VLCLineFinder_DeterministicApproach Class Reference

#include <VLCLineFinder_DeterministicApproach.h>

Collaboration diagram for VLCLineFinder_DeterministicApproach:

[legend]List of all members.


Public Types
enum	{ maxNumberOfLines = 6, maxNumberOfLinePoints = 60, pointsNeededForLine = 3 }
Public Member Functions
	VLCLineFinder_DeterministicApproach (const ColorCorrector &colorCorrector, const ColorTable &colorTable)
	~VLCLineFinder_DeterministicApproach (void)
void	considerLinePoint (Vector2< int > &pointOnLine, Vector2< double > &normalToLine)
	Add a new LinePont for later consideration.
void	execute (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const ImageInfo &imageInfo, const RobotPose &robotPose)
	Calculates lines and crossings out of the given LinePoints.
void	execute (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const ImageInfo &imageInfo, const RobotPose &robotPose, const bool circleFound, const Vector2< double > &circleOnField)
	Calculates lines and crossings out of the given LinePoints considering given information about the center circle.
void	reset ()
	Resets the lineFinder.
int	getNumberOfLines ()
	Returns the number of found lines.
void	getLine (int number, Vector2< int > &pointOnLine, Vector2< double > &normalToLine)
	Returns the line by number.
void	setBestColorTable (ColorTable *newBestColorTable)
Private Member Functions
void	findLineFragments ()
	Calculates line fragments out of the given LinePoints.
void	findLines (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const ImageInfo &imageInfo)
	Calculates lines out of the previously calculated line fragments.
void	findIntersections (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose, const ImageInfo &imageInfo)
	Calculates crossings out of the previously calculated lines.
void	addCrossingsPercept (const Vector2< double > &intersectionInImage, const Vector2< int > &intersectionOnField, int lineNumber1, int lineNumber2, LinesPercept &linesPercept, const Image &image, const ImageInfo &imageInfo, const CameraMatrix &cameraMatrix, const RobotPose &robotPose)
	Adds the crossing to the linesPercept including some characteristics found by additional scanning.
bool	handleCenterCircle (const CameraMatrix &cameraMatrix, const Image &image, const RobotPose &robotPose)
	Filters out some line fragments, that may be caused by a center circle.
bool	handleCenterCircle (const Vector2< double > &centerOnField, const CameraMatrix &cameraMatrix, const Image &image)
	Filters out line points belonging to the center circle.
void	addCenterCirclePercept (LinesPercept &linesPercept, const CameraMatrix &cameraMatrix, const Image &image)
	Writes the centerCircle (if found by one of the attempts) to the LinesPercept.
bool	linesPerpendicularOnField (int lineNumber1, int lineNumber2, const CameraMatrix &cameraMatrix, const Image &image)
	Very rough calculation if lines are perpendicular on the field (used for validating crossings).
bool	calculateLineOnField (int lineNumber, Vector2< double > &base, Vector2< double > &direction, const CameraMatrix &cameraMatrix, const Image &image)
	Calculates the projected line on the field.
bool	calculateLineOnField (const Vector2< int > &baseInImage, const Vector2< double > &directionInImage, Vector2< double > &baseOnField, Vector2< double > &directionOnField, const CameraMatrix &cameraMatrix, const Image &image)
	Calculates the projected line on the field.
void	doVerificationScan (const Vector2< double > &crossingPoint, const Vector2< double > &directionToScanAt, const Vector2< double > &scanningDirection, int lineSize, LinesPercept::CrossingCharacteristic &result, const CameraMatrix &cameraMatrix, const Image &image)
	Calculates the projected line on the field.
bool	doVerificationScanForCircle (const Vector2< int > &circleOnFieldRelative, double orientation, const CameraMatrix &cameraMatrix, const Image &image)
	Verifies if the found circle really is one.
Private Attributes
int	numberOfLines
LineFragment *	lines
int	numberOfLineFragments
bool	lineFragmentAlreadyConsidered [maxNumberOfLines *2]
LineFragment *	lineFragments
Vector2< int >	fromCircleFinder
bool	foundByCircleFinder
Vector2< int >	fromOwnHandling
bool	foundByOwnHandling
double	centerCircleOrientation
Vector2< double >	lastSeenCircleGlobal
double	lastSeenCircleOrientationGlobal
int	framesSinceLastSeen
int	frameCount
int	circleCount
const ColorCorrector &	colorCorrector
const ColorTable &	colorTable
LinePoint	linePoints [maxNumberOfLinePoints]
int	numberOfLinePoints
double	normDistance
double	normProjection
double	normProjectionPerpendicularToHorizon
ColorTable *	bestColorTable

