REdgeDetection Class Reference

Utility-class for edge-detection. More...

#include <REdgeDetection.h>

Collaboration diagram for REdgeDetection:

[legend]List of all members.

Public Member Functions
	REdgeDetection (ImageProcessor &processor)
	Default constructor.
	~REdgeDetection ()
	Destructor.
bool	scanEast (int &x, int &y)
	Scans to the right side of the image and detects edges.
bool	scanWest (int &x, int &y)
	Scans to the left side of the image and detects edges.
bool	scanNorth (int &x, int &y)
	Scans to the top and detects edges.
bool	scanSouth (int &x, int &y)
	Scans to the bottom and detects edges.
bool	ballScanEast (int &x, int &y)
	Scans to the right side and detects edges of balls.
bool	ballScanWest (int &x, int &y)
	Scans to the left side and detects edges of balls.
bool	scan (int &x, int &y, Vector2< double > direction)
	Follows the given direction, and determines edges by the sum of all three channels.
bool	bufferedScan (int &x, int &y, Vector2< double > direction)
	Follows the given direction, and determines edges by the sum of all three channels.
bool	bufferedScan (int &x, int &y)
	Follows the last given direction.
bool	scanField (int &x, int &y, Vector2< double > direction)
	Follows the given direction,and searches for field-edge-points.
bool	scanField (int &x, int &y)
	Follows the last given direction,and searches for field-edge-points.
bool	scan (int &x, int &y)
	Follows the last given direction, and determines edges by the sum of all three channels.
bool	colorScan (int &x, int &y, Vector2< double > direction, colorClass &lastColor)
	Follows the given direction, and determines edges by looking for differences of the colorClass of two following pixels.
bool	colorScan (int &x, int &y, colorClass &lastColor)
	Follows the current direction, and determines edges by looking for differences of the colorClass of two following pixels.
bool	susanScan (int &x, int &y, Vector2< double > direction)
	Follows the given direction, and determines edges with help of the SUSANEdgeDetection.
bool	scan (int &x, int &y, int x1, int y1)
	Follows the given direction, and determines edges by the sum of all three channels.
bool	colorScan (int &x, int &y, int x1, int y1, colorClass &lastColor)
	Follows the given direction, and determines edges by the sum of all three channels.
void	setDirection (Vector2< double > dir)
	Setter for member direction.
colorClass	getColor (int index)
	Returns a color from the color buffer.
int	getRange (int index)
	Returns a range from the range buffer.
bool	isHorizontalEdge (int x, int y)
	This function implements a edge filter for horizontal edges.
int	horizontalEdgeVote (int x, int y)
	This function implements a edge filter for horizontal edges.
bool	isVerticalEdge (int x, int y)
	This function implements a edge filter for vertical edges.
int	verticalEdgeVote (int x, int y)
	This function implements a edge filter for vertical edges.
int	ballEdgeVote (int x, int y)
	This function implements a edge filter for the ball.
int	crossEdgeVote (int x, int y)
	This function implements a edge filter.
int	fieldEdgeVote (int x, int y)
	This function implements a edge filter.
colorClass	getColor (int x, int y)
	Implemented with ColorTable interface.
void	skip (int &x, int &y)
	Gives the next pixel of last scan.
bool	findStart (Vector2< int > &start, const Vector2< double > &dir)
	Determines the first valid point on a run.
int	getBufferSize ()
	Getter for the size of the color-buffer.
Public Attributes
int	threshold
	Threshold for edge scans.
int	tempX
	Holds the last visited x-coordinate of a scan.
int	tempY
	Holds the last visited y-coordinate of a scan.
Private Member Functions
int	fastCrossEdgeVote (int x, int y)
	This function implements a edge filter.
void	addColor ()
	Adds a color and its range to the buffers.
bool	insideImage (int x, int y)
	Tests, if a point is a valid.
int	susanVote (int x, int y)
	This function implements a edge filter.
Private Attributes
ImageProcessor &	ip
	the image processor interfaces
SUSANEdgeDetectionLite	susanDetector
	an external edgeDetector
Vector2< double >	direction
	current scan direction
int	e
	a value for bresenham algorithm
int	f
	a value for bresenham algorithm
int	g
	a value for bresenham algorithm
int	dx
	a value for bresenham algorithm
int	dy
	a value for bresenham algorithm
int	cx
	a value for bresenham algorithm
int	cy
	a value for bresenham algorithm
int	bufferSize
	current buffer size
colorClass	currentColor
	holds the color of the active pixel
colorClass	lastColor
	holds the color of the previous pixel
int	colorRange
	The last range of a color scan.
colorClass	colorBuffer [20]
	This buffer is used to store the colors passed by a buffered scan-method during the last scan.
int	ranges [20]
	This buffer is used to store the ranges of the colors.

