Modules/ImageProcessor/RasterImageProcessor/RasterImageProcessor.h

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

#include "Modules/ImageProcessor/ImageProcessorTools/SUSANEdgeDetectionLite.h"
#include "Modules/ImageProcessor/ImageProcessor.h"
#include "Tools/Debugging/DebugDrawings.h"
#include "Tools/Math/Geometry.h"
#include "Tools/Debugging/DebugImages.h"
#include "Modules/ImageProcessor/ImageProcessorTools/ColorCorrector.h"


class RasterSpecialist;
class RasterStrategy;
class RasterImageProcessor;



//#include "./RasterSpecialist.h"
//#include "./RasterStrategy.h"


/**Specialist-types for the RasterImageProcessor.*/ 
enum RasterSpecTypes{
  __RBallSpecialist,
  __RFieldSpecialist,
  __RFlagSpecialist,
  __RGoalSpecialist,
  __REnemySpecialist,
  __REnemyOnlySpecialist,
  __RBoxSpecialist,
  __REnemySpecialist2,
  __RBridgeSpecialist,
  maxRasterSpecialists
};


/** @class RasterImageProcessor
* A class for image-processing.
* @author <a href="mailto:sadprofessor@web.de">Bernd Schmidt</a>
*/
class RasterImageProcessor : public ImageProcessor  
{
public:
  /** An edge detector */
  SUSANEdgeDetectionLite edgeDetector;
  /** The color-corrector*/
  ColorCorrector corrector;
  /** The calculated horizon.*/
  Geometry::Line horizon;

  /** The consructor.
  * @param interfaces The interfaces for the image-processor.
  */
  RasterImageProcessor(const ImageProcessorInterfaces& interfaces);
  /** Destructor*/
  virtual ~RasterImageProcessor();
  
  /** Executes the module. */
  virtual void execute();
  /** Handles messages for this module. 
  *
  *   @param message Message to handle.
  *   @return Returns if the message had been handled succesfully.
  */
  virtual bool handleMessage(InMessage& message);
  /** Getter for a specialist.
  *   
  *   @param type Type of the requested specialist.
  *   @return The specialist of the given type or null if no specialist is registered.
  */
  RasterSpecialist *getSpecialist(int type);
  /** Sets a specialist, if there is a specialist of the same type registered, it
  *   will be deleted. 
  *
  *   @param spec The specialist to be registered.
  */
  void setSpecialist(RasterSpecialist *spec);
  /** Removes a specialist from the image-processor.
  *   Afterwards getSpecialist(type) is NULL.
  *
  *   @param type Type of the specialist.
  */
  void removeSpecialist(int type);
  
  /** Getter for the member horizon.
  *
  *   @return the horizon-line for the current image */
  inline Geometry::Line getHorizon(){return horizon;}
  /** Adds a point to the LinesPercept.
  * @param x x-coordinate
  * @param y y-coordinate
  * @param type Type for this point of interest.
  */
  inline void addFieldPoint(int x,int y,LinesPercept::LineType type){
    Vector2<int> p;
    Geometry::calculatePointOnField(x,y,cameraMatrix,
      image.cameraInfo,p);
    linesPercept.add(type,p);
  }
  /** Adds a point to the ObstaclesPercept. 
  * @param nearPointInImage near Point of the seen area
  * @param farPointInImage far Point of the seen area
  * @param type Type of the free "obstacle"-area
  */
  inline void addObstaclePoints(
    Vector2<int>& nearPointInImage,
    Vector2<int>& farPointInImage,
    ObstaclesPercept::ObstacleType type)
  {
    Vector2<int> nearPoint;
    Vector2<int> farPoint;
    Geometry::calculatePointOnField(
      nearPointInImage.x,nearPointInImage.y,cameraMatrix,image.cameraInfo,nearPoint);
    Geometry::calculatePointOnField(
      farPointInImage.x,farPointInImage.y,cameraMatrix,image.cameraInfo,farPoint);
    
    bool farOnBorder = 
      (farPointInImage.x>image.cameraInfo.resolutionWidth-3 
      || farPointInImage.x < 2 
      || farPointInImage.y < 2 
      || farPointInImage.y>image.cameraInfo.resolutionHeight-3);

    obstaclesPercept.add(nearPoint,farPoint,farOnBorder,type);
  }
  /** Tests if the point lies in the valid image area. 
  *   @param p input.
  *   @return True if the point is valid.
  */
  inline bool isValidPoint(Vector2<double>& p){
    if (p.x >= image.cameraInfo.resolutionWidth -2 || p.x <= 1) return false;
    if (p.y >= image.cameraInfo.resolutionHeight - 2 || p.y <= 1) return false;
    return true;
  }