Member Enumeration Documentation

anonymous enum

Enumeration values:

maxNumberOfLines

maxNumberOfLinePoints

pointsNeededForLine

Definition at line 87 of file VLCLineFinder_DeterministicApproach.h.

Constructor & Destructor Documentation

VLCLineFinder_DeterministicApproach::VLCLineFinder_DeterministicApproach ( const ColorCorrector & colorCorrector,

const ColorTable & colorTable

)

Definition at line 4 of file VLCLineFinder_DeterministicApproach.cpp.

VLCLineFinder_DeterministicApproach::~VLCLineFinder_DeterministicApproach ( void )

Definition at line 16 of file VLCLineFinder_DeterministicApproach.cpp.

Member Function Documentation

void VLCLineFinder_DeterministicApproach::considerLinePoint ( Vector2< int > & pointOnLine,

Vector2< double > & normalToLine

)

Add a new LinePont for later consideration.

Parameters:

pointOnLine Image coordinates of the point.

normalToLine Normal vector to the line (indicated by the gradient).

Definition at line 40 of file VLCLineFinder_DeterministicApproach.cpp.
References VLCLineFinder_DeterministicApproach::LinePoint::belongsToLineNo, VLCLineFinder_DeterministicApproach::LinePoint::normalToLine, and VLCLineFinder_DeterministicApproach::LinePoint::pointOnLine.
Referenced by VLCImageProcessor::calcEdgeAngle().

void VLCLineFinder_DeterministicApproach::execute ( LinesPercept & linesPercept,

const CameraMatrix & cameraMatrix,

const Image & image,

const ImageInfo & imageInfo,

const RobotPose & robotPose

)

Calculates lines and crossings out of the given LinePoints.

Parameters:

linesPercept The LinesPercept, where the found information is stored.

cameraMatrix The CameraMatrix.

image The Image.

imageInfo The ImageInfo.

robotPose The RobotPose.

Definition at line 56 of file VLCLineFinder_DeterministicApproach.cpp.
References addCenterCirclePercept(), DEBUG_DRAWING_FINISHED, findIntersections(), findLineFragments(), findLines(), and handleCenterCircle().
Referenced by VLCImageProcessor::execute().

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void VLCLineFinder_DeterministicApproach::execute ( LinesPercept & linesPercept,

const CameraMatrix & cameraMatrix,

const Image & image,

const ImageInfo & imageInfo,

const RobotPose & robotPose,

const bool circleFound,

const Vector2< double > & circleOnField

)

Calculates lines and crossings out of the given LinePoints considering given information about the center circle.

Parameters:

linesPercept The LinesPercept, where the found information is stored.

cameraMatrix The CameraMatrix.

image The Image.

imageInfo The ImageInfo.

robotPose The RobotPose.

circleFound True if the circle was found.

circleOnField The Coordinates of the center circle on the field relative to the robot.

Definition at line 77 of file VLCLineFinder_DeterministicApproach.cpp.
References addCenterCirclePercept(), DEBUG_DRAWING_FINISHED, findIntersections(), findLineFragments(), findLines(), handleCenterCircle(), Vector2< V >::x, Vector2< int >::x, Vector2< V >::y, and Vector2< int >::y.

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void VLCLineFinder_DeterministicApproach::reset ( )

Resets the lineFinder.