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Detailed Description

Utility-class for edge-detection.

Definition at line 21 of file REdgeDetection.h.

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Constructor & Destructor Documentation

REdgeDetection::REdgeDetection (  ImageProcessor &  processor  )

Default constructor. Parameters: processor  The image processor interfaces. Definition at line 15 of file REdgeDetection.cpp. References DEFAULT_EDGE_THRESHOLD.

REdgeDetection::~REdgeDetection (   )

Destructor. Definition at line 24 of file REdgeDetection.cpp.

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Member Function Documentation

bool REdgeDetection::scanEast (  int &  x, int &  y )

Scans to the right side of the image and detects edges. The position of the edge is stored in x,y. Parameters: x  Starting x-coordinate of the scan. y  Starting y-coordinate of the scan. Returns: Tells if an edge was found at the last run. Definition at line 28 of file REdgeDetection.cpp. References Image::cameraInfo, fastCrossEdgeVote(), ImageProcessorInterfaces::image, insideImage(), and CameraInfo::resolutionWidth. Referenced by RFieldSpecialist::invokeOnPreScan(), RBridgeSpecialist::invokeOnPreScan(), and BoxSpecialist::invokeOnPreScan().

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bool REdgeDetection::scanWest (  int &  x, int &  y )

Scans to the left side of the image and detects edges. The position of the edge is stored in x,y. Parameters: x  Starting x-coordinate of the scan. y  Starting y-coordinate of the scan. Returns: Tells if an edge was found at the last run. Definition at line 53 of file REdgeDetection.cpp. References fastCrossEdgeVote(), and insideImage(). Referenced by RFieldSpecialist::invokeOnPreScan(), RBridgeSpecialist::invokeOnPreScan(), and BoxSpecialist::invokeOnPreScan().

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bool REdgeDetection::scanNorth (  int &  x, int &  y )

Scans to the top and detects edges. The position of the edge is stored in x,y. Parameters: x  Starting x-coordinate of the scan. y  Starting y-coordinate of the scan. Returns: Tells if an edge was found at the last run. Definition at line 77 of file REdgeDetection.cpp. References fastCrossEdgeVote(), and insideImage().

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bool REdgeDetection::scanSouth (  int &  x, int &  y )

Scans to the bottom and detects edges. The position of the edge is stored in x,y. Parameters: x  Starting x-coordinate of the scan. y  Starting y-coordinate of the scan. Returns: Tells if an edge was found at the last run. Definition at line 101 of file REdgeDetection.cpp. References Image::cameraInfo, fastCrossEdgeVote(), ImageProcessorInterfaces::image, insideImage(), and CameraInfo::resolutionHeight.

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bool REdgeDetection::ballScanEast (  int &  x, int &  y )

Scans to the right side and detects edges of balls. The position of the edge is stored in x,y. Parameters: x  Starting x-coordinate of the scan. y  Starting y-coordinate of the scan. Returns: Tells if an edge was found at the last run. Definition at line 126 of file REdgeDetection.cpp. References ballEdgeVote().

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bool REdgeDetection::ballScanWest (  int &  x, int &  y )

Scans to the left side and detects edges of balls. The position of the edge is stored in x,y. Parameters: x  Starting x-coordinate of the scan. y  Starting y-coordinate of the scan. Returns: Tells if an edge was found at the last run. Definition at line 149 of file REdgeDetection.cpp. References ballEdgeVote().

