfo
 Object containing useful information related to the current horizon.

const ColorCorrector & colorCorrector
 Reference to the color correction object.

int detectionCounter
 Counter to detect accumulations of goal-coloured pixels.

int lockedPixels
 Number of pixels that will not be inspected, because they are inside previously analysed areas.

Vector2< double > lockAreaStack [lockAreaStackSize]
int lockAreaCount
GoalHypothesis hypothesis [maxHypothesises]
int hypothesisCount
ColorTable * bestColorTable

Detailed Description

TODO: Write Summary.

Author:
<a href="mailto:oberlies@sim.tu-darmstadt.de"Tobias Oberlies

Definition at line 60 of file VLCGoalRecognizer.h.

Member Enumeration Documentation

enum VLCGoalRecognizer::EdgeType [private]
 

TODO: Write Summary.

Enumeration values:
none 
edge 
deviationWithoutEdge 
imageBorder 

Definition at line 67 of file VLCGoalRecognizer.h.

Referenced by detectEdge(), detectEdgeTwice(), VLCGoalRecognizer::EdgePointList::getType(), and scanAlongLine().

enum VLCGoalRecognizer::ImageBorderSide [private]
 

TODO: Write Summary.

Enumeration values:
topBorder 
leftBorder 
bottomBorder 
rightBorder 
noBorder 

Definition at line 507 of file VLCGoalRecognizer.h.

Referenced by analyzeGoalpost(), and scanOnImageBorder().

enum VLCGoalRecognizer::FreeSide [private]
 

Enumeration values:
noFreeSide 
leftSide 
rightSide 
bothSides 

Definition at line 516 of file VLCGoalRecognizer.h.

Referenced by detectFreePartOfGoal(), and interpretResults().

anonymous enum [private]
 

Stack containing the locked area.

This is to prevent that goal-coloured blobs are analysed twice. With inspectPixel being called on pixel from left to right and top to bottom, it is sufficient to store the bottom left point of the locked areas.

Enumeration values:
lockAreaStackSize 

Definition at line 752 of file VLCGoalRecognizer.h.

anonymous enum [private]
 

Detected goal hypothesises.

Enumeration values:
maxHypothesises 

Definition at line 758 of file VLCGoalRecognizer.h.

Constructor & Destructor Documentation

VLCGoalRecognizer::VLCGoalRecognizer (  colorClass  color,
const ImageProcessorInterfaces &  interfaces,
const ColorCorrector &  colorCorrector,
const ImageInfo &  horizonInfo
) 
 

Initializes the VLCGoadRecognizer.

Definition at line 63 of file VLCGoalRecognizer.cpp.

VLCGoalRecognizer::~VLCGoalRecognizer (   )  [inline]
 

Destructor.

Definition at line 537 of file VLCGoalRecognizer.h.

Member Function Documentation

void VLCGoalRecognizer::notifyAboutNewImage (   ) 
 

This method has to be called before a new image is scanned.

Definition at line 71 of file VLCGoalRecognizer.cpp.

References ImageProcessorInterfaces::image, and INIT_DEBUG_IMAGE.

Referenced by VLCImageProcessor::execute().

void VLCGoalRecognizer::notifyAboutFinish (   ) 
 

Definition at line 111 of file VLCGoalRecognizer.cpp.

References DEBUG_DRAWING_FINISHED, interpretResults(), mergeFragments(), and SEND_DEBUG_IMAGE.

Referenced by VLCImageProcessor::execute().

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

Definition at line 550 of file VLCGoalRecognizer.h.

Referenced by VLCImageProcessor::execute().

void VLCGoalRecognizer::notifyAboutNewScanline (  const Vector2< int > &  scanLineStart  )  [inline]
 

Definition at line 557 of file VLCGoalRecognizer.h.

References calculateLockedPixels().

Referenced by VLCImageProcessor::scan().

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void VLCGoalRecognizer::inspectPixel (  const Vector2< int > &  point,
const colorClass &  color
)  [inline]
 

Definition at line 568 of file VLCGoalRecognizer.h.

References analyzeGoal(), point, recalculateLockedPixels(), STUPID_DEBUG_IMAGE_SET_PIXEL, Vector2< int >::x, and Vector2< int >::y.

