Modules/ImageProcessor/RasterImageProcessor/RBallSpecialist2.h

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/**
* @file RBallSpecialist2.h
* 
* This file contains the definition of class RBallSpecialist2.
*
* @author <a href="mailto:sadprofessor@web.de">Bernd Schmidt</a>
*/
#ifndef RBALLSPECIALIST2_H
#define RBALLSPECIALIST2_H




#include "RasterSpecialist.h"
#include "Tools/Math/Geometry.h"
#include <vector>
#include <list>
#include "Tools/Math/Vector2.h"
#include "RasterStrategy.h"
#include "Modules/ImageProcessor/RasterImageProcessor/REdgeDetection.h"


/** 
  * @class RBallSpecialist2 
  * Implements a detection algorithm for balls.
  *       
  */
  
class RBallSpecialist2 :public RasterSpecialist  
{
  /** */
  enum{MAX_EDGE_POINTS = 30,MAX_CIRCLE_DIST = 2,EDGE_THR = 30,SCAN_THR = 30};
public:
  
  /** Constructor
  *
  *   @param processor  The image processor interfaces.
  *   @param strategy The strategy.
  */
  RBallSpecialist2(RasterImageProcessor &processor,RasterStrategy &strategy);
  /** Destructor*/
  virtual ~RBallSpecialist2();
  /** Invokes the specialist in the second scan stage at position (x,y) 
    * (this member should be replaced later).
    *   @param x The x coordinate.
    *   @param y The y coordinate.  
    */
  void invokeOnPostScan(int x, int y);
  /** Executes the detection algorithm. */
  void executePostProcessing();
  /** Invokes the specialist in the first scan stage at position (x,y)
    * (this member should be replaced later).
    *   @param x The x coordinate.
    *   @param y The y coordinate.*/
  void invokeOnPreScan(int x,int y);
  /** Getter for the type.
  *   @return The type of the specialist.
  */
  virtual int getType();
  /** Initializes the specialist.*/
  virtual void init();
  /** Validates the circle, by comparing it to a color pattern.
  *   
  *   @param circle The circle.
  *   @return The validity.
  */
  double validateCircle(Geometry::Circle &circle);
  /** Validates the circle, by calculating the percantage of 
  *   edge points near the circle.
  *
  *   @param circle The circle.
  *   @return The validity of the circle.
  */
  double validateEdgePoints(Geometry::Circle &circle);
  /** Calculates the coordinates of a vector that looks in direction angle.
  *   Only a helper.
  *
  *   @param angle input
  *   @param x output variable
  *   @param y output variable
  */
  inline void getCoordinatesByAngle(double angle,double& x,double& y){
    x = cos(angle);
    y = sin(angle);
  }

  /** A temporary variable.*/
  Vector2<int> temp;
  /** The runs to analyze.*/
  std::list<LinePair> rows;

private:
  /** The strategy.*/
  RasterStrategy *strategy;

  //SUSANEdgeDetectionLite edgeDetector;
  
  /** The edge detector.*/
  REdgeDetection edgeScanner;
  /** The normal threshold.*/
  int threshold;
  /** The threshold for large balls.*/
  int minEdgeThreshold;

  /** Adds the Ball to the BallPercept. 
  *   Makes some small tests befor generating a percept.
  *
  *   @param circle The circle detected as a ball.
  *   @param validity The color validity for this circle.
  */
  void addBallPercept(Geometry::Circle &circle,double validity);
  /** Approximates a circle for small regions.
  *
  *   @param circle The circle.
  *   @return Validity of the circle.
  */
  double calculateSmallCircle(Geometry::Circle& circle);
  /** Approximates the circle with a randomized algorithm.
  *   @param circle The result.
  *   @return The validity of the result.
  */
  double calculateCircleByEdges(Geometry::Circle& circle);
  /** Approximates the circle with a randomized algorithm.
  *   Edge points are filtered with a star scan, which has its
  *   origin in the center of the box.
  *
  *   @param input The bounding box of the region seems to belong to a ball.
  *   @param circle The result.
  *   @return The validity of the result.
  */
  double calculateLargeCircle(const Box& input,Geometry::Circle& circle);
  /** Filters the edge points with a contrast filter.
  *   
  *   @param segment The region, which is the input data.
  *   @return True, if selected more than 3 points.
  */
  bool filterBallPoints(std::list<LinePair>& segment);
  /** Builds a bounding box for a segment.  
  *   
  *   @param segment The input data.
  *   @param box The result.
  *   @return True, if building was succesful.
  */
  bool createBox(std::list<LinePair>& segment,Box& box);
  /** Calculates the average distance of the edge points to the circle.
  *
  *   @param circle The circle.
  *   @return The average distance of all edge points.
  */
  double middleEdgePointDist(Geometry::Circle &circle);
  
  /** A buffer for the edge points of a region.*/
  std::vector<Vector2<int> > points;
  /** The number of edge points.*/
  int numberOfEdgePoints;
  /** The roundness of the last detected circle.*/
  double roundness;
  
  /** The function defines a filter used in filterBallPoints().
  *
  *   @param x The x-coordinate.
  *   @param y The y-coordinate.
  *   @return True if the point lies on a edge.
  */
  inline bool isEdge(int x,int y){
  //  return edgeDetector.isEdgePoint(rip->image,x,y,
  //    SUSANEdgeDetectionLite::componentA);
    return edgeScanner.isHorizontalEdge(x,y) || edgeScanner.isVerticalEdge(x,y);
  }
  /** Setter for the edge filter threshold.
  *
  *   @param threshold A threshold.
  */
  void setThreshold(int threshold);
};

#endif

/*
* Change log :
* 
* $Log: RBallSpecialist2.h,v $
* Revision 1.6  2004/09/09 11:08:04  spranger
* renamed GT2004EdgeDetection to REdgeDetection for consistency
*
* Revision 1.5  2004/09/08 14:39:02  wachter
* - Fixed some doxygen-errors
*
* Revision 1.4  2004/09/06 12:02:26  schmidtb
* commented almost all members, removed warnings in documentation

* did further code clean up
*
* Revision 1.3  2004/09/02 07:59:29  schmidtb
* Added RasterImageProcessor to repository, because we used it for the OpenChallenge.
*
* Revision 1.3  2004/05/25 13:27:34  schmidtb
* modified version of rip for open-challenge
*
* Revision 1.5  2004/04/22 16:57:26  pg_besc
* new version of RBallSpecialist2, now omidirectional scans for detection
*
* Revision 1.4  2004/04/20 08:12:38  pg_besc
* fixed bug
*
* Revision 1.3  2004/04/20 07:50:27  pg_besc
* new version of pre scan
*
* Revision 1.2  2004/03/25 15:26:10  pg_besc
* made some changes
*
*/

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