  /** Adds a flag to the model. 
  *   
  *   @param left Center of the left edge.
  *   @param right Center of the right edge.
  *   @param top  Center of the top edge.
  *   @param bottom Center of the bottom edge.
  *   @param type Type of the Flag.
  */
  void addFlag(Vector2<double>& left,Vector2<double>& right,
    Vector2<double>& top, Vector2<double>& bottom,Flag::FlagType type);
  /** Changes the strategy. the old one will be deleted ! 
  *   @param newStrategy The new strategy.
  */
  void changeStrategy(RasterStrategy &newStrategy);

  /** Minimal x-coordinate of the image-raster.*/
  int minX;
  /** Maximal x-coordinate of the image-raster.*/
  int maxX;
  /** Minimal y-coordinate of the image-raster.*/
  int minY;
  /** Maximal y-coordinate of the image-raster.*/
  int maxY;
  /** The margin between two scanlines.*/
  int marginX;
  /** The margin between two scanlines.*/
  int marginY;
  /** The color-class image.*/
  DECLARE_DEBUG_COLOR_CLASS_IMAGE(segmentedImage1);

private:
  /** Initializes the module.*/
  void init();
  /** The concurrent specialists.*/
  RasterSpecialist *specials[maxRasterSpecialists];
  /** The active strategy.*/
  RasterStrategy *strategy;
  /** The new strategy in the next frame.*/
  RasterStrategy *waitingStrategy;
 
  DECLARE_DEBUG_IMAGE(imageProcessorGeneral);
  
  /*DECLARE_DEBUG_IMAGE(imageProcessorScanLines);
  DECLARE_DEBUG_IMAGE(imageProcessorGradients);*/
  

  DECLARE_DEBUG_IMAGE(imageProcessorBall);
  DECLARE_DEBUG_IMAGE(imageProcessorObstacles);
  DECLARE_DEBUG_IMAGE(imageProcessorFlagsAndGoals);
  DECLARE_DEBUG_IMAGE(imageProcessorGround);
  
  //DECLARE_DEBUG_COLOR_CLASS_IMAGE(segmentedImage3);
  //DECLARE_DEBUG_COLOR_CLASS_IMAGE(segmentedImage2);
  //DECLARE_DEBUG_IMAGE(classificationY);
  //DECLARE_DEBUG_IMAGE(classificationU);
  //DECLARE_DEBUG_IMAGE(classificationV);
  //DECLARE_DEBUG_IMAGE(colorFrequency);
  
};


#endif


/*
* Change log :
* 
* $Log: RasterImageProcessor.h,v $
* Revision 1.5  2004/09/06 12:02:26  schmidtb
* commented almost all members, removed warnings in documentation

* did further code clean up
*
* Revision 1.4  2004/09/03 11:32:13  nistico
* References to MSH2004ColorCorrector removed, now uses the unified ColorCorrector
*
* Revision 1.3  2004/09/02 07:59:29  schmidtb
* Added RasterImageProcessor to repository, because we used it for the OpenChallenge.
*
* Revision 1.17  2004/05/25 13:27:33  schmidtb
* modified version of rip for open-challenge
*
* Revision 1.16  2004/04/08 17:14:26  wachter
* GT04 checkin of Microsoft-Hellounds
*
* Revision 1.16  2004/03/25 15:21:19  pg_besc
* made some changes
*
* Revision 1.15  2004/03/17 18:27:45  koh
* warnings and errors removed
*
* Revision 1.14  2004/03/11 20:32:36  schmidtb
* new version of rip
*
* Revision 1.13  2004/03/08 01:39:02  roefer
* Interfaces should be const
*
* Revision 1.12  2004/03/03 12:53:21  schmidtb
* color correction integrated
*
* Revision 1.11  2004/03/01 14:17:26  koh
* added new strategy "RFlexibleStrategy" + new specialist "EnemyOnlySpecialist";
* changed references to "RDefaultStrategy" to references to "RasterStrategy" in RFieldSpecialist
* added Geometry::Line horizon to "RasterStrategy"
*
* Revision 1.10  2004/02/28 17:16:47  schmidtb
* debugged and made some changes
*
* Revision 1.9  2004/02/04 13:12:23  nistico
* Removed unneeded references in RasterImageProcessor to ManualCalibration, which were binding it
* to ColorTable64
*
* Revision 1.8  2004/02/02 13:42:12  schmidtb
* merged sources of RIP. added som functions.
*
* Revision 1.7  2004/01/23 15:44:01  deom
* New specialist :: BoxSpecialist
* Recognizes both landmarks and goals
*
* Revision 1.6  2003/12/15 13:55:32  schmidtb
* Merged and patched new version of RasterImageProcessor.
*
* Revision 1.5  2003/12/08 15:02:55  schmidtb
* new version of RIP
*
* Revision 1.4  2003/12/04 09:51:23  schmidtb
* better BallSpecialist
*
* Revision 1.3  2003/11/20 10:26:56  schmidtb
* Ball Detection added
*
* Revision 1.2  2003/11/13 10:41:29  schmidtb
* renewed RBallSpeciaslist and Strategy
*
* Revision 1.1  2003/11/12 13:13:20  schmidtb
* new RasterImageProcessor added
*
*
*/

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