Definition at line 20 of file VLCLineFinder_DeterministicApproach.cpp.
Referenced by VLCImageProcessor::execute().

int VLCLineFinder_DeterministicApproach::getNumberOfLines ( )

Returns the number of found lines.

Definition at line 1116 of file VLCLineFinder_DeterministicApproach.cpp.

void VLCLineFinder_DeterministicApproach::getLine ( int number,

Vector2< int > & pointOnLine,

Vector2< double > & normalToLine

)

Returns the line by number.

Parameters:

number The number of the line to return.

pointOnLine The base of the line.

normalToLine The normal of the line.

Definition at line 1121 of file VLCLineFinder_DeterministicApproach.cpp.
References VLCLineFinder_DeterministicApproach::LineFragment::base, VLCLineFinder_DeterministicApproach::LineFragment::normal, Vector2< double >::x, Vector2< int >::x, Vector2< V >::x, Vector2< double >::y, Vector2< int >::y, and Vector2< V >::y.
Referenced by findLines().

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

Definition at line 91 of file VLCLineFinder_DeterministicApproach.h.
Referenced by VLCImageProcessor::execute().

void VLCLineFinder_DeterministicApproach::findLineFragments ( ) [private]

Calculates line fragments out of the given LinePoints.

Definition at line 114 of file VLCLineFinder_DeterministicApproach.cpp.
References VLCLineFinder_DeterministicApproach::LineFragment::averageStep, VLCLineFinder_DeterministicApproach::LineFragment::base, VLCLineFinder_DeterministicApproach::LinePoint::belongsToLineNo, VLCLineFinder_DeterministicApproach::LineFragment::end, LINE, VLCLineFinder_DeterministicApproach::LineFragment::lineFragmentAlreadyConsidered, VLCLineFinder_DeterministicApproach::LineFragment::normal, Vector2< V >::normalize(), VLCLineFinder_DeterministicApproach::LinePoint::normalToLine, pi_4, Vector2< V >::rotateLeft(), VLCLineFinder_DeterministicApproach::LineFragment::start, Vector2< double >::x, Vector2< V >::x, and Vector2< V >::y.
Referenced by execute().

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void VLCLineFinder_DeterministicApproach::findIntersections ( LinesPercept & linesPercept,

const CameraMatrix & cameraMatrix,

const Image & image,

const RobotPose & robotPose,

const ImageInfo & imageInfo

) [private]

Calculates crossings out of the previously calculated lines.

Parameters:

linesPercept The LinesPercept.

cameraMatrix The CameraMatrix.

image The Image.

robotPose The RobotPose.

imageInfo The ImageInfo.

Definition at line 425 of file VLCLineFinder_DeterministicApproach.cpp.
References Vector2< V >::abs(), addCrossingsPercept(), VLCLineFinder_DeterministicApproach::LineFragment::base, Geometry::calculatePointOnField(), Image::cameraInfo, direction, Geometry::getIntersectionOfLines(), linesPerpendicularOnField(), VLCLineFinder_DeterministicApproach::LineFragment::normal, Vector2< double >::normalize(), Geometry::relative2FieldCoord(), Vector2< double >::rotateLeft(), Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, Vector2< int >::y, and Vector2< V >::y.
Referenced by execute().

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void VLCLineFinder_DeterministicApproach::addCrossingsPercept ( const Vector2< double > & intersectionInImage,

const Vector2< int > & intersectionOnField,

int lineNumber1,

int lineNumber2,

LinesPercept & linesPercept,

const Image & image,

const ImageInfo & imageInfo,

const CameraMatrix & cameraMatrix,

const RobotPose & robotPose

) [private]

Adds the crossing to the linesPercept including some characteristics found by additional scanning.

Parameters:

intersectionInImage The intersection in the image.

intersectionOnField The intersection on the field.

int The first line involved in this crossing.

int The second line involved in this crossing.

linesPercept The LinesPercept.

image The Image.

imageInfo The ImageInfo.

cameraMatrix The CameraMatrix.

robotPose The RobotPose.