Referenced by VLCImageProcessor::scan().

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bool VLCGoalRecognizer::inspectNeighbourhood (  const Vector2< int > &  point  )  [private]
 

Definition at line 91 of file VLCGoalRecognizer.cpp.

References CORRECTED_COLOR_CLASS, Image::image, ImageProcessorInterfaces::image, nearImageBorder(), point, Vector2< int >::x, and Vector2< int >::y.

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void VLCGoalRecognizer::analyzeGoal (  Vector2< int >  startPoint  )  [private]
 

point copied on purpose

Definition at line 141 of file VLCGoalRecognizer.cpp.

References analyzeGoalpost(), VLCGoalRecognizer::Goalpost::bottomPointH, VLCGoalRecognizer::GoalHypothesis::crossBarEndpoint, VLCGoalRecognizer::GoalHypothesis::crossBarEndpointH, Geometry::Line::direction, VLCGoalRecognizer::Goalpost::edgePoint, VLCGoalRecognizer::Goalpost::edgePointH, VLCGoalRecognizer::GoalHypothesis::goalpost, VLCGoalRecognizer::GoalHypothesis::height, VLCGoalRecognizer::Goalpost::height, ImageInfo::horizon, HORIZON_ALIGNED_RECTANGLE, lockArea(), max, min, VLCGoalRecognizer::GoalHypothesis::onGreen, VLCGoalRecognizer::Goalpost::onGreen, scanCrossBar(), VLCGoalRecognizer::Goalpost::topPoint, VLCGoalRecognizer::Goalpost::topPointH, VLCGoalRecognizer::GoalHypothesis::width, Vector2< int >::x, Vector2< double >::x, and Vector2< double >::y.

Referenced by inspectPixel().

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void VLCGoalRecognizer::analyzeGoalpost (  VLCGoalRecognizer::EdgeDetector *  detector,
const Vector2< double > &  directionOfEdge,
bool  leftGoalpost,
Vector2< int > &  focus,
VLCGoalRecognizer::Goalpost &  result,
bool *  imageBorderScanned
)  [private]
 

direction of edge normalized!! imageBorderScanned: to prevent that one image border is scanned again, never necessary in correct goal case

Definition at line 210 of file VLCGoalRecognizer.cpp.

References VLCGoalRecognizer::EdgePointList::add(), ASSERT, VLCGoalRecognizer::Goalpost::bottomPoint, VLCGoalRecognizer::Goalpost::bottomPointH, Matrix2x2< double >::c, VLCGoalRecognizer::EdgeDetector::clear(), ImageInfo::clipToImageBoundary(), VLCGoalRecognizer::Goalpost::color, detectEdgeTwice(), detectGreenBelowGoalpost(), Geometry::Line::direction, VLCGoalRecognizer::Goalpost::edgePoint, VLCGoalRecognizer::Goalpost::edgePointH, VLCGoalRecognizer::EdgePointList::getCount(), VLCGoalRecognizer::EdgeDetector::getReferenceColor(), VLCGoalRecognizer::EdgePointList::getType(), VLCGoalRecognizer::Goalpost::height, ImageBorderSide, ImageInfo::invRotation, maxScanLengthToGoalpostEdge, minGoalpostHeight, nearImageBorder(), VLCGoalRecognizer::Goalpost::nonExistant, VLCGoalRecognizer::Goalpost::onGreen, scanAlongLine(), scanOnImageBorder(), VLCGoalRecognizer::EdgePointList::size(), VLCGoalRecognizer::Goalpost::strongEdgeCount, ImageInfo::toHorizonAligned(), VLCGoalRecognizer::Goalpost::topPoint, VLCGoalRecognizer::Goalpost::topPointH, ImageInfo::vertLine, VLCGoalRecognizer::Goalpost::visibleHeight, VLCGoalRecognizer::Goalpost::weakEdgeCount, Vector2< int >::x, Vector2< V >::x, Vector2< double >::x, Vector2< int >::y, Vector2< V >::y, and Vector2< double >::y.

Referenced by analyzeGoal().

