Modules/ImageProcessor/ImageProcessorTools/SegmentationTools.h File Reference

Declaration of file SegmentationTools.h. More...

#include "Tools/Math/Geometry.h"
#include "Tools/Math/Vector2.h"
#include "Tools/ColorClasses.h"

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Classes
struct	listed
	implementation of slist : all the objects to be listed must derive from the template class "listed" (use the name of the class as template parameter for normal use) More...
class	slist
class	slist::iterator
struct	figure
	definition of an edge and a linePair : very convenient for mixing both in a list. More...
class	edge
struct	LinePair
class	horLinePair
struct	extLinePair
struct	LinePair2
class	LinePair3
struct	coloredLinePair2
Typedefs
typedef Vector2< int >	point
typedef Vector2< double >	direction
Functions
point	mil (point &v1, point &v2)
	geometrical stuff
double	theta2 (point v1, point v2)
double	AngleRelativeToHorizontal (const point &pt1, const point &pt2)
	same principle as theta2, but using trigonoetric functions (also more time consuming)
double	theta2 (LinePair2 *l1, LinePair2 *l2)
figure *	getMin (figure *lp)
	finds the nearest point starting from lp
void	createLinearSegment (slist< figure > &lst)
	join the nearest LinePairs in order to make the interpretation of the shape possible
Vector2< double >	mil (LinePair2 &lp)
Geometry::Line	makeLine (LinePair2 *lp)

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Detailed Description

Declaration of file SegmentationTools.h.

Author:

Damien DEOM

Definition in file SegmentationTools.h.

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Typedef Documentation

typedef Vector2<int> point

Definition at line 24 of file SegmentationTools.h. Referenced by LinesPercept::add(), GT2004EdgeSpecialist::addCandidate(), RFieldSpecialist::addLinePoint(), RFieldSpecialist::analyzeLines(), GT2004ImageProcessor::calcEdgeAngle(), Geometry::calculateAnglesForPoint(), RBridgeSpecialist::calculateAnglesForPoint(), BoxSpecialist::calculateAnglesForPoint(), Geometry::calculatePointByAngles(), Geometry::calculatePointInImage(), GT2004EdgeSpecialist::checkPoint(), RFieldSpecialist::checkRamp(), Geometry::clipLineWithQuadrangle(), Geometry::clipPointInsideRectange(), Geometry::cohenSutherlandOutCode(), ObservationTable< 280, 200, 25 >::create(), ObservationTable< 280, 200, 25 >::draw(), GT2004SelfLocator::draw(), RFieldSpecialist::drawCircle(), RFieldSpecialist::drawCross(), extLinePair::extLinePair(), RFieldSpecialist::fusionLines(), GT2004SelfLocator::generatePoseTemplates(), SimpleMotionRecognition::getAngleYZ(), ObservationTable< 280, 200, 25 >::getClosestPoint(), ObstaclesModel::getDistanceInCorridor(), Geometry::getDistanceToEdge(), Geometry::getDistanceToLine(), RasterSpecialist::getDistanceToLine(), Geometry::getIntersectionPointsOfLineAndRectangle(), FutureWorldModelGenerator::getMaxRotationForObject(), Polygon::getPoints(), GT2004BasicBehaviorGoForwardToPoint::GT2004BasicBehaviorGoForwardToPoint(), GT2004BasicBehaviorGoToPoint::GT2004BasicBehaviorGoToPoint(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::GT2004BasicBehaviorGoToPointAndAvoidObstacles(), GT2004BasicBehaviorTurnAroundPoint::GT2004BasicBehaviorTurnAroundPoint(), RFieldSpecialist::invokeOnPreScan(), Geometry::isPointInsideRectangle(), RFieldSpecialist::makeLines(), mil(), Pose3D::operator *(), Pose2D::operator *(), RDefaultStrategy::postScan(), extLinePair::pt1(), horLinePair::pt1(), extLinePair::pt2(), horLinePair::pt2(), ObservationTable< 280, 200, 25 >::read(), GT2004ImageProcessor::scan(), extLinePair::toConsider(), horLinePair::toConsider(), edge::toConsider(), GT2004SelfLocator::updateByPoint(), and ObservationTable< 280, 200, 25 >::write().

typedef Vector2<double> direction

Definition at line 25 of file SegmentationTools.h. Referenced by extLinePair::getDirection(), horLinePair::getDirection(), Geometry::Line::Line(), Geometry::Line::normalizeDirection(), and GT2004HeadControl::setJoints().

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Function Documentation

point mil (  point &  v1, point &  v2 )  [inline]

geometrical stuff Definition at line 34 of file SegmentationTools.h. References point, Vector2< V >::x, and Vector2< V >::y.

double theta2 (  point  v1, point  v2 )  [inline]

Gives a number between 0 and 360 with the same order as v.angle() Definition at line 41 of file SegmentationTools.h. References Vector2< V >::x, and Vector2< V >::y.

double AngleRelativeToHorizontal (  const point &  pt1, const point &  pt2 )  [inline]

same principle as theta2, but using trigonoetric functions (also more time consuming) Definition at line 61 of file SegmentationTools.h. References Vector2< V >::x.

double theta2 (  LinePair2 *  l1, LinePair2 *  l2 )  [inline]

calculate the angle between two lines using theta2 Definition at line 428 of file SegmentationTools.h. References LinePair2::p1, and LinePair2::p2. Referenced by RFieldSpecialist::analyzeLines(), RFieldSpecialist::checkRamp(), RFieldSpecialist::fusionLines(), and RFieldSpecialist::makeLines().

figure* getMin (  figure *  lp  )  [inline]

finds the nearest point starting from lp Parameters: lp  the starting point Returns: the nearest point Definition at line 449 of file SegmentationTools.h. References Geometry::distance(), listed< figure >::getNext(), min, and figure::toConsider(). Referenced by createLinearSegment().

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void createLinearSegment (  slist< figure > &  lst  )  [inline]

join the nearest LinePairs in order to make the interpretation of the shape possible Definition at line 484 of file SegmentationTools.h. References slist< T >::front(), getMin(), slist< T >::getSize(), min, and slist< T >::setLast(). Referenced by RFieldSpecialist::executePostProcessing().

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Vector2<double> mil (  LinePair2 &  lp  )  [inline]

Definition at line 501 of file SegmentationTools.h. References LinePair2::p1, LinePair2::p2, Vector2< V >::x, and Vector2< V >::y. Referenced by RFieldSpecialist::fusionLines(), and extLinePair::toConsider().

Geometry::Line makeLine (  LinePair2 *  lp  )  [inline]

transform a line pair into a line defined into the Geometry library Definition at line 506 of file SegmentationTools.h. References Geometry::Line::base, Geometry::Line::direction, LinePair2::p1, LinePair2::p2, Vector2< V >::x, and Vector2< V >::y. Referenced by RFieldSpecialist::analyzeLines(), and RFieldSpecialist::fusionLines().

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