Definition at line 473 of file VLCLineFinder_DeterministicApproach.cpp.
References Vector2< V >::abs(), calculateLineOnField(), Geometry::calculateLineSize(), Image::cameraInfo, CIRCLE, doVerificationScan(), LINE, LinesPercept::lineCrossings, LinesPercept::maxNumberOfLineCrossings, VLCLineFinder_DeterministicApproach::LineFragment::normal, Vector2< V >::normalize(), LinesPercept::numberOfLineCrossings, pi, pi2, pi3_2, pi_2, pi_4, Geometry::relative2FieldCoord(), CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::rotateRight(), Pose2D::rotation, Vector2< V >::x, and Vector2< V >::y.
Referenced by findIntersections().

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bool VLCLineFinder_DeterministicApproach::handleCenterCircle ( const CameraMatrix & cameraMatrix,

const Image & image,

const RobotPose & robotPose

) [private]

Filters out some line fragments, that may be caused by a center circle.
Do only use when no center detection available.
Parameters:

cameraMatrix The CameraMatrix.

image The Image.

robotPose The RobotPose.

Returns:
true if circle found.

Definition at line 726 of file VLCLineFinder_DeterministicApproach.cpp.
References Vector2< V >::abs(), Geometry::Line::base, calculateLineOnField(), Geometry::calculatePointInImage(), Geometry::calculatePointOnField(), Image::cameraInfo, CIRCLE, Geometry::Line::direction, doVerificationScanForCircle(), VLCLineFinder_DeterministicApproach::LineFragment::end, Geometry::getIntersectionOfLines(), LINE, VLCLineFinder_DeterministicApproach::LineFragment::lineFragmentAlreadyConsidered, VLCLineFinder_DeterministicApproach::LineFragment::numberOfPoints, pi_2, Geometry::relative2FieldCoord(), Vector2< double >::rotateLeft(), Pose2D::rotation, VLCLineFinder_DeterministicApproach::LineFragment::start, Vector2< int >::x, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, Vector2< V >::y, and Vector2< int >::y.
Referenced by execute().

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bool VLCLineFinder_DeterministicApproach::handleCenterCircle ( const Vector2< double > & centerOnField,

const CameraMatrix & cameraMatrix,

const Image & image

) [private]

Filters out line points belonging to the center circle.

Parameters:

centerOnField The centerCircle found by the circleFinder.

cameraMatrix The CameraMatrix.

image The Image.

Returns:
true.

Definition at line 706 of file VLCLineFinder_DeterministicApproach.cpp.
References VLCLineFinder_DeterministicApproach::LinePoint::belongsToLineNo, Geometry::calculatePointOnField(), Image::cameraInfo, VLCLineFinder_DeterministicApproach::LinePoint::pointOnLine, Vector2< V >::x, Vector2< int >::y, and Vector2< V >::y.

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void VLCLineFinder_DeterministicApproach::addCenterCirclePercept ( LinesPercept & linesPercept,

const CameraMatrix & cameraMatrix,

const Image & image

) [private]

Writes the centerCircle (if found by one of the attempts) to the LinesPercept.

Parameters:

linesPercept The LinesPercept.

cameraMatrix The CameraMatrix.

image The Image.

Definition at line 1067 of file VLCLineFinder_DeterministicApproach.cpp.
References Geometry::Line::base, calculateLineOnField(), LinesPercept::centerCircle, LinesPercept::centerCircleFound, Geometry::Line::direction, pi_2, Vector2< double >::rotateLeft(), Vector2< double >::x, Vector2< int >::x, Vector2< double >::y, and Vector2< int >::y.
Referenced by execute().

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bool VLCLineFinder_DeterministicApproach::linesPerpendicularOnField ( int lineNumber1,

int lineNumber2,

const CameraMatrix & cameraMatrix,

const Image & image

) [private]

Very rough calculation if lines are perpendicular on the field (used for validating crossings).

Parameters:

lineNumber1 Number of the 1st line.

lineNumber2 Number of the 2nd line.

cameraMatrix The CameraMatrix.

image The Image.

