GT2004EdgeSpecialist Class Reference

The EdgeSpecialist finds a line- and border-edges in an image. More...

#include <GT2004EdgeSpecialist.h>

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[legend]List of all members.

Public Member Functions
	GT2004EdgeSpecialist ()
void	reset ()
	reset all data before processing next frame.
void	resetLine ()
	reset before next scanline.
void	checkPoint (Vector2< int > point, colorClass color, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const Image &image)
	check point in camera-coordinates with given color on scanline if interesting changes.
void	addCandidate (Vector2< int > point, const Image &image)
	add a point in camera-coordinates which is a candidate for an edge point.
void	getEdgesPercept (EdgesPercept &percept, const CameraMatrix &cameraMatrix, const CameraMatrix &prevCameraMatrix, const Image &image)
	Searches for the edges based on the points and return edge-percepts from those.
Private Types
enum	{ maxNumberOfEdgePoints = 200 }
Private Attributes
bool	greenBefore
bool	whiteBefore
int	numberOfContinuousNoColor
Vector2< int >	lastGreen
Vector2< int >	lastGreenField
Vector2< int >	lastWhite
Vector2< int >	lastWhiteField
EdgePoint	edgePoints [maxNumberOfEdgePoints]
int	numOfEdgePoints
double	gradientThreshold
double	normDistance
double	normProjection
double	multipleAverageDistance
Matrix2x2< double >	referenceChange

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Detailed Description

The EdgeSpecialist finds a line- and border-edges in an image.

Definition at line 20 of file GT2004EdgeSpecialist.h.

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Member Enumeration Documentation

anonymous enum [private]

Enumeration values: maxNumberOfEdgePoints  Definition at line 62 of file GT2004EdgeSpecialist.h.

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Constructor & Destructor Documentation

GT2004EdgeSpecialist::GT2004EdgeSpecialist (   )

Definition at line 15 of file GT2004EdgeSpecialist.cpp. References pi.

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Member Function Documentation

void GT2004EdgeSpecialist::reset (   )

reset all data before processing next frame. Definition at line 42 of file GT2004EdgeSpecialist.cpp. References numOfEdgePoints. Referenced by GT2004ImageProcessor::execute().

void GT2004EdgeSpecialist::resetLine (   )

reset before next scanline. Definition at line 47 of file GT2004EdgeSpecialist.cpp. References greenBefore, numberOfContinuousNoColor, and whiteBefore. Referenced by GT2004ImageProcessor::scan().

void GT2004EdgeSpecialist::checkPoint (  Vector2< int >  point, colorClass  color, const CameraMatrix &  cameraMatrix, const CameraMatrix &  prevCameraMatrix, const Image &  image )

check point in camera-coordinates with given color on scanline if interesting changes. Definition at line 54 of file GT2004EdgeSpecialist.cpp. References addCandidate(), Geometry::calculatePointOnField(), Image::cameraInfo, greenBefore, lastGreen, lastGreenField, lastWhite, noColor, numberOfContinuousNoColor, point, whiteBefore, Vector2< int >::x, and Vector2< int >::y. Referenced by GT2004ImageProcessor::scan().

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void GT2004EdgeSpecialist::addCandidate (  Vector2< int >  point, const Image &  image )

add a point in camera-coordinates which is a candidate for an edge point. Definition at line 97 of file GT2004EdgeSpecialist.cpp. References Vector2< V >::abs(), GT2004EdgeSpecialist::EdgePoint::belongsToLineNo, DOT, edgePoints, gradientThreshold, idText, Image::image, Line, GT2004EdgeSpecialist::EdgePoint::line, maxNumberOfEdgePoints, Vector2< V >::normalize(), numOfEdgePoints, GT2004EdgeSpecialist::EdgePoint::offset, OUTPUT, point, referenceChange, GT2004EdgeSpecialist::EdgePoint::weight, Vector2< int >::x, and Vector2< int >::y. Referenced by checkPoint().