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bool REdgeDetection::scan (  int &  x, int &  y, Vector2< double >  direction )

Follows the given direction, and determines edges by the sum of all three channels. The position of the edge is stored in x and y. Parameters: x  The starting x-value. y  The starting y-value. direction  The direction of the scan. Returns: edge was found Definition at line 172 of file REdgeDetection.cpp. References crossEdgeVote(), cx, cy, e, f, g, tempX, tempY, Vector2< double >::x, and Vector2< double >::y. Referenced by RBallSpecialist2::calculateLargeCircle(), RBridgeSpecialist::findBridgeMark(), BoxSpecialist::fitLandmark(), BoxSpecialist::searchGoal(), and BoxSpecialist::searchLandmark().

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bool REdgeDetection::bufferedScan (  int &  x, int &  y, Vector2< double >  direction )

Follows the given direction, and determines edges by the sum of all three channels. The position of the edge is stored in x and y. Fills the colorBuffer while scanning, so the client can determine with the colorBuffer-Array what kind of object was found. Parameters: x  The starting x-value. y  The starting y-value. direction  The direction of the scan. Returns: edge was found Definition at line 266 of file REdgeDetection.cpp. References addColor(), bufferSize, colorRange, crossEdgeVote(), cx, cy, e, f, g, getColor(), tempX, tempY, Vector2< double >::x, and Vector2< double >::y. Referenced by RDefaultStrategy::postScan().

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bool REdgeDetection::bufferedScan (  int &  x, int &  y )

Follows the last given direction. Skips 3 pixels at the beginning of each scan, while filling the buffer. Parameters: x  x-coordinate y  y-coordinate Definition at line 394 of file REdgeDetection.cpp. References addColor(), bufferSize, colorRange, crossEdgeVote(), cx, cy, e, f, g, getColor(), skip(), tempX, and tempY.

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bool REdgeDetection::scanField (  int &  x, int &  y, Vector2< double >  direction )

Follows the given direction,and searches for field-edge-points. Determines edges by the sum of the first two channels. The position of the edge is stored in x and y. Parameters: x  The starting x-value. y  The starting y-value. direction  The direction of the scan. Returns: edge was found Definition at line 511 of file REdgeDetection.cpp. References cx, cy, e, f, fieldEdgeVote(), g, tempX, tempY, Vector2< double >::x, and Vector2< double >::y.

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bool REdgeDetection::scanField (  int &  x, int &  y )

Follows the last given direction,and searches for field-edge-points. Determines edges by the sum of the first two channels. The position of the edge is stored in x and y. Parameters: x  The starting x-value. y  The starting y-value. Returns: edge was found Definition at line 605 of file REdgeDetection.cpp. References cx, cy, e, f, fieldEdgeVote(), g, tempX, and tempY.

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bool REdgeDetection::scan (  int &  x, int &  y )

Follows the last given direction, and determines edges by the sum of all three channels. Parameters: x  x-coordinate y  y-coordinate Definition at line 1049 of file REdgeDetection.cpp. References crossEdgeVote(), cx, cy, e, f, g, tempX, and tempY.

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bool REdgeDetection::colorScan (  int &  x, int &  y, Vector2< double >  direction, colorClass &  lastColor )

Follows the given direction, and determines edges by looking for differences of the colorClass of two following pixels. Parameters: x  The starting x-value. y  The starting y-value. direction  Teh direction of the color scan. lastColor  The color of the last scan. Returns: edge was found Definition at line 840 of file REdgeDetection.cpp. References colorClass, cx, cy, e, f, g, getColor(), noColor, Vector2< double >::x, and Vector2< double >::y. Referenced by RBridgeSpecialist::findBridgeMark(), RBridgeSpecialist::getPosition(), and BoxSpecialist::searchLandmark().

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bool REdgeDetection::colorScan (  int &  x, int &  y, colorClass &  lastColor )

Follows the current direction, and determines edges by looking for differences of the colorClass of two following pixels. Parameters: x  The starting x-value. y  The starting y-value. lastColor  The color of the last scan. Returns: edge was found Definition at line 908 of file REdgeDetection.cpp. References colorClass, cx, cy, e, f, g, getColor(), and noColor.

