RasterImageProcessor Class Reference

A class for image-processing. More...

#include <RasterImageProcessor.h>

Inheritance diagram for RasterImageProcessor:

[legend]Collaboration diagram for RasterImageProcessor:

[legend]List of all members.

Public Member Functions
	RasterImageProcessor (const ImageProcessorInterfaces &interfaces)
	The consructor.
virtual	~RasterImageProcessor ()
	Destructor.
virtual void	execute ()
	Executes the module.
virtual bool	handleMessage (InMessage &message)
	Handles messages for this module.
RasterSpecialist *	getSpecialist (int type)
	Getter for a specialist.
void	setSpecialist (RasterSpecialist *spec)
	Sets a specialist, if there is a specialist of the same type registered, it will be deleted.
void	removeSpecialist (int type)
	Removes a specialist from the image-processor.
Geometry::Line	getHorizon ()
	Getter for the member horizon.
void	addFieldPoint (int x, int y, LinesPercept::LineType type)
	Adds a point to the LinesPercept.
void	addObstaclePoints (Vector2< int > &nearPointInImage, Vector2< int > &farPointInImage, ObstaclesPercept::ObstacleType type)
	Adds a point to the ObstaclesPercept.
bool	isValidPoint (Vector2< double > &p)
	Tests if the point lies in the valid image area.
void	addFlag (Vector2< double > &left, Vector2< double > &right, Vector2< double > &top, Vector2< double > &bottom, Flag::FlagType type)
	Adds a flag to the model.
void	changeStrategy (RasterStrategy &newStrategy)
	Changes the strategy.
	DECLARE_DEBUG_COLOR_CLASS_IMAGE (segmentedImage1)
	The color-class image.
Public Attributes
SUSANEdgeDetectionLite	edgeDetector
	An edge detector.
ColorCorrector	corrector
	The color-corrector.
Geometry::Line	horizon
	The calculated horizon.
int	minX
	Minimal x-coordinate of the image-raster.
int	maxX
	Maximal x-coordinate of the image-raster.
int	minY
	Minimal y-coordinate of the image-raster.
int	maxY
	Maximal y-coordinate of the image-raster.
int	marginX
	The margin between two scanlines.
int	marginY
	The margin between two scanlines.
Private Member Functions
void	init ()
	Initializes the module.
	DECLARE_DEBUG_IMAGE (imageProcessorGeneral)
	DECLARE_DEBUG_IMAGE (imageProcessorBall)
	DECLARE_DEBUG_IMAGE (imageProcessorObstacles)
	DECLARE_DEBUG_IMAGE (imageProcessorFlagsAndGoals)
	DECLARE_DEBUG_IMAGE (imageProcessorGround)
Private Attributes
RasterSpecialist *	specials [maxRasterSpecialists]
	The concurrent specialists.
RasterStrategy *	strategy
	The active strategy.
RasterStrategy *	waitingStrategy
	The new strategy in the next frame.

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Detailed Description

A class for image-processing.

Author:

Bernd Schmidt

Definition at line 48 of file RasterImageProcessor.h.

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Constructor & Destructor Documentation

RasterImageProcessor::RasterImageProcessor (  const ImageProcessorInterfaces &  interfaces  )

The consructor. Parameters: interfaces  The interfaces for the image-processor. Definition at line 21 of file RasterImageProcessor.cpp. References Image::cameraInfo, maxRasterSpecialists, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, specials, and waitingStrategy.

RasterImageProcessor::~RasterImageProcessor (   )  [virtual]

Destructor. Definition at line 41 of file RasterImageProcessor.cpp.

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Member Function Documentation

void RasterImageProcessor::execute (   )  [virtual]

Executes the module. Implements Module. Definition at line 46 of file RasterImageProcessor.cpp. References DEBUG_DRAWING_FINISHED, RasterStrategy::execute(), init(), and INIT_DEBUG_IMAGE.