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void VLCGoalRecognizer::scanCrossBar (  VLCGoalRecognizer::EdgeDetector *  detector,
Vector2< int > &  focus,
VLCGoalRecognizer::GoalHypothesis &  result,
bool *  imageBorderScanned
)  [private]
 

Definition at line 849 of file VLCGoalRecognizer.cpp.

References VLCGoalRecognizer::EdgeDetector::clear(), VLCGoalRecognizer::GoalHypothesis::crossBarEndpoint, VLCGoalRecognizer::GoalHypothesis::crossBarEndpointH, detectEdge(), Geometry::Line::direction, DOT, edge, ImageInfo::horizon, nearImageBorder(), Vector2< V >::normalize(), scanAlongLine(), scanOnImageBorder(), ImageInfo::toHorizonAligned(), ImageInfo::vertLine, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.

Referenced by analyzeGoal().

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VLCGoalRecognizer::EdgeType VLCGoalRecognizer::detectEdgeTwice (  VLCGoalRecognizer::EdgeDetector *  detector,
Vector2< int > &  focus,
BresenhamLineScan &  scanLine,
const Vector2< int > &  scanLineOffset,
int  maxScanLength,
EdgePointList &  edgePoints
)  [private]
 

scans first from focus+scanLineOffset, using detector[0]!!

Definition at line 591 of file VLCGoalRecognizer.cpp.

References VLCGoalRecognizer::EdgePointList::add(), detectEdge(), EdgeType, and BresenhamLineScan::init().

Referenced by analyzeGoalpost().

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VLCGoalRecognizer::EdgeType VLCGoalRecognizer::detectEdge (  VLCGoalRecognizer::EdgeDetector &  detector,
Vector2< int > &  focus,
BresenhamLineScan &  direction,
int  maxScanLength,
int &  pixelsUntilEdge
)  [private]
 

Definition at line 999 of file VLCGoalRecognizer.cpp.

References COLOR_CLASS, ColorCorrector::correct(), DOT, EdgeType, VLCGoalRecognizer::EdgeDetector::getLastPointInClass(), BresenhamLineScan::getNext(), Image::image, ImageProcessorInterfaces::image, BresenhamLineScan::init(), VLCGoalRecognizer::EdgeDetector::inspectPixel(), ImageInfo::maxImageCoordinates, STUPID_DEBUG_IMAGE_SET_PIXEL, Vector2< int >::x, Vector2< V >::x, Vector2< int >::y, and Vector2< V >::y.

Referenced by detectEdgeTwice(), and scanCrossBar().

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VLCGoalRecognizer::EdgeType VLCGoalRecognizer::scanAlongLine (  VLCGoalRecognizer::EdgeDetector *  detector,
Vector2< int > &  focus,
BresenhamLineScan &  scanLine,
const Vector2< int > &  scanLineOffset,
int  maximumScan,
int &  pixelsScanned
)  [private]
 

Definition at line 1062 of file VLCGoalRecognizer.cpp.

References COLOR_CLASS, ColorCorrector::correct(), edge, EdgeType, VLCGoalRecognizer::EdgeDetector::getLastIndexInClass(), BresenhamLineScan::getNext(), Image::image, ImageProcessorInterfaces::image, VLCGoalRecognizer::EdgeDetector::inspectPixel(), ImageInfo::maxImageCoordinates, STUPID_DEBUG_IMAGE_SET_PIXEL, Vector2< int >::x, Vector2< V >::x, Vector2< int >::y, and Vector2< V >::y.

Referenced by analyzeGoalpost(), detectFreePartOfGoal(), scanCrossBar(), and scanOnImageBorder().

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VLCGoalRecognizer::ImageBorderSide VLCGoalRecognizer::scanOnImageBorder (  VLCGoalRecognizer::EdgeDetector *  detector,
Vector2< int > &  focus,
const Vector2< double > &  targetDirection,
int  maxBorderDistance,
bool *  scannedSides
)  [private]
 

case noBorder mustn't be ignored -> scanning hasn't been done before or doesn't make sense

Definition at line 678 of file VLCGoalRecognizer.cpp.