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bool REdgeDetection::susanScan (  int &  x, int &  y, Vector2< double >  direction )

Follows the given direction, and determines edges with help of the SUSANEdgeDetection. The position of the edge is stored in x and y. Parameters: x  The starting x-value. y  The starting y-value. direction  The direction of the scan. Returns: edge was found Definition at line 955 of file REdgeDetection.cpp. References cx, cy, e, f, g, susanVote(), tempX, tempY, Vector2< double >::x, and Vector2< double >::y.

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bool REdgeDetection::scan (  int &  x, int &  y, int  x1, int  y1 )

Follows the given direction, and determines edges by the sum of all three channels. The position of the edge is stored in x and y. Parameters: x  The starting x-coordinate. y  The starting y-coordinate. x1  The x-coordinate of the end. y1  The y-coordinate of the end. Returns: edge was found Definition at line 678 of file REdgeDetection.cpp. References crossEdgeVote(), cx, cy, e, f, fastCrossEdgeVote(), g, tempX, and tempY.

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bool REdgeDetection::colorScan (  int &  x, int &  y, int  x1, int  y1, colorClass &  lastColor )

Follows the given direction, and determines edges by the sum of all three channels. The position of the edge is stored in x and y. Parameters: x  The starting x-coordinate. y  The starting y-coordinate. x1  The x-coordinate of the end. y1  The y-coordinate of the end. lastColor  The color of the last run. Returns: edge was found Definition at line 771 of file REdgeDetection.cpp. References colorClass, cx, cy, e, f, g, getColor(), and noColor.

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void REdgeDetection::setDirection (  Vector2< double >  dir  )  [inline]

Setter for member direction. Parameters: dir  The new direction. Definition at line 194 of file REdgeDetection.h. References cx, cy, e, f, g, Vector2< V >::x, and Vector2< V >::y. Referenced by RBridgeSpecialist::findBridgeMark(), RBridgeSpecialist::getPosition(), RDefaultStrategy::postScan(), and BoxSpecialist::searchLandmark().

colorClass REdgeDetection::getColor (  int  index  )  [inline]

Returns a color from the color buffer. Parameters: index  The index of the color. Returns: The color for the index. Definition at line 215 of file REdgeDetection.h. References colorBuffer, and colorClass. Referenced by bufferedScan(), colorScan(), and RFieldStateMachine::update().

int REdgeDetection::getRange (  int  index  )  [inline]

Returns a range from the range buffer. Parameters: index  The index of the range. Returns: The range for the index. Definition at line 222 of file REdgeDetection.h. References ranges. Referenced by RFieldStateMachine::update().

bool REdgeDetection::isHorizontalEdge (  int  x, int  y )  [inline]

This function implements a edge filter for horizontal edges. Parameters: x  x-coordinate. y  y-coordinate. Returns: True, if vote for the edgness is greater than threshold. Definition at line 230 of file REdgeDetection.h. References horizontalEdgeVote(). Referenced by RBallSpecialist2::isEdge().

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int REdgeDetection::horizontalEdgeVote (  int  x, int  y )  [inline]

This function implements a edge filter for horizontal edges. Parameters: x  x-coordinate. y  y-coordinate. Returns: A vote for the edgness. Definition at line 238 of file REdgeDetection.h. References Image::cameraInfo, Image::image, ImageProcessorInterfaces::image, and CameraInfo::resolutionWidth. Referenced by isHorizontalEdge().

bool REdgeDetection::isVerticalEdge (  int  x, int  y )  [inline]

This function implements a edge filter for vertical edges. Parameters: x  x-coordinate. y  y-coordinate. Returns: True, if vote for the edgness is greater than threshold. Definition at line 256 of file REdgeDetection.h. References verticalEdgeVote(). Referenced by RBallSpecialist2::isEdge().