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bool RasterImageProcessor::handleMessage (  InMessage &  message  )  [virtual]

Handles messages for this module. Parameters: message  Message to handle. Returns: Returns if the message had been handled succesfully. Reimplemented from Module. Definition at line 83 of file RasterImageProcessor.cpp.

RasterSpecialist * RasterImageProcessor::getSpecialist (  int  type  )

Getter for a specialist. Parameters: type  Type of the requested specialist. Returns: The specialist of the given type or null if no specialist is registered. Definition at line 90 of file RasterImageProcessor.cpp. References specials.

void RasterImageProcessor::setSpecialist (  RasterSpecialist *  spec  )

Sets a specialist, if there is a specialist of the same type registered, it will be deleted. Parameters: spec  The specialist to be registered. Definition at line 95 of file RasterImageProcessor.cpp. References RasterSpecialist::getType(), and specials. Referenced by RDefaultStrategy::RDefaultStrategy().

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void RasterImageProcessor::removeSpecialist (  int  type  )

Removes a specialist from the image-processor. Afterwards getSpecialist(type) is NULL. Parameters: type  Type of the specialist. Definition at line 103 of file RasterImageProcessor.cpp. References specials.

Geometry::Line RasterImageProcessor::getHorizon (   )  [inline]

Getter for the member horizon. Returns: the horizon-line for the current image Definition at line 95 of file RasterImageProcessor.h. Referenced by RBallSpecialist2::addBallPercept(), REnemySpecialist::calculateFarestPoint(), REnemySpecialist::calculateFarestPointCOG(), REnemySpecialist::calculateFarestPointFastCOG(), RBridgeSpecialist::executePostProcessing(), and BoxSpecialist::executePostProcessing().

void RasterImageProcessor::addFieldPoint (  int  x, int  y, LinesPercept::LineType  type )  [inline]

Adds a point to the LinesPercept. Parameters: x  x-coordinate y  y-coordinate type  Type for this point of interest. Definition at line 101 of file RasterImageProcessor.h. References LinesPercept::add(), Geometry::calculatePointOnField(), and Image::cameraInfo. Referenced by RDefaultStrategy::postScan().

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void RasterImageProcessor::addObstaclePoints (  Vector2< int > &  nearPointInImage, Vector2< int > &  farPointInImage, ObstaclesPercept::ObstacleType  type )  [inline]

Adds a point to the ObstaclesPercept. Parameters: nearPointInImage  near Point of the seen area farPointInImage  far Point of the seen area type  Type of the free "obstacle"-area Definition at line 112 of file RasterImageProcessor.h. References ObstaclesPercept::add(), Geometry::calculatePointOnField(), Image::cameraInfo, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y. Referenced by RDefaultStrategy::postScan().

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bool RasterImageProcessor::isValidPoint (  Vector2< double > &  p  )  [inline]

Tests if the point lies in the valid image area. Parameters: p  input. Returns: True if the point is valid. Definition at line 136 of file RasterImageProcessor.h. References Image::cameraInfo, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Vector2< V >::x, and Vector2< V >::y. Referenced by addFlag().

void RasterImageProcessor::addFlag (  Vector2< double > &  left, Vector2< double > &  right, Vector2< double > &  top, Vector2< double > &  bottom, Flag::FlagType  type )

Adds a flag to the model. Parameters: left  Center of the left edge. right  Center of the right edge. top  Center of the top edge. bottom  Center of the bottom edge. type  Type of the Flag. Definition at line 152 of file RasterImageProcessor.cpp. References LandmarksPercept::addFlag(), ConditionalBoundary::addX(), ConditionalBoundary::addY(), Image::cameraInfo, DOT, getPlayer(), Player::getTeamColor(), isValidPoint(), CameraInfo::openingAngleWidth, CameraInfo::resolutionHeight, CameraInfo::resolutionWidth, Pose3D::rotation, sqr, Vector3< V >::x, Vector2< V >::x, Vector3< V >::y, and Vector2< V >::y. Referenced by BoxSpecialist::searchLandmark().