References ASSERT, DOT, ImageBorderSide, LINE, ImageInfo::maxImageCoordinates, scanAlongLine(), sgn, Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.

Referenced by analyzeGoalpost(), and scanCrossBar().

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bool VLCGoalRecognizer::detectGreenBelowGoalpost (  Vector2< int >  bottomPoint,
const Vector2< double > &  directionOfEdge,
int  goalpostHeight
)  [private]
 

direction of edge normalized!! bottomPoint copied on purpose!!

Definition at line 1161 of file VLCGoalRecognizer.cpp.

References CORRECTED_COLOR_CLASS, Geometry::Line::direction, BresenhamLineScan::getNext(), Image::image, ImageProcessorInterfaces::image, BresenhamLineScan::init(), max, ImageInfo::maxImageCoordinates, STUPID_DEBUG_IMAGE_SET_PIXEL, ImageInfo::vertLine, Vector2< int >::x, Vector2< double >::x, Vector2< V >::x, Vector2< int >::y, Vector2< double >::y, and Vector2< V >::y.

Referenced by analyzeGoalpost().

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bool VLCGoalRecognizer::nearImageBorder (  const Vector2< int > &  point,
int  maxDistance
)  [inline, private]
 

Returns true if the point is within one pixel distance to the image border.

Definition at line 694 of file VLCGoalRecognizer.h.

References ImageInfo::maxImageCoordinates, point, Vector2< int >::x, and Vector2< int >::y.

Referenced by analyzeGoalpost(), inspectNeighbourhood(), and scanCrossBar().

void VLCGoalRecognizer::mergeFragments (  bool *  deletedHypothesises  )  [private]
 

Definition at line 1316 of file VLCGoalRecognizer.cpp.

References VLCGoalRecognizer::GoalHypothesis::height, max, and min.

Referenced by notifyAboutFinish().

void VLCGoalRecognizer::interpretResults (  VLCGoalRecognizer::EdgeDetector *  detector,
bool *  deletedHypothesises
)  [private]
 

Definition at line 1376 of file VLCGoalRecognizer.cpp.

References LandmarksPercept::addGoal(), ConditionalBoundary::addX(), ConditionalBoundary::addY(), VLCGoalRecognizer::Goalpost::bottomPoint, VLCGoalRecognizer::Goalpost::bottomPointH, Geometry::calculateAnglesForPoint(), Image::cameraInfo, ImageProcessorInterfaces::cameraMatrix, VLCGoalRecognizer::GoalHypothesis::crossBarEndpointH, detectFreePartOfGoal(), ImageInfo::distanceTopLeftCorner, VLCGoalRecognizer::Goalpost::edgePoint, VLCGoalRecognizer::Goalpost::edgePointH, FreeSide, VLCGoalRecognizer::GoalHypothesis::goalpost, HORIZON_ALIGNED_RECTANGLE, ImageInfo::horizonAlignedXOf(), ImageProcessorInterfaces::image, ImageProcessorInterfaces::landmarksPercept, max, min, minGoalpostHeight, VLCGoalRecognizer::Goalpost::nonExistant, ImageProcessorInterfaces::obstaclesPercept, ImageInfo::previousCameraMatrix, ObstaclesPercept::setFreePartOfGoal(), ImageInfo::toImageCoordinates(), VLCGoalRecognizer::Goalpost::topPoint, VLCGoalRecognizer::Goalpost::topPointH, VLCGoalRecognizer::GoalHypothesis::width, Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

Referenced by notifyAboutFinish().

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VLCGoalRecognizer::FreeSide VLCGoalRecognizer::detectFreePartOfGoal (  VLCGoalRecognizer::EdgeDetector *  detector,
const VLCGoalRecognizer::GoalHypothesis &  goal,
int  goalHeight,
int &  freeWidth,
Vector2< int > &  otherSide
)  [private]
 

Definition at line 1531 of file VLCGoalRecognizer.cpp.