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int REdgeDetection::verticalEdgeVote (  int  x, int  y )  [inline]

This function implements a edge filter for vertical edges. Parameters: x  x-coordinate. y  y-coordinate. Returns: A vote for the edgness. Definition at line 264 of file REdgeDetection.h. References Image::cameraInfo, Image::image, ImageProcessorInterfaces::image, and CameraInfo::resolutionHeight. Referenced by isVerticalEdge().

int REdgeDetection::ballEdgeVote (  int  x, int  y )  [inline]

This function implements a edge filter for the ball. Parameters: x  x-coordinate. y  y-coordinate. Returns: A vote for the edgness. Definition at line 282 of file REdgeDetection.h. References Image::cameraInfo, Image::image, ImageProcessorInterfaces::image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth. Referenced by ballScanEast(), and ballScanWest().

int REdgeDetection::crossEdgeVote (  int  x, int  y )  [inline]

This function implements a edge filter. Parameters: x  x-coordinate. y  y-coordinate. Returns: A vote for the edgness. Definition at line 317 of file REdgeDetection.h. References Image::cameraInfo, Image::image, ImageProcessorInterfaces::image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth. Referenced by bufferedScan(), and scan().

int REdgeDetection::fieldEdgeVote (  int  x, int  y )  [inline]

This function implements a edge filter. Only looking at the gradients of the channels Y and U. Parameters: x  x-coordinate. y  y-coordinate. Returns: A vote for the edgness. Definition at line 352 of file REdgeDetection.h. References Image::cameraInfo, Image::image, ImageProcessorInterfaces::image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth. Referenced by scanField().

colorClass REdgeDetection::getColor (  int  x, int  y )  [inline]

Implemented with ColorTable interface. Corrects the color before classifying. Parameters: x  x-coordinate of the requested pixel y  y-coordinate of the requested pixel Returns: The classified color of the pixel. Definition at line 384 of file REdgeDetection.h. References Image::cameraInfo, colorClass, ImageProcessorInterfaces::colorTable, ColorCorrector::correct(), cy, ColorTable::getColorClass(), Image::image, ImageProcessorInterfaces::image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth.

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void REdgeDetection::skip (  int &  x, int &  y )  [inline]

Gives the next pixel of last scan. This is only for the scans that use Bresenham's algorithm. Parameters: x  The x-coordinate. y  The y-coordinate. Definition at line 401 of file REdgeDetection.h. References cx, cy, e, f, and g. Referenced by bufferedScan(), RBridgeSpecialist::findBridgeMark(), BoxSpecialist::fitLandmark(), and BoxSpecialist::searchLandmark().

bool REdgeDetection::findStart (  Vector2< int > &  start, const Vector2< double > &  dir )  [inline]

Determines the first valid point on a run. Parameters: start  The original start point. dir  The direction. Returns: If the scan line intersects the image. Definition at line 430 of file REdgeDetection.h. References Image::cameraInfo, Geometry::clipLineWithRectangleCohenSutherland(), ImageProcessorInterfaces::image, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y. Referenced by RDefaultStrategy::postScan().

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int REdgeDetection::getBufferSize (   )  [inline]

Getter for the size of the color-buffer. Returns: size of the color-buffer Definition at line 446 of file REdgeDetection.h. References bufferSize. Referenced by RFieldStateMachine::update().

int REdgeDetection::fastCrossEdgeVote (  int  x, int  y )  [inline, private]

This function implements a edge filter. Parameters: x  x-coordinate. y  y-coordinate. Returns: A vote for the edgness. Definition at line 510 of file REdgeDetection.h. References Image::image, and ImageProcessorInterfaces::image. Referenced by scan(), scanEast(), scanNorth(), scanSouth(), and scanWest().

void REdgeDetection::addColor (   )  [inline, private]

Adds a color and its range to the buffers. Definition at line 538 of file REdgeDetection.h. References bufferSize, colorBuffer, colorRange, and ranges. Referenced by bufferedScan().

bool REdgeDetection::insideImage (  int  x, int  y )  [inline, private]

Tests, if a point is a valid. Thats a helper. Parameters: x  x-coordinate y  y-coordinate Returns: True, if point is valid. Definition at line 554 of file REdgeDetection.h. References Image::cameraInfo, ImageProcessorInterfaces::image, CameraInfo::resolutionHeight, and CameraInfo::resolutionWidth. Referenced by scanEast(), scanNorth(), scanSouth(), and scanWest().

int REdgeDetection::susanVote (  int  x, int  y )  [inline, private]

This function implements a edge filter. Parameters: x  x-coordinate. y  y-coordinate. Returns: A vote for the edgness. Definition at line 564 of file REdgeDetection.h. References Image::cameraInfo, ImageProcessorInterfaces::image, SUSANEdgeDetectionLite::isEdgePoint(), CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, and susanDetector. Referenced by susanScan().