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void GT2004EdgeSpecialist::getEdgesPercept (  EdgesPercept &  percept, const CameraMatrix &  cameraMatrix, const CameraMatrix &  prevCameraMatrix, const Image &  image )

Searches for the edges based on the points and return edge-percepts from those. Definition at line 142 of file GT2004EdgeSpecialist.cpp. References EdgesPercept::add(), ARROW, Geometry::Line::base, GT2004EdgeSpecialist::EdgePoint::belongsToLineNo, Geometry::calculateLineSize(), Geometry::calculatePointOnField(), Image::cameraInfo, Geometry::Line::direction, Geometry::distance(), DOT, edgePoints, LINE, GT2004EdgeSpecialist::EdgePoint::line, maxNumberOfEdgePoints, min, multipleAverageDistance, normDistance, normProjection, numOfEdgePoints, GT2004EdgeSpecialist::EdgePoint::offset, GT2004EdgeSpecialist::EdgePoint::weight, Vector2< V >::x, Vector2< int >::x, Vector2< double >::x, Vector2< V >::y, Vector2< double >::y, and Vector2< int >::y. Referenced by GT2004ImageProcessor::execute().

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Member Data Documentation

bool GT2004EdgeSpecialist::greenBefore [private]

Definition at line 56 of file GT2004EdgeSpecialist.h. Referenced by checkPoint(), and resetLine().

bool GT2004EdgeSpecialist::whiteBefore [private]

Definition at line 57 of file GT2004EdgeSpecialist.h. Referenced by checkPoint(), and resetLine().

int GT2004EdgeSpecialist::numberOfContinuousNoColor [private]

Definition at line 58 of file GT2004EdgeSpecialist.h. Referenced by checkPoint(), and resetLine().

Vector2<int> GT2004EdgeSpecialist::lastGreen [private]

Definition at line 59 of file GT2004EdgeSpecialist.h. Referenced by checkPoint().

Vector2<int> GT2004EdgeSpecialist::lastGreenField [private]

Definition at line 59 of file GT2004EdgeSpecialist.h. Referenced by checkPoint().

Vector2<int> GT2004EdgeSpecialist::lastWhite [private]

Definition at line 60 of file GT2004EdgeSpecialist.h. Referenced by checkPoint().

Vector2<int> GT2004EdgeSpecialist::lastWhiteField [private]

Definition at line 60 of file GT2004EdgeSpecialist.h.

EdgePoint GT2004EdgeSpecialist::edgePoints[maxNumberOfEdgePoints] [private]

Definition at line 70 of file GT2004EdgeSpecialist.h. Referenced by addCandidate(), and getEdgesPercept().

int GT2004EdgeSpecialist::numOfEdgePoints [private]

Definition at line 71 of file GT2004EdgeSpecialist.h. Referenced by addCandidate(), getEdgesPercept(), and reset().

double GT2004EdgeSpecialist::gradientThreshold [private]

Definition at line 72 of file GT2004EdgeSpecialist.h. Referenced by addCandidate().

double GT2004EdgeSpecialist::normDistance [private]

Definition at line 73 of file GT2004EdgeSpecialist.h. Referenced by getEdgesPercept().

double GT2004EdgeSpecialist::normProjection [private]

Definition at line 74 of file GT2004EdgeSpecialist.h. Referenced by getEdgesPercept().

double GT2004EdgeSpecialist::multipleAverageDistance [private]

Definition at line 75 of file GT2004EdgeSpecialist.h. Referenced by getEdgesPercept().

Matrix2x2<double> GT2004EdgeSpecialist::referenceChange [private]

Definition at line 76 of file GT2004EdgeSpecialist.h. Referenced by addCandidate().

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The documentation for this class was generated from the following files:

• Modules/ImageProcessor/GT2004ImageProcessor/GT2004EdgeSpecialist.h
• Modules/ImageProcessor/GT2004ImageProcessor/GT2004EdgeSpecialist.cpp

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