References VLCGoalRecognizer::EdgeDetector::clear(), ImageInfo::clipToImageBoundary(), VLCGoalRecognizer::Goalpost::color, Geometry::Line::direction, VLCGoalRecognizer::Goalpost::edgePointH, FreeSide, VLCGoalRecognizer::GoalHypothesis::goalpost, VLCGoalRecognizer::Goalpost::height, ImageInfo::horizon, BresenhamLineScan::numberOfPixels, scanAlongLine(), VLCGoalRecognizer::EdgeDetector::setReferenceColor(), ImageInfo::toImageCoordinates(), VLCGoalRecognizer::Goalpost::topPointH, ImageInfo::vertLine, VLCGoalRecognizer::GoalHypothesis::width, Vector2< double >::x, and Vector2< double >::y.

Referenced by interpretResults().

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void VLCGoalRecognizer::lockArea (  double  x,
double  y,
bool  onGreen
)  [private]
 

Definition at line 1229 of file VLCGoalRecognizer.cpp.

References Vector2< double >::x, and Vector2< double >::y.

Referenced by analyzeGoal().

void VLCGoalRecognizer::calculateLockedPixels (  const Vector2< int > &  scanLineStart  )  [private]
 

Definition at line 1265 of file VLCGoalRecognizer.cpp.

References max, ImageInfo::toHorizonAligned(), ImageInfo::toImageCoordinates(), Vector2< V >::x, Vector2< double >::x, Vector2< V >::y, and Vector2< double >::y.

Referenced by notifyAboutNewScanline().

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void VLCGoalRecognizer::recalculateLockedPixels (  const Vector2< int > &  currentPoint  )  [private]
 

Definition at line 1302 of file VLCGoalRecognizer.cpp.

References ImageInfo::horizonAlignedYOf(), max, ImageInfo::toImageCoordinates(), Vector2< V >::x, Vector2< V >::y, and Vector2< double >::y.

Referenced by inspectPixel().

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VLCGoalRecognizer::DECLARE_DEBUG_IMAGE (  imageProcessorGoal1   )  [private]
 

Declare raster image which will take debug information.

NB: due to the f**king macros, I have to declare both images, even though only need one per instance.

VLCGoalRecognizer::DECLARE_DEBUG_IMAGE (  imageProcessorGoal2   )  [private]
 

Member Data Documentation

const colorClass VLCGoalRecognizer::goalColor [private]
 

The colour class of the goal to be detected by this object.

Definition at line 728 of file VLCGoalRecognizer.h.

const ImageProcessorInterfaces& VLCGoalRecognizer::interfaces [private]
 

Collection of references to objects that are needed by this object, e.g.

the current image, objects used to store the processing results, etc.

Definition at line 732 of file VLCGoalRecognizer.h.

const ImageInfo& VLCGoalRecognizer::horizonInfo [private]
 

Object containing useful information related to the current horizon.

Definition at line 735 of file VLCGoalRecognizer.h.

const ColorCorrector& VLCGoalRecognizer::colorCorrector [private]
 

Reference to the color correction object.

Definition at line 738 of file VLCGoalRecognizer.h.

int VLCGoalRecognizer::detectionCounter [private]
 

Counter to detect accumulations of goal-coloured pixels.

Used by the method inspectPixel.

Definition at line 743 of file VLCGoalRecognizer.h.

int VLCGoalRecognizer::lockedPixels [private]
 

Number of pixels that will not be inspected, because they are inside previously analysed areas.

Definition at line 747 of file VLCGoalRecognizer.h.

Vector2<double> VLCGoalRecognizer::lockAreaStack[lockAreaStackSize] [private]
 

Definition at line 753 of file VLCGoalRecognizer.h.

int VLCGoalRecognizer::lockAreaCount [private]
 

Definition at line 754 of file VLCGoalRecognizer.h.

GoalHypothesis VLCGoalRecognizer::hypothesis[maxHypothesises] [private]
 

Definition at line 759 of file VLCGoalRecognizer.h.

int VLCGoalRecognizer::hypothesisCount [private]
 

Definition at line 760 of file VLCGoalRecognizer.h.

ColorTable* VLCGoalRecognizer::bestColorTable [private]
 

Definition at line 771 of file VLCGoalRecognizer.h.

The documentation for this class was generated from the following files:
Generated on Mon Mar 20 22:22:44 2006 for GT2005 by doxygen 1.3.6