VLCRobotSpecialist Class Reference

The RobotSpecialist finds other robots in an image. More...

#include <VLCRobotSpecialist.h>

Collaboration diagram for VLCRobotSpecialist:

[legend]List of all members.


Public Member Functions
	VLCRobotSpecialist (const ColorCorrector &colorCorrector_, const Image &image_, const ImageInfo &imageInfo_, const ColorTable &colorTable_, const CameraMatrix &cameraMatrix_, const CameraMatrix &prevCameraMatrix_, LinesPercept &linesPercept_, PlayersPercept &playersPercept_, const RobotPose &robotPose_, const List< GreenChangeEvent > &greenChangeEvents_)
void	reset ()
	Resets inner states, should be called every new frame.
void	scan ()
	Generates scanlines for further scanning.
void	scan (Vector2< int > startPoint)
	Scans perpendicular to horizon.
void	scan (Vector2< int > startPoint, Vector2< int > endPoint)
	Searches for other robots in the image.
void	addCandidate (RobotCandidate candidate)
	Adds candidate to list.
bool	findNearestFootPoint (Vector2< int > &footPoint)
void	clusterCandidates ()
	Generates PlayersPercepts from candidates.
void	clusterCandidates (colorClass color)
void	generatePercept (CandidateCluster cluster)
	Generates a percept for each cluster.
int	noColorPixelsBetween (Vector2< int >, Vector2< int >, colorClass)
	Scans for pixels between both points.
ColorSpace	generateColorspace (Vector2< int >, Vector2< int >)
unsigned int	filterPercepts (ColorSpace colorSpace, colorClass candidateColor)
void	addPercept (PerceptInfo &perceptInfo)
void	dbg_PrintGreenchanges ()
	Debugfunctions.
Private Member Functions
int	distanceOnField (Vector2< int >, Vector2< int >, CameraMatrix, CameraInfo)
int	generateBoundings (CandidateCluster cluster, VLCRectangle &body, VLCRectangle &foot, Vector2< int > &footAVG)
Private Attributes
const ColorCorrector &	colorCorrector
const Image &	image
const ImageInfo &	imageInfo
const ColorTable &	colorTable
const CameraMatrix &	cameraMatrix
const CameraMatrix &	prevCameraMatrix
const RobotPose &	robotPose
const List< GreenChangeEvent > &	greenChangeEvents
LinesPercept &	linesPercept
PlayersPercept &	playersPercept
RobotCandidate	candidates [RS_NUM_CANDIDATES]
unsigned char	topIndex
unsigned char	bottomIndex
List< GreenChangeEvent >::Pos	footIterator
int	noRedCount
int	noBlueCount
Vector2< int >	lastRed
Vector2< int >	firstRed
Vector2< int >	closestRed
Vector2< int >	lastBlue
Vector2< int >	firstBlue
Vector2< int >	closestBlue

Detailed Description

The RobotSpecialist finds other robots in an image.

Definition at line 84 of file VLCRobotSpecialist.h.

Constructor & Destructor Documentation

VLCRobotSpecialist::VLCRobotSpecialist ( const ColorCorrector & colorCorrector_,

const Image & image_,

const ImageInfo & imageInfo_,

const ColorTable & colorTable_,

const CameraMatrix & cameraMatrix_,

const CameraMatrix & prevCameraMatrix_,

LinesPercept & linesPercept_,

PlayersPercept & playersPercept_,

const RobotPose & robotPose_,

const List< GreenChangeEvent > & greenChangeEvents_

)

Definition at line 31 of file VLCRobotSpecialist.cpp.

Member Function Documentation

void VLCRobotSpecialist::reset ( )

Resets inner states, should be called every new frame.

Definition at line 56 of file VLCRobotSpecialist.cpp.
References reset(), and RS_NUM_CANDIDATES.
Referenced by reset(), and scan().