Returns:
True if the lines are perpendicular.

Definition at line 1130 of file VLCLineFinder_DeterministicApproach.cpp.
References calculateLineOnField().
Referenced by findIntersections().

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bool VLCLineFinder_DeterministicApproach::calculateLineOnField ( int lineNumber,

Vector2< double > & base,

Vector2< double > & direction,

const CameraMatrix & cameraMatrix,

const Image & image

) [private]

Calculates the projected line on the field.

Parameters:

lineNumber Number of the line to be projected on the field.

base The resulting base.

direction The resulting direction.

cameraMatrix The CameraMatrix.

image The Image.

Returns:
true if calculation was successful.

Definition at line 1144 of file VLCLineFinder_DeterministicApproach.cpp.
References VLCLineFinder_DeterministicApproach::LineFragment::base, Geometry::calculatePointOnField(), Image::cameraInfo, VLCLineFinder_DeterministicApproach::LineFragment::normal, Vector2< double >::normalize(), Vector2< double >::x, Vector2< V >::x, Vector2< V >::y, Vector2< double >::y, and Vector2< int >::y.
Referenced by addCenterCirclePercept(), addCrossingsPercept(), handleCenterCircle(), and linesPerpendicularOnField().

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bool VLCLineFinder_DeterministicApproach::calculateLineOnField ( const Vector2< int > & baseInImage,

const Vector2< double > & directionInImage,

Vector2< double > & baseOnField,

Vector2< double > & directionOnField,

const CameraMatrix & cameraMatrix,

const Image & image

) [private]

Calculates the projected line on the field.

Parameters:

baseInImage The base in the image.

directionInImage The direction in the image.

baseOnField The resulting base.

directionOnField The resulting direction.

cameraMatrix The CameraMatrix.

image The Image.

Returns:
true if calculation was successful.

Definition at line 1162 of file VLCLineFinder_DeterministicApproach.cpp.
References Geometry::calculatePointOnField(), Image::cameraInfo, Vector2< V >::normalize(), Vector2< V >::x, and Vector2< V >::y.

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void VLCLineFinder_DeterministicApproach::doVerificationScan ( const Vector2< double > & crossingPoint,

const Vector2< double > & directionToScanAt,

const Vector2< double > & scanningDirection,

int lineSize,

LinesPercept::CrossingCharacteristic & result,

const CameraMatrix & cameraMatrix,

const Image & image

) [private]

Calculates the projected line on the field.

Parameters:

crossingPoint The crossingPoint in the image.

directionToScanAt The direction in the image, on which side of the crossingPoint should be scanned.

scanningDirection The direction of the scan line (not always perpendicular because of perspectival distortion).

lineSize The size of a line at this position in the image.

result The result of the scan.

cameraMatrix The CameraMatrix.

image The Image.

Definition at line 1179 of file VLCLineFinder_DeterministicApproach.cpp.
References Image::cameraInfo, COLOR_CLASS, ColorCorrector::correct(), BresenhamLineScan::getNext(), Image::image, LINE, max, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y.
Referenced by addCrossingsPercept().

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bool VLCLineFinder_DeterministicApproach::doVerificationScanForCircle ( const Vector2< int > & circleOnFieldRelative,

double orientation,

const CameraMatrix & cameraMatrix,

const Image & image

) [private]

Verifies if the found circle really is one.

Parameters:

circleOnFieldRelative The coordinates of the circle on the field.

orientation The orientation of the middle line through the circle.

cameraMatrix The CameraMatrix.

image The Image.

Returns:
true if nothing is found that proves the candidate not to be a circle.

Definition at line 1317 of file VLCLineFinder_DeterministicApproach.cpp.
References Geometry::calculatePointInImage(), Image::cameraInfo, COLOR_CLASS, ColorCorrector::correct(), BresenhamLineScan::getNext(), Image::image, LINE, max, normalize(), BresenhamLineScan::numberOfPixels, pi, pi_2, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y.
Referenced by handleCenterCircle().