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void RasterImageProcessor::changeStrategy (  RasterStrategy &  newStrategy  )

Changes the strategy. the old one will be deleted ! Parameters: newStrategy  The new strategy. Definition at line 110 of file RasterImageProcessor.cpp. References waitingStrategy.

RasterImageProcessor::DECLARE_DEBUG_COLOR_CLASS_IMAGE (  segmentedImage1   )

The color-class image.

void RasterImageProcessor::init (   )  [private]

Initializes the module. Definition at line 116 of file RasterImageProcessor.cpp. References Geometry::Line::base, Geometry::calculateHorizon(), Image::cameraInfo, LandmarksPercept::cameraOffset, Geometry::Line::direction, Image::frameNumber, GENERATE_DEBUG_IMAGE, ColorTable::generateColorClassImage(), RasterStrategy::init(), LINE, ObstaclesPercept::reset(), PlayersPercept::reset(), BallPercept::reset(), LinesPercept::reset(), LandmarksPercept::reset(), SEND_DEBUG_COLOR_CLASS_IMAGE, Pose3D::translation, waitingStrategy, Vector2< double >::x, and Vector2< double >::y. Referenced by execute().

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RasterImageProcessor::DECLARE_DEBUG_IMAGE (  imageProcessorGeneral   )  [private]

RasterImageProcessor::DECLARE_DEBUG_IMAGE (  imageProcessorBall   )  [private]

RasterImageProcessor::DECLARE_DEBUG_IMAGE (  imageProcessorObstacles   )  [private]

RasterImageProcessor::DECLARE_DEBUG_IMAGE (  imageProcessorFlagsAndGoals   )  [private]

RasterImageProcessor::DECLARE_DEBUG_IMAGE (  imageProcessorGround   )  [private]

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Member Data Documentation

SUSANEdgeDetectionLite RasterImageProcessor::edgeDetector

An edge detector. Definition at line 52 of file RasterImageProcessor.h.

ColorCorrector RasterImageProcessor::corrector

The color-corrector. Definition at line 54 of file RasterImageProcessor.h.

Geometry::Line RasterImageProcessor::horizon

The calculated horizon. Definition at line 56 of file RasterImageProcessor.h. Referenced by RDefaultStrategy::postScan(), and RDefaultStrategy::preScan().

int RasterImageProcessor::minX

Minimal x-coordinate of the image-raster. Definition at line 158 of file RasterImageProcessor.h.

int RasterImageProcessor::maxX

Maximal x-coordinate of the image-raster. Definition at line 160 of file RasterImageProcessor.h. Referenced by RFieldSpecialist::checkRamp().

int RasterImageProcessor::minY

Minimal y-coordinate of the image-raster. Definition at line 162 of file RasterImageProcessor.h.

int RasterImageProcessor::maxY

Maximal y-coordinate of the image-raster. Definition at line 164 of file RasterImageProcessor.h.

int RasterImageProcessor::marginX

The margin between two scanlines. Definition at line 166 of file RasterImageProcessor.h. Referenced by RDefaultStrategy::checkBall(), RDefaultStrategy::checkBox(), RDefaultStrategy::checkBridge(), RDefaultStrategy::checkPlayer(), RDefaultStrategy::preScan(), and RDefaultStrategy::RDefaultStrategy().

int RasterImageProcessor::marginY

The margin between two scanlines. Definition at line 168 of file RasterImageProcessor.h. Referenced by RDefaultStrategy::preScan(), and RDefaultStrategy::RDefaultStrategy().

RasterSpecialist* RasterImageProcessor::specials[maxRasterSpecialists] [private]

The concurrent specialists. Definition at line 176 of file RasterImageProcessor.h. Referenced by getSpecialist(), RasterImageProcessor(), removeSpecialist(), and setSpecialist().

RasterStrategy* RasterImageProcessor::strategy [private]

The active strategy. Definition at line 178 of file RasterImageProcessor.h.

RasterStrategy* RasterImageProcessor::waitingStrategy [private]

The new strategy in the next frame. Definition at line 180 of file RasterImageProcessor.h. Referenced by changeStrategy(), init(), and RasterImageProcessor().

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

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

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