MotionRecognition Class Reference

#include <MotionRecognition.h>

Inheritance diagram for MotionRecognition:

[legend]Collaboration diagram for MotionRecognition:

[legend]List of all members.


Public Member Functions
	MotionRecognition (const SensorBehaviorControlInterfaces &interfaces)
	Constructor.
Vector2< double >	getAngleYZ (Vector2< int > pCentered)
	transforms pixelcoordinates to grad
int	isDiff (Image &image1, Image &image2, Vector2< int > p1, Vector2< int > p2)
Vector2< int >	getCenteredCoor (Vector2< int > p)
	shifts coordinatesource from top-left to center of image
Vector2< double >	getCoorInmm (Vector2< int > p)
	transforms pixelcoordinates to mm
Vector2< int >	getCoorInPixel (Vector2< double > p)
	transforms pixelcoordinates to mm
Vector2< int >	getPixelFlow (Vector2< double > pCentered, double z, Vector3< double > cameraMovement, Vector3< double > cameraRotation)
	calculates xy-shift of a pixel
Vector2< int >	getNewPixelPos (Vector2< int > p, Vector3< double > cameraMovement, Vector3< double > cameraRotation)
	calculates newPixelposition after movement and rotation of the camera
double	getCameraZ (Vector2< double > angleYZ)
	calculates distance from camera to object (xy-plain)
Vector3< double >	getCameraTranslation (Vector3< double > robotTranslation)
	calculates cameratranslation
Vector3< double >	getCameraTranslation (double bounce)
Vector3< double >	getCameraRotation (double bounce)
Vector3< double >	getRobotTranslationFromOdometry ()
Vector3< double >	getRobotTranslationFromBounce (double bounce)
Vector3< double >	getRobotRotationFromOdometry ()
Vector3< double >	getRobotRotationFromBounce (double bounce)
Vector3< double >	getRobotTranslationForRotation (double robotRotationZ)
int	pixelInImage (Vector2< int > p)
double	getPixelDiff (Vector2< int > raster, double bounce, Image &image1, Image &image2, int draw)
double	getPixelDiff (Vector2< int > raster, double bounce, Image &image1, Image &image2)
void	drawPixelFlow (Vector3< double > cameraTranslation, Vector3< double > cameraRotation)
void	drawDynamicDiff (Image &image1, Image &image2, double timeDiff)
virtual void	execute ()
	Executes the module.
virtual bool	handleMessage (InMessage &message)
	Called from a MessageQueue to distribute messages.
	DECLARE_DEBUG_IMAGE (imageMotionRecognition)
	DECLARE_DEBUG_IMAGE (imageProcessorGradients)
Private Attributes
OdometryData	previousOdometry
Vector2< double >	pixelDimensions
Image	imageBuffer [IMAGEBUFFERSIZE]
unsigned long	imageTimes [IMAGEBUFFERSIZE]
int	start
int	currentImage
int	imagesLeft
Image	motionRecognitionImage
Image	processorGradientsImage

Detailed Description

Author:: Sebastian Ordyniak
Marten Richert

Definition at line 32 of file MotionRecognition.h.

Constructor & Destructor Documentation

MotionRecognition::MotionRecognition ( const SensorBehaviorControlInterfaces & interfaces )

Constructor.

Parameters:

interfaces The paramters of the MotionRecognition module.

Definition at line 12 of file MotionRecognition.cpp.
References BRENNWEITE, Image::cameraInfo, currentImage, IMAGEBUFFERSIZE, imagesLeft, CameraInfo::openingAngleHeight, CameraInfo::openingAngleWidth, pixelDimensions, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

Member Function Documentation

Vector2< double > MotionRecognition::getAngleYZ ( Vector2< int > pCentered )

transforms pixelcoordinates to grad

Parameters:

pCentered - centered xy-pixelcoordinates

Returns:
centered angle coors in grad

Definition at line 62 of file MotionRecognition.cpp.
References Image::cameraInfo, CameraInfo::openingAngleHeight, CameraInfo::openingAngleWidth, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y.
Referenced by getNewPixelPos().

int MotionRecognition::isDiff ( Image & image1,

Image & image2,

Vector2< int > p1,

Vector2< int > p2

)

Definition at line 55 of file MotionRecognition.cpp.
References Image::image, Vector2< V >::x, and Vector2< V >::y.
Referenced by getPixelDiff().

Vector2< int > MotionRecognition::getCenteredCoor ( Vector2< int > p )

shifts coordinatesource from top-left to center of image

Parameters:

p top-left coordinates

Returns:
centered imagecoordinates

Definition at line 47 of file MotionRecognition.cpp.
References Image::cameraInfo, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y.
Referenced by getNewPixelPos().

Vector2< double > MotionRecognition::getCoorInmm ( Vector2< int > p )

transforms pixelcoordinates to mm

Parameters:

p pixel coordinates

Returns:
coordinates in mm

Definition at line 38 of file MotionRecognition.cpp.
References pixelDimensions, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.
Referenced by getNewPixelPos().

Vector2< int > MotionRecognition::getCoorInPixel ( Vector2< double > p )

transforms pixelcoordinates to mm

Parameters:

p pixel coordinates

Returns:
coordinates in mm

Definition at line 42 of file MotionRecognition.cpp.
References pixelDimensions, Vector2< double >::x, Vector2< V >::x, Vector2< double >::y, and Vector2< V >::y.
Referenced by getPixelFlow().

Vector2< int > MotionRecognition::getPixelFlow ( Vector2< double > pCentered,

double z,

Vector3< double > cameraMovement,

Vector3< double > cameraRotation

)

calculates xy-shift of a pixel

Parameters:

pCentered centered pixelcoordinates

z distance from the object belonging to pixel to camera

cameraMovement movement of the camera (in mm)

cameraRotation rotation of the camera (in grad)

Returns:
xy-shift of pixel

translationskoeffizienten
Brennweite der Kamera
rotationskoeffizenten
Definition at line 69 of file MotionRecognition.cpp.
References getCoorInPixel(), Vector2< V >::x, Vector3< V >::x, Vector2< V >::y, Vector3< V >::y, and Vector3< V >::z.
Referenced by getNewPixelPos().