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Member Data Documentation

int REdgeDetection::threshold

Threshold for edge scans. Definition at line 35 of file REdgeDetection.h. Referenced by RBallSpecialist2::executePostProcessing(), BoxSpecialist::executePostProcessing(), RBridgeSpecialist::init(), RBallSpecialist2::init(), BoxSpecialist::init(), RFieldSpecialist::invokeOnPreScan(), RDefaultStrategy::postScan(), and RDefaultStrategy::RDefaultStrategy().

int REdgeDetection::tempX

Holds the last visited x-coordinate of a scan. Definition at line 38 of file REdgeDetection.h. Referenced by bufferedScan(), scan(), scanField(), and susanScan().

int REdgeDetection::tempY

Holds the last visited y-coordinate of a scan. Definition at line 41 of file REdgeDetection.h. Referenced by bufferedScan(), scan(), scanField(), and susanScan().

ImageProcessor& REdgeDetection::ip [private]

the image processor interfaces Definition at line 466 of file REdgeDetection.h.

SUSANEdgeDetectionLite REdgeDetection::susanDetector [private]

an external edgeDetector Definition at line 469 of file REdgeDetection.h. Referenced by susanVote().

Vector2<double> REdgeDetection::direction [private]

current scan direction Definition at line 471 of file REdgeDetection.h.

int REdgeDetection::e [private]

a value for bresenham algorithm Definition at line 474 of file REdgeDetection.h. Referenced by bufferedScan(), colorScan(), scan(), scanField(), setDirection(), skip(), and susanScan().

int REdgeDetection::f [private]

a value for bresenham algorithm Definition at line 476 of file REdgeDetection.h. Referenced by bufferedScan(), colorScan(), scan(), scanField(), setDirection(), skip(), and susanScan().

int REdgeDetection::g [private]

a value for bresenham algorithm Definition at line 478 of file REdgeDetection.h. Referenced by bufferedScan(), colorScan(), scan(), scanField(), setDirection(), skip(), and susanScan().

int REdgeDetection::dx [private]

a value for bresenham algorithm Definition at line 480 of file REdgeDetection.h.

int REdgeDetection::dy [private]

a value for bresenham algorithm Definition at line 482 of file REdgeDetection.h.

int REdgeDetection::cx [private]

a value for bresenham algorithm Definition at line 484 of file REdgeDetection.h. Referenced by bufferedScan(), colorScan(), scan(), scanField(), setDirection(), skip(), and susanScan().

int REdgeDetection::cy [private]

a value for bresenham algorithm Definition at line 486 of file REdgeDetection.h. Referenced by bufferedScan(), colorScan(), getColor(), scan(), scanField(), setDirection(), skip(), and susanScan().

int REdgeDetection::bufferSize [private]

current buffer size Definition at line 488 of file REdgeDetection.h. Referenced by addColor(), bufferedScan(), and getBufferSize().

colorClass REdgeDetection::currentColor [private]

holds the color of the active pixel Definition at line 490 of file REdgeDetection.h.

colorClass REdgeDetection::lastColor [private]

holds the color of the previous pixel Definition at line 492 of file REdgeDetection.h.

int REdgeDetection::colorRange [private]

The last range of a color scan. Definition at line 495 of file REdgeDetection.h. Referenced by addColor(), and bufferedScan().

colorClass REdgeDetection::colorBuffer[20] [private]

This buffer is used to store the colors passed by a buffered scan-method during the last scan. Definition at line 500 of file REdgeDetection.h. Referenced by addColor(), and getColor().

int REdgeDetection::ranges[20] [private]

This buffer is used to store the ranges of the colors. Definition at line 503 of file REdgeDetection.h. Referenced by addColor(), and getRange().

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

• Modules/ImageProcessor/RasterImageProcessor/REdgeDetection.h
• Modules/ImageProcessor/RasterImageProcessor/REdgeDetection.cpp

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